diff --git a/.github/PULL_REQUEST_TEMPLATE/car_bugfix.md b/.github/PULL_REQUEST_TEMPLATE/car_bugfix.md index d0c8bc58e..76c86346c 100644 --- a/.github/PULL_REQUEST_TEMPLATE/car_bugfix.md +++ b/.github/PULL_REQUEST_TEMPLATE/car_bugfix.md @@ -1,6 +1,6 @@ --- name: Car Bug fix -about: For vehicle/brand specifc bug fixes +about: For vehicle/brand specific bug fixes title: '' labels: 'car bug fix' assignees: '' diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml index 223c73486..16edb45c2 100644 --- a/.github/workflows/badges.yaml +++ b/.github/workflows/badges.yaml @@ -7,12 +7,7 @@ on: env: BASE_IMAGE: openpilot-base DOCKER_REGISTRY: ghcr.io/commaai - - BUILD: | - docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true - docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true - docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . - RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c + RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/sh -c jobs: badges: @@ -23,23 +18,7 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - - name: Cache scons - id: scons-cache - # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged. - uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b - env: - CACHE_SKIP_SAVE: true - with: - path: /tmp/scons_cache - key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- - restore-keys: | - scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- - scons- - - - name: Build Docker image - run: eval "$BUILD" - + - uses: ./.github/workflows/setup - name: Push badges run: | ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py" @@ -49,6 +28,6 @@ jobs: git config user.email "badge-researcher@comma.ai" git config user.name "Badge Researcher" - git add translation_badge_*.svg + git add translation_badge.svg git commit -m "Add/Update badges" git push -f origin HEAD diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 7397e30f8..9606c0563 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -17,7 +17,7 @@ env: docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . - RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c + RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c BUILD_CL: | docker pull $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest || true @@ -27,11 +27,10 @@ env: UNIT_TEST: coverage run --append -m unittest discover jobs: - # TODO: once actions/cache supports read only mode, use the cache for all jobs build_release: name: build release runs-on: ubuntu-20.04 - timeout-minutes: 50 + timeout-minutes: 30 env: STRIPPED_DIR: /tmp/releasepilot steps: @@ -39,44 +38,31 @@ jobs: with: fetch-depth: 0 submodules: true - - name: Pull LFS - run: git lfs pull + - name: Build devel + run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh + - uses: ./.github/workflows/setup + with: + save-cache: true - name: Check submodules if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' run: release/check-submodules.sh - - name: Cache scons - id: scons-cache - # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged. - uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b - env: - CACHE_SKIP_SAVE: true - with: - path: /tmp/scons_cache - key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- - restore-keys: | - scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- - scons- - - name: Build devel + - name: Build openpilot and run checks run: | - TARGET_DIR=$STRIPPED_DIR release/build_devel.sh - cp Dockerfile.openpilot_base $STRIPPED_DIR + cd $STRIPPED_DIR + ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py" + - name: Run tests + run: | + cd $STRIPPED_DIR + ${{ env.RUN }} "release/check-dirty.sh && \ + python -m unittest discover selfdrive/car" + - name: pre-commit + run: | + cd $GITHUB_WORKSPACE cp .pre-commit-config.yaml $STRIPPED_DIR cp .pylintrc $STRIPPED_DIR cp mypy.ini $STRIPPED_DIR - - name: Build Docker image - run: | - eval "$BUILD" - rm $STRIPPED_DIR/Dockerfile.openpilot_base - - name: Build openpilot and run checks - run: | - cd $STRIPPED_DIR - ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py && \ - pre-commit run --all && \ - rm .pre-commit-config.yaml && \ - rm .pylintrc && \ - rm mypy.ini && \ - release/check-dirty.sh && \ - python -m unittest discover selfdrive/car" + cd $STRIPPED_DIR + ${{ env.RUN }} "pre-commit run --all" build_all: name: build all @@ -86,27 +72,13 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - name: Cache scons - id: scons-cache - # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged. - uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b - env: - CACHE_SKIP_SAVE: ${{ github.ref != 'refs/heads/master' || github.repository != 'commaai/openpilot' }} - with: - path: /tmp/scons_cache - key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-${{ steps.date.outputs.time }} - restore-keys: | - scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- - scons- - - name: Build Docker image - run: eval "$BUILD" + - uses: ./.github/workflows/setup - name: Build openpilot with all flags - run: ${{ env.RUN }} "scons -j$(nproc) --extras --test && release/check-dirty.sh" + run: ${{ env.RUN }} "scons -j$(nproc) --extras && release/check-dirty.sh" - name: Cleanup scons cache run: | - ${{ env.RUN }} "scons -j$(nproc) --extras --test && \ - rm -rf /tmp/scons_cache/* && \ - scons -j$(nproc) --extras --test --cache-populate" + ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \ + scons -j$(nproc) --extras --cache-populate" #build_mac: # name: build macos @@ -165,41 +137,6 @@ jobs: # done # comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt - build_webcam: - name: build webcam - runs-on: ubuntu-20.04 - timeout-minutes: 90 - env: - IMAGE_NAME: openpilotwebcamci - steps: - - uses: actions/checkout@v3 - with: - submodules: true - - name: Cache scons - id: scons-cache - # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged. - uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b - env: - CACHE_SKIP_SAVE: true - with: - path: /tmp/scons_cache - key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- - restore-keys: | - scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- - scons- - - name: Build Docker image - run: | - eval "$BUILD" - docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true - docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/webcam/Dockerfile . - - name: Build openpilot - run: docker run --shm-size 1G --rm -v $PWD:/tmp/openpilot -e PYTHONPATH=/tmp/openpilot $DOCKER_REGISTRY/$IMAGE_NAME /bin/sh -c "cd /tmp/openpilot && USE_WEBCAM=1 scons -j$(nproc)" - - name: Push to container registry - if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' - run: | - $DOCKER_LOGIN - docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest - docker_push: name: docker push runs-on: ubuntu-20.04 @@ -244,30 +181,11 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - name: Cache dependencies - id: dependency-cache - uses: actions/cache@v2 - with: - path: /tmp/comma_download_cache - key: ${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/test_valgrind_replay.py') }} - - name: Cache scons - id: scons-cache - # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged. - uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b - env: - CACHE_SKIP_SAVE: true - with: - path: /tmp/scons_cache - key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- - restore-keys: | - scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- - scons- - - name: Build Docker image - run: eval "$BUILD" + - uses: ./.github/workflows/setup - name: Run valgrind run: | ${{ env.RUN }} "scons -j$(nproc) && \ - FILEREADER_CACHE=1 python selfdrive/test/test_valgrind_replay.py" + python selfdrive/test/test_valgrind_replay.py" - name: Print logs if: always() run: cat selfdrive/test/valgrind_logs.txt @@ -277,32 +195,14 @@ jobs: runs-on: ubuntu-20.04 timeout-minutes: 50 steps: - - name: Get current date - id: date - run: echo "::set-output name=time::$(date +'%s')" - - name: Output timestamp - run: echo $TIMESTAMP - env: - TIMESTAMP: ${{ steps.date.outputs.time }} - uses: actions/checkout@v3 with: submodules: true - - name: Cache scons - id: scons-cache - # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged. - uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b - env: - CACHE_SKIP_SAVE: ${{ github.ref != 'refs/heads/master' || github.repository != 'commaai/openpilot' }} - with: - path: /tmp/scons_cache - key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-${{ steps.date.outputs.time }} - restore-keys: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- - - name: Build Docker image - run: eval "$BUILD" + - uses: ./.github/workflows/setup - name: Run unit tests run: | ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \ - scons -j$(nproc) --test && \ + scons -j$(nproc) && \ $UNIT_TEST common && \ $UNIT_TEST opendbc/can && \ $UNIT_TEST selfdrive/boardd && \ @@ -339,30 +239,17 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - name: Cache dependencies + - uses: ./.github/workflows/setup + - name: Cache test routes id: dependency-cache - uses: actions/cache@v2 + uses: actions/cache@v3 with: path: /tmp/comma_download_cache - key: ${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_processes.py') }} - - name: Cache scons - id: scons-cache - # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged. - uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b - env: - CACHE_SKIP_SAVE: true - with: - path: /tmp/scons_cache - key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- - restore-keys: | - scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- - scons- - - name: Build Docker image - run: eval "$BUILD" + key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }} - name: Run replay run: | ${{ env.RUN }} "scons -j$(nproc) && \ - FILEREADER_CACHE=1 CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ + CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ coverage xml" - name: Print diff if: always() @@ -389,35 +276,16 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - name: Pull LFS - run: git lfs pull - - name: Cache dependencies - id: dependency-cache - uses: actions/cache@v2 - with: - path: /tmp/comma_download_cache - key: ${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/model_replay.py') }} - - name: Cache scons - id: scons-cache - # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged. - uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b - env: - CACHE_SKIP_SAVE: true - with: - path: /tmp/scons_cache - key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- - restore-keys: | - scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- - scons- + - uses: ./.github/workflows/setup - name: Build Docker image - # Sim docker is needed to get the intel OPENCL drivers + # Sim docker is needed to get the OpenCL drivers run: eval "$BUILD_CL" - name: Run replay run: | ${{ env.RUN_CL }} "scons -j$(nproc) && \ - ONNXCPU=1 FILEREADER_CACHE=1 CI=1 coverage run \ - selfdrive/test/process_replay/model_replay.py -j$(nproc) && \ - coverage xml" + ONNXCPU=1 CI=1 coverage run \ + selfdrive/test/process_replay/model_replay.py -j$(nproc) && \ + coverage xml" test_longitudinal: name: longitudinal @@ -427,20 +295,7 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - name: Cache scons - id: scons-cache - # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged. - uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b - env: - CACHE_SKIP_SAVE: true - with: - path: /tmp/scons_cache - key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- - restore-keys: | - scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- - scons- - - name: Build Docker image - run: eval "$BUILD" + - uses: ./.github/workflows/setup - name: Test longitudinal run: | ${{ env.RUN }} "mkdir -p selfdrive/test/out && \ @@ -469,30 +324,17 @@ jobs: - uses: actions/checkout@v3 with: submodules: true - - name: Cache dependencies + - uses: ./.github/workflows/setup + - name: Cache test routes id: dependency-cache - uses: actions/cache@v2 + uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b with: path: /tmp/comma_download_cache key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }} - - name: Cache scons - id: scons-cache - # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged. - uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b - env: - CACHE_SKIP_SAVE: true - with: - path: /tmp/scons_cache - key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- - restore-keys: | - scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- - scons- - - name: Build Docker image - run: eval "$BUILD" - name: Test car models run: | - ${{ env.RUN }} "scons -j$(nproc) --test && \ - FILEREADER_CACHE=1 coverage run -m pytest selfdrive/car/tests/test_models.py && \ + ${{ env.RUN }} "scons -j$(nproc) && \ + coverage run -m pytest selfdrive/car/tests/test_models.py && \ coverage xml && \ chmod -R 777 /tmp/comma_download_cache" env: @@ -530,20 +372,7 @@ jobs: with: submodules: true ref: ${{ github.event.pull_request.base.ref }} - - name: Cache scons - id: scons-cache - # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged. - uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b - env: - CACHE_SKIP_SAVE: true - with: - path: /tmp/scons_cache - key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- - restore-keys: | - scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- - scons- - - name: Build Docker image - run: eval "$BUILD" + - uses: ./.github/workflows/setup - name: Get base car info run: | ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info" diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml new file mode 100644 index 000000000..79ec92123 --- /dev/null +++ b/.github/workflows/setup/action.yaml @@ -0,0 +1,45 @@ +name: 'openpilot env setup' + +env: + BASE_IMAGE: openpilot-base + DOCKER_REGISTRY: ghcr.io/commaai + BUILD: | + docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true + docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true + docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . + +inputs: + save-cache: + default: false + required: false + +runs: + using: "composite" + steps: + # do this after checkout to ensure our custom LFS config is used to pull from GitLab + - shell: bash + run: git lfs pull + + # build cache + - id: date + shell: bash + run: echo "::set-output name=date::$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d')" + - shell: bash + run: echo "${{ steps.date.outputs.date }}" + - shell: bash + run: echo "CACHE_SKIP_SAVE=true" >> $GITHUB_ENV + if: github.ref != 'refs/heads/master' || inputs.save-cache == 'false' + - id: scons-cache + # TODO: change the version to the released version + # when https://github.com/actions/cache/pull/489 (or 571) is merged. + uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b + with: + path: /tmp/scons_cache + key: scons-${{ steps.date.outputs.date }}-${{ github.sha }} + restore-keys: | + scons-${{ steps.date.outputs.date }}- + scons- + + # build our docker image + - shell: bash + run: eval "$BUILD" diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index e93ce2bb3..173e20838 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -21,46 +21,6 @@ env: GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c jobs: - build_latest_ubuntu: - name: build latest ubuntu - runs-on: ubuntu-20.04 - timeout-minutes: 60 - steps: - - uses: actions/checkout@v3 - with: - submodules: true - - name: Cache pyenv - id: ubuntu-latest-pyenv - uses: actions/cache@v3 - with: - path: | - ~/.pyenv - ~/.local/share/virtualenvs/ - key: ubuntu-latest-python-${{ hashFiles('tools/ubuntu_setup.sh') }}- - - name: Cache scons - id: ubuntu-latest-scons - uses: actions/cache@v3 - with: - path: /tmp/scons_cache - key: ubuntu-latest-scons-${{ hashFiles('.github/workflows/tools_test.yaml') }}- - restore-keys: | - ubuntu-latest-scons-${{ hashFiles('.github/workflows/tools_test.yaml') }}- - ubuntu-latest-scons- - - - name: tools/ubuntu_setup.sh - run: | - source tools/openpilot_env.sh - tools/ubuntu_setup.sh - - name: Build openpilot - run: | - source tools/openpilot_env.sh - pipenv run scons -j$(nproc) --extras --test - - name: Cleanup scons cache - run: | - source tools/openpilot_env.sh - rm -rf /tmp/scons_cache/* - pipenv run scons -j$(nproc) --extras --test --cache-populate - plotjuggler: name: plotjuggler runs-on: ubuntu-20.04 diff --git a/.gitignore b/.gitignore index 6aee0ed8e..062358ef2 100644 --- a/.gitignore +++ b/.gitignore @@ -36,6 +36,7 @@ a.out config.json clcache compile_commands.json +compare_runtime*.html persist board/obj/ diff --git a/.gitmodules b/.gitmodules index bc439b451..26f93ef16 100644 --- a/.gitmodules +++ b/.gitmodules @@ -16,3 +16,6 @@ [submodule "body"] path = body url = ../../commaai/body.git +[submodule "tinygrad"] + path = tinygrad_repo + url = https://github.com/geohot/tinygrad.git diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index e273cd9ae..347216f2f 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -15,11 +15,20 @@ repos: - id: check-symlinks - id: check-added-large-files args: ['--maxkb=100'] +- repo: https://github.com/codespell-project/codespell + rev: v2.2.1 + hooks: + - id: codespell + exclude: '^(pyextra/)|(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(include/)|(selfdrive/ui/translations/.*.ts)|(selfdrive/controls/lib/cluster)' + args: + # if you've got a short variable name that's getting flagged, add it here + - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup + - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US - repo: https://github.com/pre-commit/mirrors-mypy rev: v0.931 hooks: - id: mypy - exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/' + exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/|(tinygrad/)|(tinygrad_repo/)' additional_dependencies: ['types-PyYAML', 'lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi'] args: - --warn-redundant-casts @@ -31,7 +40,7 @@ repos: rev: 4.0.1 hooks: - id: flake8 - exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/debug/)/' + exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(selfdrive/debug/)/' additional_dependencies: ['flake8-no-implicit-concat'] args: - --indent-size=2 @@ -46,7 +55,11 @@ repos: entry: pylint language: system types: [python] - exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)' + exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)' + args: + - -rn + - -sn + - --rcfile=.pylintrc - repo: local hooks: - id: cppcheck diff --git a/Jenkinsfile b/Jenkinsfile index 6b05e81d7..c4038090e 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -131,7 +131,8 @@ pipeline { ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"], ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"], ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"], - ["test sensord", "python selfdrive/sensord/test/test_sensord.py"], + ["test sensord", "python selfdrive/sensord/tests/test_sensord.py"], + ["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"], ]) } } diff --git a/Pipfile b/Pipfile index 81669e480..644fd2a90 100644 --- a/Pipfile +++ b/Pipfile @@ -88,6 +88,7 @@ urllib3 = "*" utm = "*" websocket_client = "*" hatanaka = "==2.4" +PySide2 = "*" [requires] python_version = "3.8" diff --git a/Pipfile.lock b/Pipfile.lock index 0612d0ff3..e6f05fbcd 100644 --- a/Pipfile.lock +++ b/Pipfile.lock @@ -1,7 +1,7 @@ { "_meta": { "hash": { - "sha256": "c92514c0e6968af008916446514f41b4e004aa7aa4a2951cc1e9e258ac072111" + "sha256": "adf64558652d394d9de8e45777f1a2f50ed1ac37b75664206e7957792832b5a4" }, "pipfile-spec": 6, "requires": { @@ -18,19 +18,18 @@ "default": { "astroid": { "hashes": [ - "sha256:4f933d0bf5e408b03a6feb5d23793740c27e07340605f236496cd6ce552043d6", - "sha256:ba33a82a9a9c06a5ceed98180c5aab16e29c285b828d94696bf32d6015ea82a9" + "sha256:396c88d0a58d7f8daadf730b2ce90838bf338c6752558db719ec6f99c18ec20e", + "sha256:d612609242996c4365aeb0345e61edba34363eaaba55f1c0addf6a98f073bef6" ], - "markers": "python_full_version >= '3.6.2'", - "version": "==2.11.6" + "markers": "python_full_version >= '3.7.2'", + "version": "==2.12.5" }, "atomicwrites": { "hashes": [ - "sha256:6d1784dea7c0c8d4a5172b6c620f40b6e4cbfdf96d783691f2e1302a7b88e197", - "sha256:ae70396ad1a434f9c7046fd2dd196fc04b12f9e91ffb859164193be8b6168a7a" + "sha256:81b2c9071a49367a7f770170e5eec8cb66567cfbbc8c73d20ce5ca4a8d71cf11" ], "index": "pypi", - "version": "==1.4.0" + "version": "==1.4.1" }, "casadi": { "hashes": [ @@ -157,11 +156,11 @@ }, "charset-normalizer": { "hashes": [ - "sha256:5189b6f22b01957427f35b6a08d9a0bc45b46d3788ef5a92e978433c7a35f8a5", - "sha256:575e708016ff3a5e3681541cb9d79312c416835686d054a23accb873b254f413" + "sha256:5a3d016c7c547f69d6f81fb0db9449ce888b418b5b9952cc5e6e66843e9dd845", + "sha256:83e9a75d1911279afd89352c68b45348559d1fc0506b054b346651b5e7fee29f" ], "markers": "python_version >= '3.6'", - "version": "==2.1.0" + "version": "==2.1.1" }, "click": { "hashes": [ @@ -171,6 +170,14 @@ "markers": "python_version >= '3.7'", "version": "==8.1.3" }, + "coloredlogs": { + "hashes": [ + "sha256:612ee75c546f53e92e70049c9dbfcc18c935a2b9a53b66085ce9ef6a6e5c0934", + "sha256:7c991aa71a4577af2f82600d8f8f3a89f936baeaf9b50a9c197da014e5bf16b0" + ], + "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3, 3.4'", + "version": "==15.0.1" + }, "crcmod": { "hashes": [ "sha256:50586ab48981f11e5b117523d97bb70864a2a1af246cf6e4f5c4a21ef4611cd1", @@ -211,49 +218,49 @@ }, "cython": { "hashes": [ - "sha256:019d330ac580b2ca4a457c464ac0b8c35009d820ef5d09f328d6e31a10e1ce89", - "sha256:0b83a342a071c4f14e7410568e0c0bd95e2f20c0b32944e3a721649a1357fda4", - "sha256:0cd6c932e945af15ae4ddcf8fdc0532bda48784c92ed0a53cf4fae897067ccd1", - "sha256:1e078943bbde703ca08d43e719480eb8b187d9023cbd91798619f5b5e18d0d71", - "sha256:20778297c8bcba201ca122a2f792a9899d6e64c68a92363dd7eb24306d54d7ce", - "sha256:2235b62da8fe6fa8b99422c8e583f2fb95e143867d337b5c75e4b9a1a865f9e3", - 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"sha256:b930dd878d5a8afb066a637fbb35144fe7901e3b209d1cd4f524bd0e9deee997" ], "index": "pypi", - "version": "==1.26.10" + "version": "==1.26.12" }, "virtualenv": { "hashes": [ - "sha256:288171134a2ff3bfb1a2f54f119e77cd1b81c29fc1265a2356f3e8d14c7d58c4", - "sha256:b30aefac647e86af6d82bfc944c556f8f1a9c90427b2fb4e3bfbf338cb82becf" + "sha256:4193b7bc8a6cd23e4eb251ac64f29b4398ab2c233531e66e40b19a6b7b0d30c1", + "sha256:d86ea0bb50e06252d79e6c241507cb904fcd66090c3271381372d6221a3970f9" ], - "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3, 3.4'", - "version": "==20.15.1" + "markers": "python_version >= '3.6'", + "version": "==20.16.3" }, "zipp": { "hashes": [ - "sha256:56bf8aadb83c24db6c4b577e13de374ccfb67da2078beba1d037c17980bf43ad", - "sha256:c4f6e5bbf48e74f7a38e7cc5b0480ff42b0ae5178957d564d18932525d5cf099" + "sha256:05b45f1ee8f807d0cc928485ca40a07cb491cf092ff587c0df9cb1fd154848d2", + "sha256:47c40d7fe183a6f21403a199b3e4192cca5774656965b0a4988ad2f8feb5f009" ], "markers": "python_version >= '3.7'", - "version": "==3.8.0" + "version": "==3.8.1" } } } diff --git a/README.md b/README.md index 94837575b..cfeb625bf 100755 --- a/README.md +++ b/README.md @@ -17,7 +17,7 @@ Table of Contents What is openpilot? ------ -[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md). +[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md). @@ -40,9 +40,9 @@ Running on a dedicated device in a car To use openpilot in a car, you need four things * A supported device to run this software: a [comma three](https://comma.ai/shop/products/three). -* This software. The setup procedure of the comma three allows the user to enter a url for custom software. -The url, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another github username can install a fork. -* One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot. +* This software. The setup procedure of the comma three allows the user to enter a URL for custom software. +The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork. +* One of [the 200+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot. * A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car. We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup). @@ -50,13 +50,13 @@ We have detailed instructions for [how to mount the device in a car](https://com Running on PC ------ -All of openpilot's services can run as normal on a PC, even without special hardware or a car. To develop or experiment with openpilot you can run openpilot on recorded or simulated data. +All openpilot services can run as usual on a PC without requiring special hardware or a car. You can also run openpilot on recorded or simulated data to develop or experiment with openpilot. -With openpilot's tools you can plot logs, replay drives and watch the full-res camera streams. See [the tools README](tools/README.md) for more information. +With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See [the tools README](tools/README.md) for more information. -You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes, but does require a decent GPU. +You can also run openpilot in simulation [with the CARLA simulator](tools/sim/README.md). This allows openpilot to drive around a virtual car on your Ubuntu machine. The whole setup should only take a few minutes but does require a decent GPU. -A PC running openpilot can also control your vehicle if it is connected to a [a webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and [a harness](https://comma.ai/shop/products/car-harness). +A PC running openpilot can also control your vehicle if it is connected to a [webcam](https://github.com/commaai/openpilot/tree/master/tools/webcam), a [black panda](https://comma.ai/shop/products/panda), and a [harness](https://comma.ai/shop/products/car-harness). Community and Contributing ------ @@ -78,8 +78,8 @@ By default, openpilot uploads the driving data to our servers. You can also acce openpilot is open source software: the user is free to disable data collection if they wish to do so. -openpilot logs the road facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs. -The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded. +openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs. +The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded. By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data. @@ -87,11 +87,11 @@ Safety and Testing ---- * openpilot observes ISO26262 guidelines, see [SAFETY.md](docs/SAFETY.md) for more details. -* openpilot has software in the loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit. +* openpilot has software-in-the-loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit. * The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details. -* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety). -* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes. -* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile). +* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety). +* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes. +* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile). * We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes. Directory Structure @@ -119,7 +119,7 @@ Directory Structure ├── debug # Tools to help you debug and do car ports ├── locationd # Precise localization and vehicle parameter estimation ├── loggerd # Logger and uploader of car data - ├── manager # Deamon that starts/stops all other daemons as needed + ├── manager # Daemon that starts/stops all other daemons as needed ├── modeld # Driving and monitoring model runners ├── monitoring # Daemon to determine driver attention ├── navd # Turn-by-turn navigation diff --git a/RELEASES.md b/RELEASES.md index bcd6aa7aa..56cffeebe 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,8 +1,24 @@ -Version 0.8.16 (2022-XX-XX) +Version 0.8.17 (2022-XX-XX) ======================== +* New driving model + * Internal feature space accuracy increased tenfold during training, this makes the model dramatically more accurate. + +Version 0.8.16 (2022-08-26) +======================== +* New driving model + * Reduced turn cutting +* Auto-detect right hand drive setting with driver monitoring model +* Improved fan controller for comma three +* New translations + * Japanese thanks to cydia2020! + * Brazilian Portuguese thanks to AlexandreSato! * Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler! +* Chevrolet Silverado 1500 2020-21 support thanks to JasonJShuler! +* GMC Sierra 1500 2020-21 support thanks to JasonJShuler! * Hyundai Ioniq 5 2022 support thanks to sunnyhaibin! * Hyundai Kona Electric 2022 support thanks to sunnyhaibin! +* Hyundai Tucson Hybrid 2022 support thanks to sunnyhaibin! +* Subaru Legacy 2020-22 support thanks to martinl! * Subaru Outback 2020-22 support Version 0.8.15 (2022-07-20) @@ -62,7 +78,7 @@ Version 0.8.14 (2022-06-01) Version 0.8.13 (2022-02-18) ======================== * Improved driver monitoring - * Retuned driver pose learner for relaxed driving positions + * Re-tuned driver pose learner for relaxed driving positions * Added reliance on driving model to be more scene adaptive * Matched strictness between comma two and comma three * Improved performance in turns by compensating for the road bank angle @@ -208,7 +224,7 @@ Version 0.8.4 (2021-05-17) * Delay controls start until system is ready * Fuzzy car identification, enabled with Community Features toggle * Localizer optimized for increased precision and less CPU usage - * Retuned lateral control to be more aggressive when model is confident + * Re-tuned lateral control to be more aggressive when model is confident * Toyota Mirai 2021 support * Lexus NX 300 2020 support thanks to goesreallyfast! * Volkswagen Atlas 2018-19 support thanks to jyoung8607! @@ -373,7 +389,7 @@ Version 0.7 (2019-12-13) * Improve GM longitudinal control: proper computations for 15Hz radar * Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required * Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi - * Refactor Panda code towards ISO26262 and SIL2 compliancy + * Refactor Panda code towards ISO26262 and SIL2 compliance * Forward stock FCW for Honda Nidec * Volkswagen port now standard: comma Harness intercepts stock camera diff --git a/SConstruct b/SConstruct index 49685b19b..8b32eba4a 100644 --- a/SConstruct +++ b/SConstruct @@ -10,10 +10,6 @@ AGNOS = TICI Decider('MD5-timestamp') -AddOption('--test', - action='store_true', - help='build test files') - AddOption('--extras', action='store_true', help='build misc extras, like setup and installer files') @@ -53,6 +49,17 @@ AddOption('--no-thneed', dest='no_thneed', help='avoid using thneed') +AddOption('--pc-thneed', + action='store_true', + dest='pc_thneed', + help='use thneed on pc') + +AddOption('--no-test', + action='store_false', + dest='test', + default=os.path.islink(Dir('#laika/').abspath), + help='skip building test files') + real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip() if platform.system() == "Darwin": arch = "Darwin" @@ -60,7 +67,6 @@ if platform.system() == "Darwin": if arch == "aarch64" and AGNOS: arch = "larch64" -USE_WEBCAM = os.getenv("USE_WEBCAM") is not None lenv = { "PATH": os.environ['PATH'], @@ -69,7 +75,7 @@ lenv = { "ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath, "ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath, - "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer", + "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer" } rpath = lenv["LD_LIBRARY_PATH"].copy() @@ -106,6 +112,9 @@ else: # MacOS if arch == "Darwin": + if real_arch == "x86_64": + lenv["TERA_PATH"] = Dir("#").abspath + f"/third_party/acados/Darwin_x86_64/t_renderer" + brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip() yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64" libpath = [ @@ -114,9 +123,13 @@ else: f"{brew_prefix}/Library", f"{brew_prefix}/opt/openssl/lib", f"{brew_prefix}/Cellar", - f"#third_party/acados/{arch}/lib", "/System/Library/Frameworks/OpenGL.framework/Libraries", ] + if real_arch == "x86_64": + libpath.append(f"#third_party/acados/Darwin_x86_64/lib") + else: + libpath.append(f"#third_party/acados/{arch}/lib") + cflags += ["-DGL_SILENCE_DEPRECATION"] cxxflags += ["-DGL_SILENCE_DEPRECATION"] cpppath += [ @@ -253,7 +266,7 @@ def abspath(x): # rpath works elsewhere return x[0].path.rsplit("/", 1)[1][:-3] -# Cython build enviroment +# Cython build environment py_include = sysconfig.get_paths()['include'] envCython = env.Clone() envCython["CPPPATH"] += [py_include, np.get_include()] @@ -329,7 +342,7 @@ if GetOption("clazy"): qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0] qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks) -Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM') +Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED') SConscript(['common/SConscript']) Import('_common', '_gpucommon') diff --git a/cereal b/cereal index 5ab197001..cea51afd6 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 5ab19700178f01c14f362735532ee2662ab755fc +Subproject commit cea51afd67b5c56f7a18207ef91c5e45d6345526 diff --git a/common/clutil.cc b/common/clutil.cc index b8f9fde4c..9d3447d80 100644 --- a/common/clutil.cc +++ b/common/clutil.cc @@ -78,7 +78,8 @@ cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const ch } cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) { - cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, (const char*[]){src.c_str()}, NULL, &err)); + const char *csrc = src.c_str(); + cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err)); if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) { cl_print_build_errors(prg, device_id); assert(0); @@ -87,7 +88,7 @@ cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const } cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args) { - cl_program prg = CL_CHECK_ERR(clCreateProgramWithBinary(ctx, 1, &device_id, &length, (const uint8_t*[]){binary}, NULL, &err)); + cl_program prg = CL_CHECK_ERR(clCreateProgramWithBinary(ctx, 1, &device_id, &length, &binary, NULL, &err)); if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) { cl_print_build_errors(prg, device_id); assert(0); diff --git a/common/gpio.py b/common/gpio.py index 32e5ca86c..260f8898a 100644 --- a/common/gpio.py +++ b/common/gpio.py @@ -1,3 +1,5 @@ +from typing import Optional + def gpio_init(pin: int, output: bool) -> None: try: with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f: @@ -5,10 +7,19 @@ def gpio_init(pin: int, output: bool) -> None: except Exception as e: print(f"Failed to set gpio {pin} direction: {e}") - def gpio_set(pin: int, high: bool) -> None: try: with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f: f.write(b"1" if high else b"0") except Exception as e: print(f"Failed to set gpio {pin} value: {e}") + +def gpio_read(pin: int) -> Optional[bool]: + val = None + try: + with open(f"/sys/class/gpio/gpio{pin}/value", 'rb') as f: + val = bool(int(f.read().strip())) + except Exception as e: + print(f"Failed to set gpio {pin} value: {e}") + + return val diff --git a/common/params.cc b/common/params.cc index 11b24fe9c..5c8002dfb 100644 --- a/common/params.cc +++ b/common/params.cc @@ -84,9 +84,12 @@ private: std::unordered_map keys = { {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG}, + {"AssistNowToken", PERSISTENT}, {"AthenadPid", PERSISTENT}, {"AthenadUploadQueue", PERSISTENT}, {"CalibrationParams", PERSISTENT}, + {"CameraDebugExpGain", CLEAR_ON_MANAGER_START}, + {"CameraDebugExpTime", CLEAR_ON_MANAGER_START}, {"CarBatteryCapacity", PERSISTENT}, {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"CarParamsCache", CLEAR_ON_MANAGER_START}, @@ -97,6 +100,7 @@ std::unordered_map keys = { {"DashcamOverride", PERSISTENT}, {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"DisablePowerDown", PERSISTENT}, + {"EndToEndLong", PERSISTENT}, {"DisableRadar_Allow", PERSISTENT}, {"DisableRadar", PERSISTENT}, // WARNING: THIS DISABLES AEB {"DisableUpdates", PERSISTENT}, @@ -151,6 +155,7 @@ std::unordered_map keys = { {"RecordFront", PERSISTENT}, {"RecordFrontLock", PERSISTENT}, // for the internal fleet {"ReleaseNotes", PERSISTENT}, + {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"ShouldDoUpdate", CLEAR_ON_MANAGER_START}, {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, {"SshEnabled", PERSISTENT}, diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx index 36c8cf777..8d52b8d3f 100755 --- a/common/params_pyx.pyx +++ b/common/params_pyx.pyx @@ -90,7 +90,7 @@ cdef class Params: with nogil: self.p.putBool(k, val) - def delete(self, key): + def remove(self, key): cdef string k = self.check_key(key) with nogil: self.p.remove(k) diff --git a/common/tests/test_params.py b/common/tests/test_params.py index f99ac81a3..899a47fe3 100644 --- a/common/tests/test_params.py +++ b/common/tests/test_params.py @@ -59,13 +59,13 @@ class TestParams(unittest.TestCase): with self.assertRaises(UnknownKeyName): self.params.put_bool("swag", True) - def test_delete_not_there(self): + def test_remove_not_there(self): assert self.params.get("CarParams") is None - self.params.delete("CarParams") + self.params.remove("CarParams") assert self.params.get("CarParams") is None def test_get_bool(self): - self.params.delete("IsMetric") + self.params.remove("IsMetric") self.assertFalse(self.params.get_bool("IsMetric")) self.params.put_bool("IsMetric", True) diff --git a/common/tests/test_util.cc b/common/tests/test_util.cc index 62e73275d..25ecf09aa 100644 --- a/common/tests/test_util.cc +++ b/common/tests/test_util.cc @@ -136,7 +136,7 @@ TEST_CASE("util::create_directories") { REQUIRE(util::create_directories(dir + "/file", 0755) == false); REQUIRE(util::create_directories(dir + "/file/1/2/3", 0755) == false); } - SECTION("end with slashs") { + SECTION("end with slashes") { REQUIRE(util::create_directories(dir + "/", 0755)); } SECTION("empty") { diff --git a/common/version.h b/common/version.h index bf1c58df1..0a109c1fa 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.8.16" +#define COMMA_VERSION "0.8.17" diff --git a/docs/CARS.md b/docs/CARS.md index ff539f052..1f0e24865 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -2,228 +2,217 @@ # Supported Cars -A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system. +A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. -## How We Rate The Cars +# 205 Supported Cars -### Stop and Go -- [![star](assets/icon-star-full.svg)](##) - openpilot operates down to 0 mph. -- [![star](assets/icon-star-empty.svg)](##) - openpilot operates only above a minimum speed. See your car's manual for the minimum speed. - -### Steer to 0 -- [![star](assets/icon-star-full.svg)](##) - openpilot can control the steering wheel down to 0 mph. -- [![star](assets/icon-star-empty.svg)](##) - No steering control below certain speeds. See your car's manual for the minimum speed. - -### Steering Torque -- [![star](assets/icon-star-full.svg)](##) - Car has enough steering torque to comfortably take most highway turns. -- [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns. - - -# 201 Supported Cars - -|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque| -|---|---|---|:---:|:---:|:---:|:---:| -|Acura|ILX 2016-19|AcuraWatch Plus|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Acura|RDX 2016-18|AcuraWatch Plus|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Acura|RDX 2019-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Audi|A3 2014-19|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Audi|Q2 2018|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Audi|Q3 2020-21|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Audi|RS3 2018|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Audi|S3 2015-17|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Cadillac|Escalade ESV 2016[1](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Chevrolet|Bolt EUV 2022-23|Premier/Premier Redline Trim|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise Control|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Chrysler|Pacifica 2017-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Chrysler|Pacifica 2019-20|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Chrysler|Pacifica 2021|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|comma|body|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Genesis|G70 2018-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Genesis|G70 2020|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Genesis|G80 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Genesis|G90 2017-18|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise Control|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Honda|Accord 2018-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Honda|Accord Hybrid 2018-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Honda|Civic 2016-18|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Honda|Civic 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)[2](#footnotes)|[![star](assets/icon-star-empty.svg)](##)| -|Honda|Civic 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Honda|Civic Hatchback 2017-21|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Honda|Civic Hatchback 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Honda|CR-V 2015-16|Touring Trim|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Honda|CR-V 2017-22|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Honda|CR-V Hybrid 2017-19|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Honda|e 2020|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Honda|Fit 2018-20|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Honda|Freed 2020|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Honda|HR-V 2019-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Honda|Insight 2019-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Honda|Inspire 2018|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Honda|Odyssey 2018-20|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Honda|Passport 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Honda|Pilot 2016-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Honda|Ridgeline 2017-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Ioniq 5 2022|Highway Driving Assist II|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC) & LFA|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Kona 2020|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Palisade 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Santa Fe 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Santa Fe 2021-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Santa Fe Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Santa Fe Plug-in Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Sonata 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Sonata Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|EV6 2022|Highway Driving Assist II|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Forte 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|K5 2021-22|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Niro Electric 2019|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Niro Electric 2020|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Niro Electric 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Niro Electric 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Niro Plug-in Hybrid 2018-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Optima 2017|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Optima 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Seltos 2021|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Sorento 2018|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Sorento 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Stinger 2018-20|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Telluride 2020|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|CT Hybrid 2017-18|Lexus Safety System+|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|ES 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|ES Hybrid 2017-18|Lexus Safety System+|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|ES Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|IS 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|NX 2018-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|NX 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|NX Hybrid 2018-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|NX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|RC 2017-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|RX 2016-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|RX 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|RX Hybrid 2016-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|RX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|UX Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Mazda|CX-5 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Mazda|CX-9 2021-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Nissan|Altima 2019-20|ProPILOT Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Nissan|Leaf 2018-22|ProPILOT Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Nissan|Rogue 2018-20|ProPILOT Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Nissan|X-Trail 2017|ProPILOT Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Ram|1500 2019-22|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|SEAT|Ateca 2018|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|SEAT|Leon 2014-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Subaru|Ascent 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Subaru|Crosstrek 2020-21|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Subaru|Forester 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Subaru|Impreza 2017-19|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Subaru|Impreza 2020-22|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Subaru|Outback 2020-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Subaru|XV 2018-19|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Subaru|XV 2020-21|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Škoda|Kamiq 2021[5](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Škoda|Karoq 2019-21[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Škoda|Kodiaq 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Škoda|Octavia 2015, 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Škoda|Octavia RS 2016|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Škoda|Scala 2020|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Škoda|Superb 2015-18|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Alphard 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Alphard Hybrid 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Avalon 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Avalon 2017-18|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Avalon 2019-21|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Avalon 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Avalon Hybrid 2019-21|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Avalon Hybrid 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|C-HR 2017-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|C-HR Hybrid 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Camry 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Camry 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Camry Hybrid 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Camry Hybrid 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Corolla 2017-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Corolla 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Corolla Cross (Non-US only) 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Corolla Hatchback 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Corolla Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Highlander 2017-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Highlander 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Highlander Hybrid 2017-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Highlander Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Mirai 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Prius 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Prius 2017-20|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Prius 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Prius Prime 2017-20|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Prius Prime 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Prius v 2017|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|RAV4 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|RAV4 2017-18|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|RAV4 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|RAV4 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|RAV4 Hybrid 2017-18|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|RAV4 Hybrid 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|RAV4 Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Sienna 2018-20|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Arteon 2018-22[7,8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Arteon eHybrid 2020-22[7,8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Arteon R 2020-22[7,8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Atlas 2018-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Atlas Cross Sport 2021-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|California 2021[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Caravelle 2020[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|CC 2018-22[7,8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|e-Golf 2014-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Golf 2015-20[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Golf GTD 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Golf GTE 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Golf GTI 2015-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Golf R 2015-19[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Jetta 2018-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Jetta GLI 2021-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Passat 2015-22[6,7,8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Passat Alltrack 2015-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Passat GTE 2015-22[7,8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Polo 2020-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Polo GTI 2020-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|T-Cross 2021[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|T-Roc 2021[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Teramont 2018-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Teramont Cross Sport 2021-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Teramont X 2021-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Tiguan 2019-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Touran 2017|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness| +|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:| +|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| +|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| +|Audi|Q3 2020-21|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Audi|RS3 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Audi|S3 2015-17|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Cadillac|Escalade ESV 2016[1](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| +|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| +|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| +|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| +|Chrysler|Pacifica 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 2019-20|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| +|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| +|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| +|GMC|Acadia 2018[1](#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|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[2](#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 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|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|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|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 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 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 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|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|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|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|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 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|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| +|Kia|Telluride 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| +|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Lexus|ES Hybrid 2017-18|Lexus Safety System+|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|NX 2018-19|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Lexus|NX Hybrid 2018-19|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|RX 2016-19|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Lexus|RX Hybrid 2016-19|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Mazda|CX-5 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda| +|Mazda|CX-9 2021-22|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda| +|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan B| +|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A| +|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A| +|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A| +|Ram|1500 2019-22|Adaptive Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram| +|SEAT|Ateca 2018|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|SEAT|Leon 2014-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| +|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| +|Subaru|Crosstrek 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| +|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| +|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| +|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| +|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B| +|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B| +|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| +|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| +|Škoda|Kamiq 2021[5](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Škoda|Karoq 2019-21[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Škoda|Kodiaq 2018-19|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Škoda|Octavia 2015, 2018-19|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Škoda|Octavia RS 2016|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Škoda|Scala 2020|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Škoda|Superb 2015-18|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Toyota|Avalon 2016|Toyota Safety Sense P|Stock[3](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Avalon 2017-18|All|Stock[3](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Avalon 2019-21|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Toyota|Avalon Hybrid 2019-21|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Camry 2018-20|All|Stock|0 mph[4](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Camry 2021-22|All|openpilot|0 mph[4](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Camry Hybrid 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Toyota|Corolla 2017-19|All|Stock[3](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Toyota|Corolla Cross (Non-US only) 2020-21|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Toyota|Highlander 2017-19|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Highlander 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Toyota|Highlander Hybrid 2017-19|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Highlander Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Toyota|Prius 2016|Toyota Safety Sense P|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Prius 2017-20|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Toyota|Prius Prime 2017-20|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Toyota|Prius v 2017|Toyota Safety Sense P|Stock[3](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|RAV4 2016|Toyota Safety Sense P|Stock[3](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|RAV4 2017-18|All|Stock[3](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|RAV4 Hybrid 2017-18|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Sienna 2018-20|All|Stock[3](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Volkswagen|Arteon 2018-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Arteon eHybrid 2020-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Arteon R 2020-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Atlas 2018-23[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Atlas Cross Sport 2021-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|California 2021[7](#footnotes)|Driver Assistance|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Caravelle 2020[7](#footnotes)|Driver Assistance|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|CC 2018-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|e-Golf 2014-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Golf 2015-20[8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Golf GTD 2015-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Golf GTE 2015-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Golf GTI 2015-21|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Golf R 2015-19[8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Jetta 2018-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Jetta GLI 2021-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Passat 2015-22[6,7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Passat Alltrack 2015-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Passat GTE 2015-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Polo 2020-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Polo GTI 2020-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|T-Cross 2021[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|T-Roc 2021[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Teramont 2018-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Teramont Cross Sport 2021-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Teramont X 2021-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Tiguan 2019-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Touran 2017|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| 1Requires a community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
@@ -241,13 +230,13 @@ Although they're not upstream, the community has openpilot running on other make # Don't see your car here? **openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported. -If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. We don't have a roadmap for car support, and in fact, most car support comes from users like you! +If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. **We don't have a roadmap for car support**, and in fact, most car support comes from users like you! ### Which cars are able to be supported? -openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering) and [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control), then it almost certainly has these interfaces. These interfaces generally started shipping on cars around 2016. +openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control) and any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering), then it almost certainly has these interfaces. These features generally started shipping on cars around 2016. Note that manufacturers will often make their own [marketing terms](https://en.wikipedia.org/wiki/Adaptive_cruise_control#Vehicle_models_supporting_adaptive_cruise_control) for these features, such as Hyundai's "Smart Cruise Control" branding of Adaptive Cruise Control. -If your car has the following packages or features, then it's a good candidate for support. If it does not, then it's unlikely able to be supported. +If your car has the following packages or features, then it's a good candidate for support. | Make | Required Package/Features | | ---- | ------------------------- | @@ -265,8 +254,9 @@ All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wi ### Toyota Security -Specific new Toyota models are shipping with a new message authentication method that openpilot does not yet support. -So far, this list includes: +openpilot does not yet support these Toyota models due to a new message authentication method. +[Vote](https://comma.ai/shop/products/vote) if you'd like to see openpilot support on these models. + * Toyota RAV4 Prime 2021+ * Toyota Sienna 2021+ * Toyota Venza 2021+ @@ -275,4 +265,4 @@ So far, this list includes: * Toyota Corolla Cross 2022+ (only US model) * Lexus NX 2022+ * Toyota bZ4x 2023+ -* Subaru Solterra 2023+ \ No newline at end of file +* Subaru Solterra 2023+ diff --git a/docs/c_docs.rst b/docs/c_docs.rst index 94d0adb56..77be7e51d 100644 --- a/docs/c_docs.rst +++ b/docs/c_docs.rst @@ -72,8 +72,6 @@ modeld :project: selfdrive_modeld_transforms .. autodoxygenindex:: :project: selfdrive_modeld_models -.. autodoxygenindex:: - :project: selfdrive_modeld_thneed .. autodoxygenindex:: :project: selfdrive_modeld_runners diff --git a/opendbc b/opendbc index c6665ed11..83d4cb9fd 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit c6665ed11b8d8c998e46f8dbee30e70a7d451e5e +Subproject commit 83d4cb9fd871a563f4a0af0102992c0b52c94310 diff --git a/release/build_release.sh b/release/build_release.sh index 1000e607f..80106eefb 100755 --- a/release/build_release.sh +++ b/release/build_release.sh @@ -78,7 +78,7 @@ find . -name 'moc_*' -delete find . -name '__pycache__' -delete rm -rf panda/board panda/certs panda/crypto rm -rf .sconsign.dblite Jenkinsfile release/ -rm selfdrive/modeld/models/supercombo.dlc +rm selfdrive/modeld/models/supercombo.onnx # Move back signed panda fw mkdir -p panda/board/obj diff --git a/release/files_common b/release/files_common index 8bf99f022..ad99af752 100644 --- a/release/files_common +++ b/release/files_common @@ -90,8 +90,6 @@ selfdrive/boardd/boardd_api_impl.pyx selfdrive/boardd/can_list_to_can_capnp.cc selfdrive/boardd/panda.cc selfdrive/boardd/panda.h -selfdrive/boardd/pigeon.cc -selfdrive/boardd/pigeon.h selfdrive/boardd/set_time.py selfdrive/boardd/pandad.py @@ -175,7 +173,6 @@ selfdrive/controls/lib/alerts_offroad.json selfdrive/controls/lib/desire_helper.py selfdrive/controls/lib/drive_helpers.py selfdrive/controls/lib/events.py -selfdrive/controls/lib/lane_planner.py selfdrive/controls/lib/latcontrol_angle.py selfdrive/controls/lib/latcontrol_indi.py selfdrive/controls/lib/latcontrol_torque.py @@ -282,6 +279,7 @@ selfdrive/sensord/sensors_qcom2.cc selfdrive/sensord/sensors/*.cc selfdrive/sensord/sensors/*.h selfdrive/sensord/sensord +selfdrive/sensord/pigeond.py selfdrive/thermald/thermald.py selfdrive/thermald/power_monitoring.py @@ -353,7 +351,7 @@ selfdrive/modeld/models/driving.cc selfdrive/modeld/models/driving.h selfdrive/modeld/models/dmonitoring.cc selfdrive/modeld/models/dmonitoring.h -selfdrive/modeld/models/supercombo.dlc +selfdrive/modeld/models/supercombo.onnx selfdrive/modeld/models/dmonitoring_model_q.dlc selfdrive/modeld/transforms/loadyuv.cc @@ -364,12 +362,11 @@ selfdrive/modeld/transforms/transform.h selfdrive/modeld/transforms/transform.cl selfdrive/modeld/thneed/*.py -selfdrive/modeld/thneed/thneed.* +selfdrive/modeld/thneed/thneed.h +selfdrive/modeld/thneed/thneed_common.cc +selfdrive/modeld/thneed/thneed_qcom2.cc selfdrive/modeld/thneed/serialize.cc -selfdrive/modeld/thneed/compile.cc -selfdrive/modeld/thneed/optimizer.cc selfdrive/modeld/thneed/include/* -selfdrive/modeld/thneed/kernels/*.cl selfdrive/modeld/runners/snpemodel.cc selfdrive/modeld/runners/snpemodel.h @@ -513,6 +510,8 @@ opendbc/gm_global_a_powertrain_generated.dbc opendbc/gm_global_a_object.dbc opendbc/gm_global_a_chassis.dbc +opendbc/FORD_CADS.dbc +opendbc/ford_fusion_2018_adas.dbc opendbc/ford_lincoln_base_pt.dbc opendbc/honda_accord_2018_can_generated.dbc @@ -532,7 +531,7 @@ opendbc/honda_insight_ex_2019_can_generated.dbc opendbc/acura_ilx_2016_nidec.dbc opendbc/honda_civic_ex_2022_can_generated.dbc -opendbc/kia_ev6.dbc +opendbc/hyundai_canfd.dbc opendbc/hyundai_kia_generic.dbc opendbc/hyundai_kia_mando_front_radar.dbc @@ -552,8 +551,22 @@ opendbc/toyota_nodsu_pt_generated.dbc opendbc/toyota_adas.dbc opendbc/toyota_tss2_adas.dbc +opendbc/vw_golf_mk4.dbc opendbc/vw_mqb_2010.dbc opendbc/tesla_can.dbc opendbc/tesla_radar.dbc opendbc/tesla_powertrain.dbc + +tinygrad_repo/openpilot/compile.py +tinygrad_repo/accel/opencl/* +tinygrad_repo/extra/onnx.py +tinygrad_repo/extra/utils.py +tinygrad_repo/tinygrad/llops/ops_gpu.py +tinygrad_repo/tinygrad/llops/ops_opencl.py +tinygrad_repo/tinygrad/helpers.py +tinygrad_repo/tinygrad/mlops.py +tinygrad_repo/tinygrad/ops.py +tinygrad_repo/tinygrad/shapetracker.py +tinygrad_repo/tinygrad/tensor.py +tinygrad_repo/tinygrad/nn/__init__.py diff --git a/release/files_tici b/release/files_tici index f8c0a2795..8e3249cdf 100644 --- a/release/files_tici +++ b/release/files_tici @@ -11,5 +11,7 @@ system/camerad/cameras/camera_qcom2.cc system/camerad/cameras/camera_qcom2.h system/camerad/cameras/real_debayer.cl +selfdrive/sensord/rawgps/* + selfdrive/ui/qt/spinner_larch64 selfdrive/ui/qt/text_larch64 diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index 6ccd6c3de..5b351ca0f 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -739,14 +739,14 @@ def main(): break except (ConnectionError, TimeoutError, WebSocketException): conn_retries += 1 - params.delete("LastAthenaPingTime") + params.remove("LastAthenaPingTime") except socket.timeout: - params.delete("LastAthenaPingTime") + params.remove("LastAthenaPingTime") except Exception: cloudlog.exception("athenad.main.exception") conn_retries += 1 - params.delete("LastAthenaPingTime") + params.remove("LastAthenaPingTime") time.sleep(backoff(conn_retries)) diff --git a/selfdrive/athena/manage_athenad.py b/selfdrive/athena/manage_athenad.py index 6bbb03a79..59ca2430c 100755 --- a/selfdrive/athena/manage_athenad.py +++ b/selfdrive/athena/manage_athenad.py @@ -27,7 +27,7 @@ def main(): except Exception: cloudlog.exception("manage_athenad.exception") finally: - params.delete(ATHENA_MGR_PID_PARAM) + params.remove(ATHENA_MGR_PID_PARAM) if __name__ == '__main__': diff --git a/selfdrive/athena/tests/helpers.py b/selfdrive/athena/tests/helpers.py index bb5fcd106..071393cb1 100644 --- a/selfdrive/athena/tests/helpers.py +++ b/selfdrive/athena/tests/helpers.py @@ -116,7 +116,7 @@ def with_http_server(func): with Timeout(2, 'HTTP Server seeding failed'): while True: try: - requests.put(f'http://{host}:{port}/qlog.bz2', data='') + requests.put(f'http://{host}:{port}/qlog.bz2', data='', timeout=10) break except requests.exceptions.ConnectionError: time.sleep(0.1) diff --git a/selfdrive/boardd/SConscript b/selfdrive/boardd/SConscript index 922107509..dcbea03d3 100644 --- a/selfdrive/boardd/SConscript +++ b/selfdrive/boardd/SConscript @@ -1,7 +1,7 @@ Import('env', 'envCython', 'common', 'cereal', 'messaging') libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'] -env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc', 'pigeon.cc'], LIBS=libs) +env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc'], LIBS=libs) env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc']) envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 240935175..47bff1c5b 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -29,14 +29,12 @@ #include "common/util.h" #include "system/hardware/hw.h" -#include "selfdrive/boardd/pigeon.h" - // -- Multi-panda conventions -- // Ordering: // - The internal panda will always be the first panda // - Consecutive pandas will be sorted based on panda type, and then serial number // Connecting: -// - If a panda connection is dropped, boardd wil reconnect to all pandas +// - If a panda connection is dropped, boardd will reconnect to all pandas // - If a panda is added, we will only reconnect when we are offroad // CAN buses: // - Each panda will have it's block of 4 buses. E.g.: the second panda will use @@ -46,7 +44,7 @@ // Safety: // - SafetyConfig is a list, which is mapped to the connected pandas // - If there are more pandas connected than there are SafetyConfigs, -// the excess pandas will remain in "silent" ot "noOutput" mode +// the excess pandas will remain in "silent" or "noOutput" mode // Ignition: // - If any of the ignition sources in any panda is high, ignition is high @@ -197,13 +195,7 @@ Panda *usb_connect(std::string serial="", uint32_t index=0) { if (getenv("BOARDD_LOOPBACK")) { panda->set_loopback(true); } - panda->enable_deepsleep(); - - // power on charging, only the first time. Panda can also change mode and it causes a brief disconneciton -#ifndef __x86_64__ - static std::once_flag connected_once; - std::call_once(connected_once, &Panda::set_usb_power_mode, panda, cereal::PeripheralState::UsbPowerMode::CDP); -#endif + //panda->enable_deepsleep(); sync_time(panda.get(), SyncTimeDir::FROM_PANDA); return panda.release(); @@ -372,6 +364,7 @@ std::optional send_panda_states(PubMaster *pm, const std::vector ps.setAlternativeExperience(health.alternative_experience_pkt); ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt)); ps.setInterruptLoad(health.interrupt_load); + ps.setFanPower(health.fan_power); // Convert faults bitset to capnp list std::bitset fault_bits(health.faults_pkt); @@ -392,13 +385,6 @@ std::optional send_panda_states(PubMaster *pm, const std::vector } void send_peripheral_state(PubMaster *pm, Panda *panda) { - auto pandaState_opt = panda->get_state(); - if (!pandaState_opt) { - return; - } - - health_t pandaState = *pandaState_opt; - // build msg MessageBuilder msg; auto evt = msg.initEvent(); @@ -416,7 +402,6 @@ void send_peripheral_state(PubMaster *pm, Panda *panda) { } uint16_t fan_speed_rpm = panda->get_fan_speed(); - ps.setUsbPowerMode(cereal::PeripheralState::UsbPowerMode(pandaState.usb_power_mode_pkt)); ps.setFanSpeedRpm(fan_speed_rpm); pm->send("peripheralState", msg); @@ -492,7 +477,6 @@ void peripheral_control_thread(Panda *panda) { uint16_t prev_fan_speed = 999; uint16_t ir_pwr = 0; uint16_t prev_ir_pwr = 999; - bool prev_charging_disabled = false; unsigned int cnt = 0; FirstOrderFilter integ_lines_filter(0, 30.0, 0.05); @@ -501,23 +485,9 @@ void peripheral_control_thread(Panda *panda) { cnt++; sm.update(1000); // TODO: what happens if EINTR is sent while in sm.update? - if (!Hardware::PC() && sm.updated("deviceState")) { - // Charging mode - bool charging_disabled = sm["deviceState"].getDeviceState().getChargingDisabled(); - if (charging_disabled != prev_charging_disabled) { - if (charging_disabled) { - panda->set_usb_power_mode(cereal::PeripheralState::UsbPowerMode::CLIENT); - LOGW("TURN OFF CHARGING!\n"); - } else { - panda->set_usb_power_mode(cereal::PeripheralState::UsbPowerMode::CDP); - LOGW("TURN ON CHARGING!\n"); - } - prev_charging_disabled = charging_disabled; - } - } - // Other pandas don't have fan/IR to control if (panda->hw_type != cereal::PandaState::PandaType::UNO && panda->hw_type != cereal::PandaState::PandaType::DOS) continue; + if (sm.updated("deviceState")) { // Fan speed uint16_t fan_speed = sm["deviceState"].getDeviceState().getFanSpeedPercentDesired(); @@ -542,6 +512,7 @@ void peripheral_control_thread(Panda *panda) { ir_pwr = 100.0 * (MIN_IR_POWER + ((cur_integ_lines - CUTOFF_IL) * (MAX_IR_POWER - MIN_IR_POWER) / (SATURATE_IL - CUTOFF_IL))); } } + // Disable ir_pwr on front frame timeout uint64_t cur_t = nanos_since_boot(); if (cur_t - last_front_frame_t > 1e9) { @@ -560,56 +531,6 @@ void peripheral_control_thread(Panda *panda) { } } -static void pigeon_publish_raw(PubMaster &pm, const std::string &dat) { - // create message - MessageBuilder msg; - msg.initEvent().setUbloxRaw(capnp::Data::Reader((uint8_t*)dat.data(), dat.length())); - pm.send("ubloxRaw", msg); -} - -void pigeon_thread(Panda *panda) { - util::set_thread_name("boardd_pigeon"); - - PubMaster pm({"ubloxRaw"}); - bool ignition_last = false; - - std::unique_ptr pigeon(Hardware::TICI() ? Pigeon::connect("/dev/ttyHS0") : Pigeon::connect(panda)); - - while (!do_exit && panda->connected) { - bool need_reset = false; - bool ignition_local = ignition; - std::string recv = pigeon->receive(); - - // Check based on null bytes - if (ignition_local && recv.length() > 0 && recv[0] == (char)0x00) { - need_reset = true; - LOGW("received invalid ublox message while onroad, resetting panda GPS"); - } - - if (recv.length() > 0) { - pigeon_publish_raw(pm, recv); - } - - // init pigeon on rising ignition edge - // since it was turned off in low power mode - if((ignition_local && !ignition_last) || need_reset) { - pigeon_active = true; - pigeon->init(); - } else if (!ignition_local && ignition_last) { - // power off on falling edge of ignition - LOGD("powering off pigeon\n"); - pigeon->stop(); - pigeon->set_power(false); - pigeon_active = false; - } - - ignition_last = ignition_local; - - // 10ms - 100 Hz - util::sleep_for(10); - } -} - void boardd_main_thread(std::vector serials) { PubMaster pm({"pandaStates", "peripheralState"}); LOGW("attempting to connect"); @@ -648,7 +569,6 @@ void boardd_main_thread(std::vector serials) { threads.emplace_back(panda_state_thread, &pm, pandas, getenv("STARTED") != nullptr); threads.emplace_back(peripheral_control_thread, peripheral_panda); - threads.emplace_back(pigeon_thread, peripheral_panda); threads.emplace_back(can_send_thread, pandas, getenv("FAKESEND") != nullptr); threads.emplace_back(can_recv_thread, pandas); diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index d90c4cdab..685dabd87 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -342,10 +342,6 @@ void Panda::enable_deepsleep() { usb_write(0xfb, 0, 0); } -void Panda::set_usb_power_mode(cereal::PeripheralState::UsbPowerMode power_mode) { - usb_write(0xe6, (uint16_t)power_mode, 0); -} - void Panda::send_heartbeat(bool engaged) { usb_write(0xf3, engaged, 0); } diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h index 23a10d585..1cefc3cb4 100644 --- a/selfdrive/boardd/panda.h +++ b/selfdrive/boardd/panda.h @@ -86,7 +86,6 @@ class Panda { std::optional get_serial(); void set_power_saving(bool power_saving); void enable_deepsleep(); - void set_usb_power_mode(cereal::PeripheralState::UsbPowerMode power_mode); void send_heartbeat(bool engaged); void set_can_speed_kbps(uint16_t bus, uint16_t speed); void set_data_speed_kbps(uint16_t bus, uint16_t speed); diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py index 54a28a678..971756002 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/boardd/pandad.py @@ -83,7 +83,7 @@ def main() -> NoReturn: while True: try: - params.delete("PandaSignatures") + params.remove("PandaSignatures") # Flash all Pandas in DFU mode for p in PandaDFU.list(): diff --git a/selfdrive/boardd/pigeon.cc b/selfdrive/boardd/pigeon.cc deleted file mode 100644 index d23ff90d3..000000000 --- a/selfdrive/boardd/pigeon.cc +++ /dev/null @@ -1,333 +0,0 @@ -#include "selfdrive/boardd/pigeon.h" - -#include -#include -#include - -#include -#include -#include - -#include "common/gpio.h" -#include "common/swaglog.h" -#include "common/util.h" -#include "selfdrive/locationd/ublox_msg.h" - -// Termios on macos doesn't define all baud rate constants -#ifndef B460800 -#define B460800 0010004 -#endif - -using namespace std::string_literals; - -extern ExitHandler do_exit; - -const std::string ack = "\xb5\x62\x05\x01\x02\x00"; -const std::string nack = "\xb5\x62\x05\x00\x02\x00"; -const std::string sos_save_ack = "\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x01\x00\x00\x00"; -const std::string sos_save_nack = "\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x00\x00\x00\x00"; - -Pigeon * Pigeon::connect(Panda * p) { - PandaPigeon * pigeon = new PandaPigeon(); - pigeon->connect(p); - - return pigeon; -} - -Pigeon * Pigeon::connect(const char * tty) { - TTYPigeon * pigeon = new TTYPigeon(); - pigeon->connect(tty); - - return pigeon; -} - -bool Pigeon::wait_for_ack(const std::string &ack_, const std::string &nack_, int timeout_ms) { - std::string s; - const double start_t = millis_since_boot(); - while (!do_exit) { - s += receive(); - - if (s.find(ack_) != std::string::npos) { - LOGD("Received ACK from ublox"); - return true; - } else if (s.find(nack_) != std::string::npos) { - LOGE("Received NACK from ublox"); - return false; - } else if (s.size() > 0x1000 || ((millis_since_boot() - start_t) > timeout_ms)) { - LOGE("No response from ublox"); - return false; - } - - util::sleep_for(1); // Allow other threads to be scheduled - } - return false; -} - -bool Pigeon::wait_for_ack() { - return wait_for_ack(ack, nack); -} - -bool Pigeon::send_with_ack(const std::string &cmd) { - send(cmd); - return wait_for_ack(); -} - -sos_restore_response Pigeon::wait_for_backup_restore_status(int timeout_ms) { - std::string s; - const double start_t = millis_since_boot(); - while (!do_exit) { - s += receive(); - - size_t position = s.find("\xb5\x62\x09\x14\x08\x00\x03"); - if (position != std::string::npos && s.size() >= (position + 11)) { - return static_cast(s[position + 10]); - } else if (s.size() > 0x1000 || ((millis_since_boot() - start_t) > timeout_ms)) { - LOGE("No backup restore response from ublox"); - return error; - } - - util::sleep_for(1); // Allow other threads to be scheduled - } - return error; -} - -void Pigeon::init() { - for (int i = 0; i < 10; i++) { - if (do_exit) return; - LOGW("panda GPS start"); - - // power off pigeon - set_power(false); - util::sleep_for(100); - - // 9600 baud at init - set_baud(9600); - - // power on pigeon - set_power(true); - util::sleep_for(500); - - // baud rate upping - send("\x24\x50\x55\x42\x58\x2C\x34\x31\x2C\x31\x2C\x30\x30\x30\x37\x2C\x30\x30\x30\x33\x2C\x34\x36\x30\x38\x30\x30\x2C\x30\x2A\x31\x35\x0D\x0A"s); - util::sleep_for(100); - - // set baud rate to 460800 - set_baud(460800); - - // init from ubloxd - // To generate this data, run selfdrive/locationd/test/ubloxd.py - if (!send_with_ack("\xB5\x62\x06\x00\x14\x00\x03\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01\x00\x00\x00\x00\x00\x1E\x7F"s)) continue; - if (!send_with_ack("\xB5\x62\x06\x00\x14\x00\x00\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x19\x35"s)) continue; - if (!send_with_ack("\xB5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x01\x00\x01\x00\x00\x00\x00\x00\xF4\x80"s)) continue; - if (!send_with_ack("\xB5\x62\x06\x00\x14\x00\x04\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1D\x85"s)) continue; - if (!send_with_ack("\xB5\x62\x06\x00\x00\x00\x06\x18"s)) continue; - if (!send_with_ack("\xB5\x62\x06\x00\x01\x00\x01\x08\x22"s)) continue; - if (!send_with_ack("\xB5\x62\x06\x00\x01\x00\x03\x0A\x24"s)) continue; - if (!send_with_ack("\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10"s)) continue; - if (!send_with_ack("\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63"s)) continue; - if (!send_with_ack("\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37"s)) continue; - if (!send_with_ack("\xB5\x62\x06\x39\x08\x00\xFF\xAD\x62\xAD\x1E\x63\x00\x00\x83\x0C"s)) continue; - if (!send_with_ack("\xB5\x62\x06\x24\x00\x00\x2A\x84"s)) continue; - if (!send_with_ack("\xB5\x62\x06\x23\x00\x00\x29\x81"s)) continue; - if (!send_with_ack("\xB5\x62\x06\x1E\x00\x00\x24\x72"s)) continue; - if (!send_with_ack("\xB5\x62\x06\x39\x00\x00\x3F\xC3"s)) continue; - if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x01\x07\x01\x13\x51"s)) continue; - if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70"s)) continue; - if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C"s)) continue; - if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70"s)) continue; - if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74"s)) continue; - - // check the backup restore status - send("\xB5\x62\x09\x14\x00\x00\x1D\x60"s); - sos_restore_response restore_status = wait_for_backup_restore_status(); - switch(restore_status) { - case restored: - LOGW("almanac backup restored"); - // clear the backup - send_with_ack("\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74"s); - break; - case no_backup: - LOGW("no almanac backup found"); - break; - default: - LOGE("failed to restore almanac backup, status: %d", restore_status); - } - - auto time = util::get_time(); - if (util::time_valid(time)) { - LOGW("Sending current time to ublox"); - send(ublox::build_ubx_mga_ini_time_utc(time)); - } - - LOGW("panda GPS on"); - return; - } - LOGE("failed to initialize panda GPS"); -} - -void Pigeon::stop() { - LOGW("Storing almanac in ublox flash"); - - // Controlled GNSS stop - send("\xB5\x62\x06\x04\x04\x00\x00\x00\x08\x00\x16\x74"s); - - // Store almanac in flash - send("\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC"s); - - if (wait_for_ack(sos_save_ack, sos_save_nack)) { - LOGW("Done storing almanac"); - } else { - LOGE("Error storing almanac"); - } -} - -void PandaPigeon::connect(Panda * p) { - panda = p; -} - -void PandaPigeon::set_baud(int baud) { - panda->usb_write(0xe2, 1, 0); - panda->usb_write(0xe4, 1, baud/300); -} - -void PandaPigeon::send(const std::string &s) { - int len = s.length(); - const char * dat = s.data(); - - unsigned char a[0x20+1]; - a[0] = 1; - for (int i=0; iusb_bulk_write(2, a, ll+1); - } -} - -std::string PandaPigeon::receive() { - std::string r; - r.reserve(0x1000 + 0x40); - unsigned char dat[0x40]; - while (r.length() < 0x1000) { - int len = panda->usb_read(0xe0, 1, 0, dat, sizeof(dat)); - if (len <= 0) break; - r.append((char*)dat, len); - } - - return r; -} - -void PandaPigeon::set_power(bool power) { - panda->usb_write(0xd9, power, 0); -} - -PandaPigeon::~PandaPigeon() { -} - -void handle_tty_issue(int err, const char func[]) { - LOGE_100("tty error %d \"%s\" in %s", err, strerror(err), func); -} - -void TTYPigeon::connect(const char * tty) { - pigeon_tty_fd = HANDLE_EINTR(open(tty, O_RDWR)); - if (pigeon_tty_fd < 0) { - handle_tty_issue(errno, __func__); - assert(pigeon_tty_fd >= 0); - } - int err = tcgetattr(pigeon_tty_fd, &pigeon_tty); - assert(err == 0); - - // configure tty - pigeon_tty.c_cflag &= ~PARENB; // disable parity - pigeon_tty.c_cflag &= ~CSTOPB; // single stop bit - pigeon_tty.c_cflag |= CS8; // 8 bits per byte - pigeon_tty.c_cflag &= ~CRTSCTS; // no RTS/CTS flow control - pigeon_tty.c_cflag |= CREAD | CLOCAL; // turn on READ & ignore ctrl lines - pigeon_tty.c_lflag &= ~ICANON; // disable canonical mode - pigeon_tty.c_lflag &= ~ISIG; // disable interpretation of INTR, QUIT and SUSP - pigeon_tty.c_iflag &= ~(IXON | IXOFF | IXANY); // turn off software flow ctrl - pigeon_tty.c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL); // disable any special handling of received bytes - pigeon_tty.c_oflag &= ~OPOST; // prevent special interpretation of output bytes - pigeon_tty.c_oflag &= ~ONLCR; // prevent conversion of newline to carriage return/line feed - - // configure blocking behavior - pigeon_tty.c_cc[VMIN] = 0; // min amount of characters returned - pigeon_tty.c_cc[VTIME] = 0; // max blocking time in s/10 (0=inf) - - err = tcsetattr(pigeon_tty_fd, TCSANOW, &pigeon_tty); - assert(err == 0); -} - -void TTYPigeon::set_baud(int baud) { - speed_t baud_const = 0; - switch(baud) { - case 9600: - baud_const = B9600; - break; - case 460800: - baud_const = B460800; - break; - default: - assert(false); - } - - // make sure everything is tx'ed before changing baud - int err = tcdrain(pigeon_tty_fd); - assert(err == 0); - - // change baud - err = tcgetattr(pigeon_tty_fd, &pigeon_tty); - assert(err == 0); - err = cfsetspeed(&pigeon_tty, baud_const); - assert(err == 0); - err = tcsetattr(pigeon_tty_fd, TCSANOW, &pigeon_tty); - assert(err == 0); - - // flush - err = tcflush(pigeon_tty_fd, TCIOFLUSH); - assert(err == 0); -} - -void TTYPigeon::send(const std::string &s) { - int err = HANDLE_EINTR(write(pigeon_tty_fd, s.data(), s.length())); - - if(err < 0) { handle_tty_issue(err, __func__); } - err = tcdrain(pigeon_tty_fd); - if(err < 0) { handle_tty_issue(err, __func__); } -} - -std::string TTYPigeon::receive() { - std::string r; - r.reserve(0x1000 + 0x40); - char dat[0x40]; - while (r.length() < 0x1000) { - int len = read(pigeon_tty_fd, dat, sizeof(dat)); - if(len < 0) { - handle_tty_issue(len, __func__); - } else if (len == 0) { - break; - } else { - r.append(dat, len); - } - - } - return r; -} - -void TTYPigeon::set_power(bool power) { -#ifdef QCOM2 - int err = 0; - err += gpio_init(GPIO_UBLOX_RST_N, true); - err += gpio_init(GPIO_UBLOX_SAFEBOOT_N, true); - err += gpio_init(GPIO_UBLOX_PWR_EN, true); - - err += gpio_set(GPIO_UBLOX_RST_N, power); - err += gpio_set(GPIO_UBLOX_SAFEBOOT_N, power); - err += gpio_set(GPIO_UBLOX_PWR_EN, power); - assert(err == 0); -#endif -} - -TTYPigeon::~TTYPigeon() { - close(pigeon_tty_fd); -} diff --git a/selfdrive/boardd/pigeon.h b/selfdrive/boardd/pigeon.h deleted file mode 100644 index c9ea4739d..000000000 --- a/selfdrive/boardd/pigeon.h +++ /dev/null @@ -1,58 +0,0 @@ -#pragma once - -#include - -#include -#include - -#include "selfdrive/boardd/panda.h" - -enum sos_restore_response : int { - unknown = 0, - failed = 1, - restored = 2, - no_backup = 3, - error = -1 -}; - -class Pigeon { - public: - static Pigeon* connect(Panda * p); - static Pigeon* connect(const char * tty); - virtual ~Pigeon(){}; - - void init(); - void stop(); - bool wait_for_ack(); - bool wait_for_ack(const std::string &ack, const std::string &nack, int timeout_ms = 1000); - bool send_with_ack(const std::string &cmd); - sos_restore_response wait_for_backup_restore_status(int timeout_ms = 1000); - virtual void set_baud(int baud) = 0; - virtual void send(const std::string &s) = 0; - virtual std::string receive() = 0; - virtual void set_power(bool power) = 0; -}; - -class PandaPigeon : public Pigeon { - Panda * panda = NULL; -public: - ~PandaPigeon(); - void connect(Panda * p); - void set_baud(int baud); - void send(const std::string &s); - std::string receive(); - void set_power(bool power); -}; - - -class TTYPigeon : public Pigeon { - int pigeon_tty_fd = -1; - struct termios pigeon_tty; -public: - ~TTYPigeon(); - void connect(const char* tty); - void set_baud(int baud); - void send(const std::string &s); - std::string receive(); - void set_power(bool power); -}; diff --git a/selfdrive/boardd/tests/boardd_old.py b/selfdrive/boardd/tests/boardd_old.py deleted file mode 100755 index fad29f6f3..000000000 --- a/selfdrive/boardd/tests/boardd_old.py +++ /dev/null @@ -1,245 +0,0 @@ -#!/usr/bin/env python3 -# pylint: skip-file - -# This file is not used by openpilot. Only boardd.cc is used. -# The python version is slower, but has more options for development. - -# TODO: merge the extra functionalities of this file (like MOCK) in boardd.c and -# delete this python version of boardd - -import os -import struct -import time - -import cereal.messaging as messaging -from common.realtime import Ratekeeper -from system.swaglog import cloudlog -from selfdrive.boardd.boardd import can_capnp_to_can_list -from cereal import car - -SafetyModel = car.CarParams.SafetyModel - -# USB is optional -try: - import usb1 - from usb1 import USBErrorIO, USBErrorOverflow # pylint: disable=no-name-in-module -except Exception: - pass - -# *** serialization functions *** -def can_list_to_can_capnp(can_msgs, msgtype='can'): - dat = messaging.new_message(msgtype, len(can_msgs)) - for i, can_msg in enumerate(can_msgs): - if msgtype == 'sendcan': - cc = dat.sendcan[i] - else: - cc = dat.can[i] - cc.address = can_msg[0] - cc.busTime = can_msg[1] - cc.dat = bytes(can_msg[2]) - cc.src = can_msg[3] - return dat - - -# *** can driver *** -def can_health(): - while 1: - try: - dat = handle.controlRead(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd2, 0, 0, 0x16) - break - except (USBErrorIO, USBErrorOverflow): - cloudlog.exception("CAN: BAD HEALTH, RETRYING") - v, i = struct.unpack("II", dat[0:8]) - ign_line, ign_can = struct.unpack("BB", dat[20:22]) - return {"voltage": v, "current": i, "ignition_line": bool(ign_line), "ignition_can": bool(ign_can)} - -def __parse_can_buffer(dat): - ret = [] - for j in range(0, len(dat), 0x10): - ddat = dat[j:j+0x10] - f1, f2 = struct.unpack("II", ddat[0:8]) - ret.append((f1 >> 21, f2 >> 16, ddat[8:8 + (f2 & 0xF)], (f2 >> 4) & 0xFF)) - return ret - -def can_send_many(arr): - snds = [] - for addr, _, dat, alt in arr: - if addr < 0x800: # only support 11 bit addr - snd = struct.pack("II", ((addr << 21) | 1), len(dat) | (alt << 4)) + dat - snd = snd.ljust(0x10, b'\x00') - snds.append(snd) - while 1: - try: - handle.bulkWrite(3, b''.join(snds)) - break - except (USBErrorIO, USBErrorOverflow): - cloudlog.exception("CAN: BAD SEND MANY, RETRYING") - -def can_recv(): - dat = b"" - while 1: - try: - dat = handle.bulkRead(1, 0x10*256) - break - except (USBErrorIO, USBErrorOverflow): - cloudlog.exception("CAN: BAD RECV, RETRYING") - return __parse_can_buffer(dat) - -def can_init(): - global handle, context - handle = None - cloudlog.info("attempting can init") - - context = usb1.USBContext() - #context.setDebug(9) - - for device in context.getDeviceList(skip_on_error=True): - if device.getVendorID() == 0xbbaa and device.getProductID() == 0xddcc: - handle = device.open() - handle.claimInterface(0) - handle.controlWrite(0x40, 0xdc, SafetyModel.allOutput, 0, b'') - - if handle is None: - cloudlog.warning("CAN NOT FOUND") - exit(-1) - - cloudlog.info("got handle") - cloudlog.info("can init done") - -def boardd_mock_loop(): - can_init() - handle.controlWrite(0x40, 0xdc, SafetyModel.allOutput, 0, b'') - - logcan = messaging.sub_sock('can') - sendcan = messaging.pub_sock('sendcan') - - while 1: - tsc = messaging.drain_sock(logcan, wait_for_one=True) - snds = map(lambda x: can_capnp_to_can_list(x.can), tsc) - snd = [] - for s in snds: - snd += s - snd = list(filter(lambda x: x[-1] <= 2, snd)) - snd_0 = len(list(filter(lambda x: x[-1] == 0, snd))) - snd_1 = len(list(filter(lambda x: x[-1] == 1, snd))) - snd_2 = len(list(filter(lambda x: x[-1] == 2, snd))) - can_send_many(snd) - - # recv @ 100hz - can_msgs = can_recv() - got_0 = len(list(filter(lambda x: x[-1] == 0+0x80, can_msgs))) - got_1 = len(list(filter(lambda x: x[-1] == 1+0x80, can_msgs))) - got_2 = len(list(filter(lambda x: x[-1] == 2+0x80, can_msgs))) - print("sent %3d (%3d/%3d/%3d) got %3d (%3d/%3d/%3d)" % - (len(snd), snd_0, snd_1, snd_2, len(can_msgs), got_0, got_1, got_2)) - m = can_list_to_can_capnp(can_msgs, msgtype='sendcan') - sendcan.send(m.to_bytes()) - -def boardd_test_loop(): - can_init() - cnt = 0 - while 1: - can_send_many([[0xbb, 0, "\xaa\xaa\xaa\xaa", 0], [0xaa, 0, "\xaa\xaa\xaa\xaa"+struct.pack("!I", cnt), 1]]) - #can_send_many([[0xaa,0,"\xaa\xaa\xaa\xaa",0]]) - #can_send_many([[0xaa,0,"\xaa\xaa\xaa\xaa",1]]) - # recv @ 100hz - can_msgs = can_recv() - print("got %d" % (len(can_msgs))) - time.sleep(0.01) - cnt += 1 - -# *** main loop *** -def boardd_loop(rate=100): - rk = Ratekeeper(rate) - - can_init() - - # *** publishes can and health - logcan = messaging.pub_sock('can') - health_sock = messaging.pub_sock('pandaStates') - - # *** subscribes to can send - sendcan = messaging.sub_sock('sendcan') - - # drain sendcan to delete any stale messages from previous runs - messaging.drain_sock(sendcan) - - while 1: - # health packet @ 2hz - if (rk.frame % (rate // 2)) == 0: - health = can_health() - msg = messaging.new_message('pandaStates', 1) - - # store the health to be logged - msg.pandaState[0].voltage = health['voltage'] - msg.pandaState[0].current = health['current'] - msg.pandaState[0].ignitionLine = health['ignition_line'] - msg.pandaState[0].ignitionCan = health['ignition_can'] - msg.pandaState[0].controlsAllowed = True - - health_sock.send(msg.to_bytes()) - - # recv @ 100hz - can_msgs = can_recv() - - # publish to logger - # TODO: refactor for speed - if len(can_msgs) > 0: - dat = can_list_to_can_capnp(can_msgs).to_bytes() - logcan.send(dat) - - # send can if we have a packet - tsc = messaging.recv_sock(sendcan) - if tsc is not None: - can_send_many(can_capnp_to_can_list(tsc.sendcan)) - - rk.keep_time() - -# *** main loop *** -def boardd_proxy_loop(rate=100, address="192.168.2.251"): - rk = Ratekeeper(rate) - - can_init() - - # *** subscribes can - logcan = messaging.sub_sock('can', addr=address) - # *** publishes to can send - sendcan = messaging.pub_sock('sendcan') - - # drain sendcan to delete any stale messages from previous runs - messaging.drain_sock(sendcan) - - while 1: - # recv @ 100hz - can_msgs = can_recv() - #for m in can_msgs: - # print("R: {0} {1}".format(hex(m[0]), str(m[2]).encode("hex"))) - - # publish to logger - # TODO: refactor for speed - if len(can_msgs) > 0: - dat = can_list_to_can_capnp(can_msgs, "sendcan") - sendcan.send(dat) - - # send can if we have a packet - tsc = messaging.recv_sock(logcan) - if tsc is not None: - cl = can_capnp_to_can_list(tsc.can) - #for m in cl: - # print("S: {0} {1}".format(hex(m[0]), str(m[2]).encode("hex"))) - can_send_many(cl) - - rk.keep_time() - -def main(): - if os.getenv("MOCK") is not None: - boardd_mock_loop() - elif os.getenv("PROXY") is not None: - boardd_proxy_loop() - elif os.getenv("BOARDTEST") is not None: - boardd_test_loop() - else: - boardd_loop() - -if __name__ == "__main__": - main() diff --git a/selfdrive/boardd/tests/replay_many.py b/selfdrive/boardd/tests/replay_many.py deleted file mode 100755 index 78aef0749..000000000 --- a/selfdrive/boardd/tests/replay_many.py +++ /dev/null @@ -1,83 +0,0 @@ -#!/usr/bin/env python3 -import os -import sys -import time -import signal -import traceback -import usb1 -from panda import Panda, PandaDFU -from multiprocessing import Pool - -jungle = "JUNGLE" in os.environ -if jungle: - from panda_jungle import PandaJungle # pylint: disable=import-error - -import cereal.messaging as messaging -from selfdrive.boardd.boardd import can_capnp_to_can_list - -def initializer(): - """Ignore CTRL+C in the worker process. - source: https://stackoverflow.com/a/44869451 """ - signal.signal(signal.SIGINT, signal.SIG_IGN) - -def send_thread(sender_serial): - while True: - try: - if jungle: - sender = PandaJungle(sender_serial) - else: - sender = Panda(sender_serial) - sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - - sender.set_can_loopback(False) - can_sock = messaging.sub_sock('can') - - while True: - tsc = messaging.recv_one(can_sock) - snd = can_capnp_to_can_list(tsc.can) - snd = list(filter(lambda x: x[-1] <= 2, snd)) - - try: - sender.can_send_many(snd) - except usb1.USBErrorTimeout: - pass - - # Drain panda message buffer - sender.can_recv() - except Exception: - traceback.print_exc() - time.sleep(1) - -if __name__ == "__main__": - if jungle: - serials = PandaJungle.list() - else: - serials = Panda.list() - num_senders = len(serials) - - if num_senders == 0: - print("No senders found. Exiting") - sys.exit(1) - else: - print("%d senders found. Starting broadcast" % num_senders) - - if "FLASH" in os.environ: - for s in PandaDFU.list(): - PandaDFU(s).recover() - - time.sleep(1) - for s in serials: - Panda(s).recover() - Panda(s).flash() - - pool = Pool(num_senders, initializer=initializer) - pool.map_async(send_thread, serials) - - while True: - try: - time.sleep(10) - except KeyboardInterrupt: - pool.terminate() - pool.join() - raise - diff --git a/selfdrive/boardd/tests/test_boardd_api.py b/selfdrive/boardd/tests/test_boardd_api.py deleted file mode 100644 index f2bcd57a6..000000000 --- a/selfdrive/boardd/tests/test_boardd_api.py +++ /dev/null @@ -1,77 +0,0 @@ -import random -import numpy as np - -import selfdrive.boardd.tests.boardd_old as boardd_old -import selfdrive.boardd.boardd as boardd - -from common.realtime import sec_since_boot -from cereal import log -import unittest - - -def generate_random_can_data_list(): - can_list = [] - cnt = random.randint(1, 64) - for _ in range(cnt): - can_data = np.random.bytes(random.randint(1, 8)) - can_list.append([random.randint(0, 128), random.randint(0, 128), can_data, random.randint(0, 128)]) - return can_list, cnt - - -class TestBoarddApiMethods(unittest.TestCase): - def test_correctness(self): - for i in range(1000): - can_list, _ = generate_random_can_data_list() - - # Sendcan - # Old API - m_old = boardd_old.can_list_to_can_capnp(can_list, 'sendcan').to_bytes() - # new API - m = boardd.can_list_to_can_capnp(can_list, 'sendcan') - - ev_old = log.Event.from_bytes(m_old) - ev = log.Event.from_bytes(m) - - self.assertEqual(ev_old.which(), ev.which()) - self.assertEqual(len(ev.sendcan), len(ev_old.sendcan)) - for i in range(len(ev.sendcan)): - attrs = ['address', 'busTime', 'dat', 'src'] - for attr in attrs: - self.assertEqual(getattr(ev.sendcan[i], attr, 'new'), getattr(ev_old.sendcan[i], attr, 'old')) - - # Can - m_old = boardd_old.can_list_to_can_capnp(can_list, 'can').to_bytes() - # new API - m = boardd.can_list_to_can_capnp(can_list, 'can') - - ev_old = log.Event.from_bytes(m_old) - ev = log.Event.from_bytes(m) - self.assertEqual(ev_old.which(), ev.which()) - self.assertEqual(len(ev.can), len(ev_old.can)) - for i in range(len(ev.can)): - attrs = ['address', 'busTime', 'dat', 'src'] - for attr in attrs: - self.assertEqual(getattr(ev.can[i], attr, 'new'), getattr(ev_old.can[i], attr, 'old')) - - def test_performance(self): - can_list, _ = generate_random_can_data_list() - recursions = 1000 - - n1 = sec_since_boot() - for _ in range(recursions): - boardd_old.can_list_to_can_capnp(can_list, 'sendcan').to_bytes() - n2 = sec_since_boot() - elapsed_old = n2 - n1 - - # print('Old API, elapsed time: {} secs'.format(elapsed_old)) - n1 = sec_since_boot() - for _ in range(recursions): - boardd.can_list_to_can_capnp(can_list) - n2 = sec_since_boot() - elapsed_new = n2 - n1 - # print('New API, elapsed time: {} secs'.format(elapsed_new)) - self.assertTrue(elapsed_new < elapsed_old / 2) - - -if __name__ == '__main__': - unittest.main() diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md index e448c19d3..2fce0f903 100644 --- a/selfdrive/car/CARS_template.md +++ b/selfdrive/car/CARS_template.md @@ -5,24 +5,12 @@ # Supported Cars -A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system. - -## How We Rate The Cars - -{% for star_row in STAR_DESCRIPTIONS.values() %} -{% for name, stars in star_row.items() %} -### {{name}} -{% for star, description in stars %} -- {{star_icon.format(star)}} - {{description}} -{% endfor %} - -{% endfor %} -{% endfor %} +A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. # {{all_car_info | length}} Supported Cars |{{Column | map(attribute='value') | join('|')}}| -|---|---|---|:---:|:---:|:---:|:---:| +|---|---|---|{% for _ in range((Column | length) - 3) %}{{':---:|'}}{% endfor +%} {% for car_info in all_car_info %} |{% for column in Column %}{{car_info.get_column(column, star_icon, footnote_tag)}}|{% endfor %} @@ -39,13 +27,13 @@ Although they're not upstream, the community has openpilot running on other make # Don't see your car here? **openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported. -If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. We don't have a roadmap for car support, and in fact, most car support comes from users like you! +If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. **We don't have a roadmap for car support**, and in fact, most car support comes from users like you! ### Which cars are able to be supported? -openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering) and [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control), then it almost certainly has these interfaces. These interfaces generally started shipping on cars around 2016. +openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control) and any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering), then it almost certainly has these interfaces. These features generally started shipping on cars around 2016. Note that manufacturers will often make their own [marketing terms](https://en.wikipedia.org/wiki/Adaptive_cruise_control#Vehicle_models_supporting_adaptive_cruise_control) for these features, such as Hyundai's "Smart Cruise Control" branding of Adaptive Cruise Control. -If your car has the following packages or features, then it's a good candidate for support. If it does not, then it's unlikely able to be supported. +If your car has the following packages or features, then it's a good candidate for support. | Make | Required Package/Features | | ---- | ------------------------- | @@ -63,8 +51,9 @@ All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wi ### Toyota Security -Specific new Toyota models are shipping with a new message authentication method that openpilot does not yet support. -So far, this list includes: +openpilot does not yet support these Toyota models due to a new message authentication method. +[Vote](https://comma.ai/shop/products/vote) if you'd like to see openpilot support on these models. + * Toyota RAV4 Prime 2021+ * Toyota Sienna 2021+ * Toyota Venza 2021+ @@ -74,3 +63,4 @@ So far, this list includes: * Lexus NX 2022+ * Toyota bZ4x 2023+ * Subaru Solterra 2023+ + diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index c77e40daa..f2d198338 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -38,7 +38,7 @@ def create_button_enable_events(buttonEvents: capnp.lib.capnp._DynamicListBuilde def gen_empty_fingerprint(): - return {i: {} for i in range(0, 4)} + return {i: {} for i in range(0, 8)} # FIXME: hardcoding honda civic 2016 touring params so they can be used to diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py index 0caf93b61..61b72d5ad 100644 --- a/selfdrive/car/body/values.py +++ b/selfdrive/car/body/values.py @@ -2,7 +2,7 @@ from typing import Dict from cereal import car from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarInfo, Harness +from selfdrive.car.docs_definitions import CarInfo Ecu = car.CarParams.Ecu SPEED_FROM_RPM = 0.008587 @@ -18,7 +18,7 @@ class CAR: BODY = "COMMA BODY" CAR_INFO: Dict[str, CarInfo] = { - CAR.BODY: CarInfo("comma body", package="All", harness=Harness.none), + CAR.BODY: CarInfo("comma body", package="All"), } FW_VERSIONS = { diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index aa4b37d57..9e1260a6d 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -82,7 +82,7 @@ def fingerprint(logcan, sendcan): ecu_rx_addrs = set() if not fixed_fingerprint and not skip_fw_query: - # Vin query only reliably works thorugh OBDII + # Vin query only reliably works through OBDII bus = 1 cached_params = Params().get("CarParamsCache") diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 22abf1b67..5a2d90c64 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -22,23 +22,8 @@ class CarController: def update(self, CC, CS): can_sends = [] - # TODO: can we make this more sane? why is it different for all the cars? - lkas_control_bit = self.lkas_control_bit_prev - if CS.out.vEgo > self.CP.minSteerSpeed: - lkas_control_bit = True - elif self.CP.carFingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019): - if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0): - lkas_control_bit = False - elif self.CP.carFingerprint in RAM_CARS: - if CS.out.vEgo < (self.CP.minSteerSpeed - 0.5): - lkas_control_bit = False - - # EPS faults if LKAS re-enables too quickly - lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200) lkas_active = CC.latActive and self.lkas_control_bit_prev - # *** control msgs *** - # cruise buttons if (self.frame - self.last_button_frame)*DT_CTRL > 0.05: das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0 @@ -61,19 +46,35 @@ class CarController: # steering if self.frame % 2 == 0: + + # TODO: can we make this more sane? why is it different for all the cars? + lkas_control_bit = self.lkas_control_bit_prev + if CS.out.vEgo > self.CP.minSteerSpeed: + lkas_control_bit = True + elif self.CP.carFingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019): + if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0): + lkas_control_bit = False + elif self.CP.carFingerprint in RAM_CARS: + if CS.out.vEgo < (self.CP.minSteerSpeed - 0.5): + lkas_control_bit = False + + # EPS faults if LKAS re-enables too quickly + lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200) + + if not lkas_control_bit and self.lkas_control_bit_prev: + self.last_lkas_falling_edge = self.frame + self.lkas_control_bit_prev = lkas_control_bit + # steer torque new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX)) apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params) - if not lkas_active: + if not lkas_active or not lkas_control_bit: apply_steer = 0 self.apply_steer_last = apply_steer can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit)) self.frame += 1 - if not lkas_control_bit and self.lkas_control_bit_prev: - self.last_lkas_falling_edge = self.frame - self.lkas_control_bit_prev = lkas_control_bit new_actuators = CC.actuators.copy() new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index fefd351a2..0f0d30782 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -58,8 +58,8 @@ class CarState(CarStateBase): ) # button presses - ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1 - ret.rightBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2 + ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(200, cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1, + cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2) ret.genericToggle = cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"] == 1 # steering wheel diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 9bb22b607..131f813c6 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -60,7 +60,7 @@ class CarInterface(CarInterfaceBase): ret.minSteerSpeed = 14.5 if car_fw is not None: for fw in car_fw: - if fw.ecu == 'eps' and fw.fwVersion in (b"68312176AE", b"68312176AG", b"68273275AG"): + if fw.ecu == 'eps' and fw.fwVersion[:8] in (b"68312176", b"68273275"): ret.minSteerSpeed = 0. elif candidate == CAR.RAM_HD: diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 10478efa8..f495d06a1 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -130,6 +130,11 @@ FINGERPRINTS = { } FW_VERSIONS = { + CAR.PACIFICA_2019_HYBRID: { + (Ecu.hcp, 0x7e2, None): [], + (Ecu.abs, 0x7e4, None): [], + }, + CAR.RAM_1500: { (Ecu.combinationMeter, 0x742, None): [ b'68294063AH', @@ -144,7 +149,7 @@ FW_VERSIONS = { b'68428609AB', b'68500728AA', ], - (Ecu.esp, 0x747, None): [ + (Ecu.abs, 0x747, None): [ b'68432418AD', b'68432418AB', b'68436004AE', @@ -170,6 +175,7 @@ FW_VERSIONS = { b'68448163AJ', b'68500630AD', b'68539650AD', + b'68378758AM ', ], (Ecu.transmission, 0x7e1, None): [ b'68360078AL', @@ -199,7 +205,7 @@ FW_VERSIONS = { b'68428503AA', b'68428505AA', ], - (Ecu.esp, 0x747, None): [ + (Ecu.abs, 0x747, None): [ b'68334977AH', b'68504022AB', b'68530686AB', diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py index 5793596a4..4d79cbfc7 100755 --- a/selfdrive/car/docs.py +++ b/selfdrive/car/docs.py @@ -8,16 +8,16 @@ from natsort import natsorted from typing import Dict, List from common.basedir import BASEDIR -from selfdrive.car.docs_definitions import STAR_DESCRIPTIONS, StarColumns, TierColumns, CarInfo, Column, Star +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(only_tier_cols: bool = False) -> Dict[Enum, int]: +def get_all_footnotes() -> Dict[Enum, int]: all_footnotes = [] - hide_cols = set(StarColumns) - set(TierColumns) if only_tier_cols else [] for footnotes in get_interface_attr("Footnote", ignore_none=True).values(): - all_footnotes.extend([fn for fn in footnotes if fn.value.column not in hide_cols]) + all_footnotes.extend(footnotes) return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)} @@ -25,12 +25,13 @@ CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md") CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md") -def get_all_car_info(only_tier_cols: bool = False) -> List[CarInfo]: +def get_all_car_info() -> List[CarInfo]: all_car_info: List[CarInfo] = [] - footnotes = get_all_footnotes(only_tier_cols) + 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 = {0: {}, 1: {HKG_RADAR_START_ADDR: 8}, 2: {}, 3: {}} + fingerprint = gen_empty_fingerprint() + fingerprint[1] = {HKG_RADAR_START_ADDR: 8} CP = interfaces[model][0].get_params(model, fingerprint=fingerprint, disable_radar=True) if CP.dashcamOnly or car_info is None: @@ -57,21 +58,13 @@ def group_by_make(all_car_info: List[CarInfo]) -> Dict[str, List[CarInfo]]: return dict(sorted_car_info) -def generate_cars_md(all_car_info: List[CarInfo], template_fn: str, only_tier_cols: bool) -> str: +def generate_cars_md(all_car_info: List[CarInfo], template_fn: str) -> str: with open(template_fn, "r") as f: template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True) - cols = list(Column) - if only_tier_cols: - hide_cols = set(StarColumns) - set(TierColumns) - cols = [c for c in cols if c not in hide_cols] - for car in all_car_info: - for c in hide_cols: - del car.row[c] - - footnotes = [fn.value.text for fn in get_all_footnotes(only_tier_cols)] + footnotes = [fn.value.text for fn in get_all_footnotes()] cars_md: str = template.render(all_car_info=all_car_info, group_by_make=group_by_make, - footnotes=footnotes, Star=Star, Column=cols, STAR_DESCRIPTIONS=STAR_DESCRIPTIONS) + footnotes=footnotes, Column=Column) return cars_md @@ -79,11 +72,10 @@ if __name__ == "__main__": parser = argparse.ArgumentParser(description="Auto generates supported cars documentation", formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument("--tier-columns", action="store_true", help="Include only columns that count in the tier") parser.add_argument("--template", default=CARS_MD_TEMPLATE, help="Override default template filename") parser.add_argument("--out", default=CARS_MD_OUT, help="Override default generated filename") args = parser.parse_args() with open(args.out, 'w') as f: - f.write(generate_cars_md(get_all_car_info(args.tier_columns), args.template, args.tier_columns)) + f.write(generate_cars_md(get_all_car_info(), args.template)) print(f"Generated and written to {args.out}") diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 65dbe4c62..3f9d51b43 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -2,7 +2,7 @@ import re from collections import namedtuple from dataclasses import dataclass, field from enum import Enum -from typing import Dict, List, Optional, Tuple, Union, no_type_check +from typing import Dict, List, Optional, Tuple, Union from cereal import car from common.conversions import Conversions as CV @@ -10,25 +10,17 @@ from common.conversions import Conversions as CV GOOD_TORQUE_THRESHOLD = 1.0 # m/s^2 MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)" -# Makes that lack auto-resume with stock long, and auto resume in any configuration -NO_AUTO_RESUME_STOCK_LONG = {"toyota", "gm"} -NO_AUTO_RESUME = NO_AUTO_RESUME_STOCK_LONG | {"nissan", "subaru"} - - -class Tier(Enum): - GOLD = 0 - SILVER = 1 - BRONZE = 2 - class Column(Enum): MAKE = "Make" MODEL = "Model" PACKAGE = "Supported Package" - LONGITUDINAL = "openpilot ACC" - FSR_LONGITUDINAL = "Stop and Go" - FSR_STEERING = "Steer to 0" + LONGITUDINAL = "ACC" + FSR_LONGITUDINAL = "No ACC accel below" + FSR_STEERING = "No ALC below" STEERING_TORQUE = "Steering Torque" + AUTO_RESUME = "Resume from stop" + HARNESS = "Harness" class Star(Enum): @@ -37,9 +29,46 @@ class Star(Enum): EMPTY = "empty" -StarColumns = list(Column)[3:] -TierColumns = (Column.FSR_LONGITUDINAL, Column.FSR_STEERING, Column.STEERING_TORQUE) -CarFootnote = namedtuple("CarFootnote", ["text", "column", "star"], defaults=[None]) +class Harness(Enum): + nidec = "Honda Nidec" + bosch_a = "Honda Bosch A" + bosch_b = "Honda Bosch B" + toyota = "Toyota" + subaru_a = "Subaru A" + subaru_b = "Subaru B" + fca = "FCA" + ram = "Ram" + vw = "VW" + j533 = "J533" + hyundai_a = "Hyundai A" + hyundai_b = "Hyundai B" + hyundai_c = "Hyundai C" + hyundai_d = "Hyundai D" + hyundai_e = "Hyundai E" + hyundai_f = "Hyundai F" + hyundai_g = "Hyundai G" + hyundai_h = "Hyundai H" + hyundai_i = "Hyundai I" + hyundai_j = "Hyundai J" + hyundai_k = "Hyundai K" + hyundai_l = "Hyundai L" + hyundai_m = "Hyundai M" + hyundai_n = "Hyundai N" + hyundai_o = "Hyundai O" + hyundai_p = "Hyundai P" + hyundai_q = "Hyundai Q" + custom = "Developer" + obd_ii = "OBD-II" + gm = "GM" + nissan_a = "Nissan A" + nissan_b = "Nissan B" + mazda = "Mazda" + ford_q3 = "Ford Q3" + ford_q4 = "Ford Q4" + none = "None" + + +CarFootnote = namedtuple("CarFootnote", ["text", "column"], defaults=[None]) def get_footnotes(footnotes: List[Enum], column: Column) -> List[Enum]: @@ -83,7 +112,7 @@ class CarInfo: footnotes: List[Enum] = field(default_factory=list) min_steer_speed: Optional[float] = None min_enable_speed: Optional[float] = None - harness: Optional[Enum] = None + harness: Enum = Harness.none def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]): # TODO: set all the min steer speeds in carParams and remove this @@ -103,11 +132,12 @@ class CarInfo: Column.MAKE: self.make, Column.MODEL: self.model, Column.PACKAGE: self.package, - # StarColumns - Column.LONGITUDINAL: Star.FULL if CP.openpilotLongitudinalControl and not CP.radarOffCan else Star.EMPTY, - Column.FSR_LONGITUDINAL: Star.FULL if self.min_enable_speed <= 0. else Star.EMPTY, - Column.FSR_STEERING: Star.FULL if self.min_steer_speed <= 0. else Star.EMPTY, + Column.LONGITUDINAL: "openpilot" if CP.openpilotLongitudinalControl and not CP.radarOffCan 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, + Column.AUTO_RESUME: Star.FULL if CP.autoResumeSng else Star.EMPTY, + Column.HARNESS: self.harness.value, } # Set steering torque star from max lateral acceleration @@ -115,26 +145,7 @@ class CarInfo: if CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD: self.row[Column.STEERING_TORQUE] = Star.FULL - if CP.notCar: - for col in StarColumns: - self.row[col] = Star.FULL - self.all_footnotes = all_footnotes - for column in StarColumns: - # Demote if footnote specifies a star - for fn in get_footnotes(self.footnotes, column): - if fn.value.star is not None: - self.row[column] = fn.value.star - - # openpilot ACC star doesn't count for tiers - full_stars = [s for col, s in self.row.items() if col in TierColumns].count(Star.FULL) - if full_stars == len(TierColumns): - self.tier = Tier.GOLD - elif full_stars == len(TierColumns) - 1: - self.tier = Tier.SILVER - else: - self.tier = Tier.BRONZE - self.year_list = get_year_list(self.years) self.detail_sentence = self.get_detail_sentence(CP) @@ -153,7 +164,7 @@ class CarInfo: acc = "" if self.min_enable_speed > 0: acc = f" while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph" - elif CP.carName not in NO_AUTO_RESUME or (CP.carName in NO_AUTO_RESUME_STOCK_LONG and CP.openpilotLongitudinalControl): + elif CP.autoResumeSng: acc = " that automatically resumes from a stop" if self.row[Column.STEERING_TORQUE] != Star.FULL: @@ -167,10 +178,9 @@ class CarInfo: else: raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}") - @no_type_check def get_column(self, column: Column, star_icon: str, footnote_tag: str) -> str: item: Union[str, Star] = self.row[column] - if column in StarColumns: + if isinstance(item, Star): item = star_icon.format(item.value) elif column == Column.MODEL and len(self.years): item += f" {self.years}" @@ -181,60 +191,3 @@ class CarInfo: item += footnote_tag.format(f'{",".join(map(str, sups))}') return item - - -class Harness(Enum): - nidec = "Honda Nidec" - bosch_a = "Honda Bosch A" - bosch_b = "Honda Bosch B" - toyota = "Toyota" - subaru_a = "Subaru A" - subaru_b = "Subaru B" - fca = "FCA" - ram = "Ram" - vw = "VW" - j533 = "J533" - hyundai_a = "Hyundai A" - hyundai_b = "Hyundai B" - hyundai_c = "Hyundai C" - hyundai_d = "Hyundai D" - hyundai_e = "Hyundai E" - hyundai_f = "Hyundai F" - hyundai_g = "Hyundai G" - hyundai_h = "Hyundai H" - hyundai_i = "Hyundai I" - hyundai_j = "Hyundai J" - hyundai_k = "Hyundai K" - hyundai_l = "Hyundai L" - hyundai_m = "Hyundai M" - hyundai_n = "Hyundai N" - hyundai_o = "Hyundai O" - hyundai_p = "Hyundai P" - hyundai_q = "Hyundai Q" - custom = "Developer" - obd_ii = "OBD-II" - gm = "GM" - nissan_a = "Nissan A" - nissan_b = "Nissan B" - mazda = "Mazda" - none = "None" - - -STAR_DESCRIPTIONS = { - "Gas & Brakes": { # icon and row name - Column.FSR_LONGITUDINAL.value: [ - [Star.FULL.value, "openpilot operates down to 0 mph."], - [Star.EMPTY.value, "openpilot operates only above a minimum speed. See your car's manual for the minimum speed."], - ], - }, - "Steering": { - Column.FSR_STEERING.value: [ - [Star.FULL.value, "openpilot can control the steering wheel down to 0 mph."], - [Star.EMPTY.value, "No steering control below certain speeds. See your car's manual for the minimum speed."], - ], - Column.STEERING_TORQUE.value: [ - [Star.FULL.value, "Car has enough steering torque to comfortably take most highway turns."], - [Star.EMPTY.value, "Limited ability to make tighter turns."], - ], - }, -} diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index aaa3af612..3c9961e9e 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -203,7 +203,8 @@ class CarState(CarStateBase): ("DasStats_D_Dsply", "IPMA_Data"), # DAS status ("DasWarn_D_Dsply", "IPMA_Data"), # DAS warning ("AhbHiBeam_D_Rq", "IPMA_Data"), # AHB status - ("Set_Me_X1", "IPMA_Data"), + ("Passthru_63", "IPMA_Data"), + ("Passthru_48", "IPMA_Data"), ] checks = [ diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index 29fec1f2d..bb104aaf3 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -51,7 +51,7 @@ def create_tja_command(packer, lca_rq: int, ramp_type: int, precision: int, path return packer.make_can_msg("LateralMotionControl", 0, values) -def create_lkas_ui_command(packer, main_on: bool, enabled: bool, steer_alert: bool, stock_values): +def create_lkas_ui_command(packer, main_on: bool, enabled: bool, steer_alert: bool, stock_values: dict): """ Creates a CAN message for the Ford IPC IPMA/LKAS status. @@ -72,25 +72,14 @@ def create_lkas_ui_command(packer, main_on: bool, enabled: bool, steer_alert: bo lines = 30 values = { - "FeatConfigIpmaActl": stock_values["FeatConfigIpmaActl"], # [0|65535] - "FeatNoIpmaActl": stock_values["FeatNoIpmaActl"], # [0|65535] - "PersIndexIpma_D_Actl": stock_values["PersIndexIpma_D_Actl"], # [0|7] - "AhbcRampingV_D_Rq": stock_values["AhbcRampingV_D_Rq"], # AHB ramping [0|3] - "LaActvStats_D_Dsply": lines, # LKAS status (lines) [0|31] - "LaDenyStats_B_Dsply": stock_values["LaDenyStats_B_Dsply"], # LKAS error [0|1] - "LaHandsOff_D_Dsply": 2 if steer_alert else 0, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed - "CamraDefog_B_Req": stock_values["CamraDefog_B_Req"], # Windshield heater? [0|1] - "CamraStats_D_Dsply": stock_values["CamraStats_D_Dsply"], # Camera status [0|3] - "DasAlrtLvl_D_Dsply": stock_values["DasAlrtLvl_D_Dsply"], # DAS alert level [0|7] - "DasStats_D_Dsply": stock_values["DasStats_D_Dsply"], # DAS status [0|3] - "DasWarn_D_Dsply": stock_values["DasWarn_D_Dsply"], # DAS warning [0|3] - "AhbHiBeam_D_Rq": stock_values["AhbHiBeam_D_Rq"], # AHB status [0|3] - "Set_Me_X1": stock_values["Set_Me_X1"], # [0|15] + **stock_values, + "LaActvStats_D_Dsply": lines, # LKAS status (lines) [0|31] + "LaHandsOff_D_Dsply": 2 if steer_alert else 0, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed } return packer.make_can_msg("IPMA_Data", 0, values) -def create_acc_ui_command(packer, main_on: bool, enabled: bool, stock_values): +def create_acc_ui_command(packer, main_on: bool, enabled: bool, stock_values: dict): """ Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam assist status. @@ -101,32 +90,8 @@ def create_acc_ui_command(packer, main_on: bool, enabled: bool, stock_values): """ values = { - "HaDsply_No_Cs": stock_values["HaDsply_No_Cs"], # [0|255] - "HaDsply_No_Cnt": stock_values["HaDsply_No_Cnt"], # [0|15] - "AccStopStat_D_Dsply": stock_values["AccStopStat_D_Dsply"], # ACC stopped status message: 0=NoDisplay, 1=ResumeReady, 2=Stopped, 3=PressResume [0|3] - "AccTrgDist2_D_Dsply": stock_values["AccTrgDist2_D_Dsply"], # ACC target distance [0|15] - "AccStopRes_B_Dsply": stock_values["AccStopRes_B_Dsply"], # [0|1] - "TjaWarn_D_Rq": stock_values["TjaWarn_D_Rq"], # TJA warning: 0=NoWarning, 1=Cancel, 2=HardTakeOverLevel1, 3=HardTakeOverLevel2 [0|7] - "Tja_D_Stat": 2 if enabled else (1 if main_on else 0), # TJA status: 0=Off, 1=Standby, 2=Active, 3=InterventionLeft, 4=InterventionRight, 5=WarningLeft, 6=WarningRight, 7=NotUsed [0|7] - "TjaMsgTxt_D_Dsply": stock_values["TjaMsgTxt_D_Dsply"], # TJA text [0|7] - "IaccLamp_D_Rq": stock_values["IaccLamp_D_Rq"], # iACC status icon [0|3] - "AccMsgTxt_D2_Rq": stock_values["AccMsgTxt_D2_Rq"], # ACC text [0|15] - "FcwDeny_B_Dsply": stock_values["FcwDeny_B_Dsply"], # FCW disabled [0|1] - "FcwMemStat_B_Actl": stock_values["FcwMemStat_B_Actl"], # FCW enabled setting [0|1] - "AccTGap_B_Dsply": stock_values["AccTGap_B_Dsply"], # ACC time gap display setting [0|1] - "CadsAlignIncplt_B_Actl": stock_values["CadsAlignIncplt_B_Actl"], # Radar alignment? [0|1] - "AccFllwMde_B_Dsply": stock_values["AccFllwMde_B_Dsply"], # ACC follow mode display setting [0|1] - "CadsRadrBlck_B_Actl": stock_values["CadsRadrBlck_B_Actl"], # Radar blocked? [0|1] - "CmbbPostEvnt_B_Dsply": stock_values["CmbbPostEvnt_B_Dsply"], # AEB event status [0|1] - "AccStopMde_B_Dsply": stock_values["AccStopMde_B_Dsply"], # ACC stop mode display setting [0|1] - "FcwMemSens_D_Actl": stock_values["FcwMemSens_D_Actl"], # FCW sensitivity setting [0|3] - "FcwMsgTxt_D_Rq": stock_values["FcwMsgTxt_D_Rq"], # FCW text [0|7] - "AccWarn_D_Dsply": stock_values["AccWarn_D_Dsply"], # ACC warning [0|3] - "FcwVisblWarn_B_Rq": stock_values["FcwVisblWarn_B_Rq"], # FCW alert: 0=Off, 1=On [0|1] - "FcwAudioWarn_B_Rq": stock_values["FcwAudioWarn_B_Rq"], # FCW audio: 0=Off, 1=On [0|1] - "AccTGap_D_Dsply": stock_values["AccTGap_D_Dsply"], # ACC time gap: 1=Time_Gap_1, 2=Time_Gap_2, ..., 5=Time_Gap_5 [0|7] - "AccMemEnbl_B_RqDrv": stock_values["AccMemEnbl_B_RqDrv"], # ACC setting: 0=NormalCruise, 1=AdaptiveCruise [0|1] - "FdaMem_B_Stat": stock_values["FdaMem_B_Stat"], # FDA enabled setting [0|1] + **stock_values, + "Tja_D_Stat": 2 if enabled else (1 if main_on else 0), # TJA status: 0=Off, 1=Standby, 2=Active, 3=InterventionLeft, 4=InterventionRight, 5=WarningLeft, 6=WarningRight, 7=NotUsed [0|7] } return packer.make_can_msg("ACCDATA_3", 0, values) diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py index 866602cf0..c94270300 100644 --- a/selfdrive/car/ford/radar_interface.py +++ b/selfdrive/car/ford/radar_interface.py @@ -1,33 +1,63 @@ #!/usr/bin/env python3 +from math import cos, sin from cereal import car -from common.conversions import Conversions as CV from opendbc.can.parser import CANParser -from selfdrive.car.ford.values import CANBUS, DBC +from common.conversions import Conversions as CV +from selfdrive.car.ford.values import CANBUS, DBC, RADAR from selfdrive.car.interfaces import RadarInterfaceBase -RADAR_MSGS = list(range(0x500, 0x540)) +DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540)) +DELPHI_MRR_RADAR_START_ADDR = 0x120 +DELPHI_MRR_RADAR_MSG_COUNT = 64 -def _create_radar_can_parser(car_fingerprint): - if DBC[car_fingerprint]['radar'] is None: - return None - msg_n = len(RADAR_MSGS) +def _create_delphi_esr_radar_can_parser(): + msg_n = len(DELPHI_ESR_RADAR_MSGS) signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n, - RADAR_MSGS * 3)) - checks = list(zip(RADAR_MSGS, [20] * msg_n)) + DELPHI_ESR_RADAR_MSGS * 3)) + checks = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n)) + + return CANParser(RADAR.DELPHI_ESR, signals, checks, CANBUS.radar) + + +def _create_delphi_mrr_radar_can_parser(): + signals = [] + checks = [] + + for i in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1): + msg = f"MRR_Detection_{i:03d}" + signals += [ + (f"CAN_DET_VALID_LEVEL_{i:02d}", msg), + (f"CAN_DET_AZIMUTH_{i:02d}", msg), + (f"CAN_DET_RANGE_{i:02d}", msg), + (f"CAN_DET_RANGE_RATE_{i:02d}", msg), + (f"CAN_DET_AMPLITUDE_{i:02d}", msg), + (f"CAN_SCAN_INDEX_2LSB_{i:02d}", msg), + ] + checks += [(msg, 20)] + + return CANParser(RADAR.DELPHI_MRR, signals, checks, CANBUS.radar) - return CANParser(DBC[car_fingerprint]['radar'], signals, checks, CANBUS.radar) class RadarInterface(RadarInterfaceBase): def __init__(self, CP): super().__init__(CP) - self.validCnt = {key: 0 for key in RADAR_MSGS} - self.track_id = 0 - self.rcp = _create_radar_can_parser(CP.carFingerprint) - self.trigger_msg = 0x53f self.updated_messages = set() + self.track_id = 0 + self.radar = DBC[CP.carFingerprint]['radar'] + if self.radar is None: + self.rcp = None + elif self.radar == RADAR.DELPHI_ESR: + self.rcp = _create_delphi_esr_radar_can_parser() + self.trigger_msg = DELPHI_ESR_RADAR_MSGS[-1] + self.valid_cnt = {key: 0 for key in DELPHI_ESR_RADAR_MSGS} + elif self.radar == RADAR.DELPHI_MRR: + self.rcp = _create_delphi_mrr_radar_can_parser() + self.trigger_msg = DELPHI_MRR_RADAR_START_ADDR + DELPHI_MRR_RADAR_MSG_COUNT - 1 + else: + raise ValueError(f"Unsupported radar: {self.radar}") def update(self, can_strings): if self.rcp is None: @@ -45,20 +75,30 @@ class RadarInterface(RadarInterfaceBase): errors.append("canError") ret.errors = errors + if self.radar == RADAR.DELPHI_ESR: + self._update_delphi_esr() + elif self.radar == RADAR.DELPHI_MRR: + self._update_delphi_mrr() + + ret.points = list(self.pts.values()) + self.updated_messages.clear() + return ret + + def _update_delphi_esr(self): for ii in sorted(self.updated_messages): cpt = self.rcp.vl[ii] if cpt['X_Rel'] > 0.00001: - self.validCnt[ii] = 0 # reset counter + self.valid_cnt[ii] = 0 # reset counter if cpt['X_Rel'] > 0.00001: - self.validCnt[ii] += 1 + self.valid_cnt[ii] += 1 else: - self.validCnt[ii] = max(self.validCnt[ii] - 1, 0) - #print ii, self.validCnt[ii], cpt['VALID'], cpt['X_Rel'], cpt['Angle'] + self.valid_cnt[ii] = max(self.valid_cnt[ii] - 1, 0) + #print ii, self.valid_cnt[ii], cpt['VALID'], cpt['X_Rel'], cpt['Angle'] # radar point only valid if there have been enough valid measurements - if self.validCnt[ii] > 0: + if self.valid_cnt[ii] > 0: if ii not in self.pts: self.pts[ii] = car.RadarData.RadarPoint.new_message() self.pts[ii].trackId = self.track_id @@ -73,6 +113,36 @@ class RadarInterface(RadarInterfaceBase): if ii in self.pts: del self.pts[ii] - ret.points = list(self.pts.values()) - self.updated_messages.clear() - return ret + def _update_delphi_mrr(self): + for ii in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1): + msg = self.rcp.vl[f"MRR_Detection_{ii:03d}"] + + # SCAN_INDEX rotates through 0..3 on each message + # treat these as separate points + scanIndex = msg[f"CAN_SCAN_INDEX_2LSB_{ii:02d}"] + i = (ii - 1) * 4 + scanIndex + + if i not in self.pts: + self.pts[i] = car.RadarData.RadarPoint.new_message() + self.pts[i].trackId = self.track_id + self.pts[i].aRel = float('nan') + self.pts[i].yvRel = float('nan') + self.track_id += 1 + + valid = bool(msg[f"CAN_DET_VALID_LEVEL_{ii:02d}"]) + amplitude = msg[f"CAN_DET_AMPLITUDE_{ii:02d}"] # dBsm [-64|63] + + if valid and 0 < amplitude <= 15: + azimuth = msg[f"CAN_DET_AZIMUTH_{ii:02d}"] # rad [-3.1416|3.13964] + dist = msg[f"CAN_DET_RANGE_{ii:02d}"] # m [0|255.984] + distRate = msg[f"CAN_DET_RANGE_RATE_{ii:02d}"] # m/s [-128|127.984] + + # *** openpilot radar point *** + self.pts[i].dRel = cos(azimuth) * dist # m from front of car + self.pts[i].yRel = -sin(azimuth) * dist # in car frame's y axis, left is positive + self.pts[i].vRel = distRate # m/s + + self.pts[i].measured = True + + else: + del self.pts[i] diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 6b8396cf0..2624fd252 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -24,6 +24,11 @@ class CarControllerParams: STEER_RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4]) +class RADAR: + DELPHI_ESR = 'ford_fusion_2018_adas' + DELPHI_MRR = 'FORD_CADS' + + class CANBUS: main = 0 radar = 1 @@ -46,7 +51,7 @@ FW_VERSIONS = { (Ecu.eps, 0x730, None): [ b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x760, None): [ + (Ecu.abs, 0x760, None): [ b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ @@ -63,7 +68,7 @@ FW_VERSIONS = { (Ecu.eps, 0x730, None): [ b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x760, None): [ + (Ecu.abs, 0x760, None): [ b'JX61-2D053-CJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ @@ -80,6 +85,6 @@ FW_VERSIONS = { DBC = { - CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', None), - CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', None), + CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR), + CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR), } diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 9d2fd11b4..e6faa0e95 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -16,7 +16,7 @@ from selfdrive.car.toyota.values import CAR as TOYOTA from system.swaglog import cloudlog Ecu = car.CarParams.Ecu -ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa] +ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa] def p16(val): @@ -97,6 +97,11 @@ CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ p16(0xf132) +CHRYSLER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER) +CHRYSLER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER) + CHRYSLER_RX_OFFSET = -0x280 FORD_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ @@ -208,12 +213,20 @@ REQUESTS: List[Request] = [ "chrysler", [CHRYSLER_VERSION_REQUEST], [CHRYSLER_VERSION_RESPONSE], + whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.srs, Ecu.gateway, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.combinationMeter], rx_offset=CHRYSLER_RX_OFFSET, ), Request( "chrysler", [CHRYSLER_VERSION_REQUEST], [CHRYSLER_VERSION_RESPONSE], + whitelist_ecus=[Ecu.abs, Ecu.hcp, Ecu.engine, Ecu.transmission], + ), + Request( + "chrysler", + [CHRYSLER_SOFTWARE_VERSION_REQUEST], + [CHRYSLER_SOFTWARE_VERSION_RESPONSE], + whitelist_ecus=[Ecu.engine, Ecu.transmission], ), # Ford Request( @@ -227,7 +240,7 @@ REQUESTS: List[Request] = [ [TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST], [TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE], bus=0, - whitelist_ecus=[Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera], + whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera], ), ] @@ -315,7 +328,7 @@ def match_fw_to_car_exact(fw_versions_dict): ecu_type = ecu[0] addr = ecu[1:] found_versions = fw_versions_dict.get(addr, set()) - if ecu_type == Ecu.esp and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and not len(found_versions): + if ecu_type == Ecu.abs and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and not len(found_versions): continue # On some Toyota models, the engine can show on two different addresses diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 10e602797..977d20c5b 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -109,10 +109,10 @@ class CarController: else: # Stock longitudinal, integrated at camera - if (self.frame - self.last_button_frame) * DT_CTRL > 0.1: + if (self.frame - self.last_button_frame) * DT_CTRL > 0.04: if CC.cruiseControl.cancel: self.last_button_frame = self.frame - can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CruiseButtons.CANCEL)) + can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL)) # Show green icon when LKA torque is applied, and # alarming orange icon when approaching torque limit. diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 0bda7edad..0bba1d29b 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -16,12 +16,14 @@ class CarState(CarStateBase): can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"] self.lka_steering_cmd_counter = 0 + self.buttons_counter = 0 def update(self, pt_cp, cam_cp, loopback_cp): ret = car.CarState.new_message() self.prev_cruise_buttons = self.cruise_buttons self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"] + self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"] ret.wheelSpeeds = self.get_wheel_speeds( pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"], @@ -109,6 +111,7 @@ class CarState(CarStateBase): ("AcceleratorPedal2", "AcceleratorPedal2"), ("CruiseState", "AcceleratorPedal2"), ("ACCButtons", "ASCMSteeringButton"), + ("RollingCounter", "ASCMSteeringButton"), ("SteeringWheelAngle", "PSCMSteeringAngle"), ("SteeringWheelRate", "PSCMSteeringAngle"), ("FLWheelSpd", "EBCMWheelSpdFront"), diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py index 3a10c4d9d..20e4c4ab6 100644 --- a/selfdrive/car/gm/gmcan.py +++ b/selfdrive/car/gm/gmcan.py @@ -1,7 +1,10 @@ from selfdrive.car import make_can_msg -def create_buttons(packer, bus, button): - values = {"ACCButtons": button} +def create_buttons(packer, bus, idx, button): + values = { + "ACCButtons": button, + "RollingCounter": idx, + } return packer.make_can_msg("ASCMSteeringButton", bus, values) def create_steering_control(packer, bus, apply_steer, idx, lkas_active): diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index f3f1e587c..ac8bc4580 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -4,7 +4,7 @@ from math import fabs from panda import Panda from common.conversions import Conversions as CV -from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config +from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR from selfdrive.car.interfaces import CarInterfaceBase @@ -49,6 +49,7 @@ class CarInterface(CarInterfaceBase): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "gm" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)] + ret.autoResumeSng = False if candidate in EV_CAR: ret.transmissionType = TransmissionType.direct @@ -73,7 +74,7 @@ class CarInterface(CarInterfaceBase): ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL} # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below. - ret.minSteerSpeed = 7 * CV.MPH_TO_MS + ret.minSteerSpeed = 10 * CV.KPH_TO_MS ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]] ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594 @@ -160,6 +161,15 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.2 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + elif candidate == CAR.SILVERADO: + ret.minEnableSpeed = -1 + ret.mass = 2200. + STD_CARGO_KG + ret.wheelbase = 3.75 + ret.steerRatio = 16.3 + ret.centerToFront = ret.wheelbase * 0.5 + tire_stiffness_factor = 1.0 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) @@ -195,9 +205,6 @@ class CarInterface(CarInterfaceBase): if ret.vEgo < self.CP.minSteerSpeed: events.add(car.CarEvent.EventName.belowSteerSpeed) - # handle button presses - events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise)) - ret.events = events.to_msg() return ret diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index cb9aff172..21ede171e 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -59,6 +59,7 @@ class CAR: BUICK_REGAL = "BUICK REGAL ESSENCE 2018" ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016" BOLT_EUV = "CHEVROLET BOLT EUV 2022" + SILVERADO = "CHEVROLET SILVERADO 1500 2020" class Footnote(Enum): @@ -83,7 +84,11 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = { CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"), CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"), CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"), - CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier/Premier Redline Trim", video_link="https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm), + CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm), + CAR.SILVERADO: [ + GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II", footnotes=[], harness=Harness.gm), + GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", footnotes=[], harness=Harness.gm), + ], } @@ -157,6 +162,10 @@ FINGERPRINTS = { { 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7 }], + CAR.SILVERADO: [ + { + 190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7 + }], } DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')) @@ -164,6 +173,6 @@ DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_power EV_CAR = {CAR.VOLT, CAR.BOLT_EUV} # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness) -CAMERA_ACC_CAR = {CAR.BOLT_EUV} +CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO} STEER_THRESHOLD = 1.0 diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index a78189b69..a235ba6cd 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -4,7 +4,7 @@ from panda import Panda from common.conversions import Conversions as CV from common.numpy_fast import interp from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS -from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config +from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.disable_ecu import disable_ecu @@ -86,7 +86,6 @@ class CarInterface(CarInterfaceBase): eps_modified = True if candidate == CAR.CIVIC: - stop_and_go = True ret.mass = CivicParams.MASS ret.wheelbase = CivicParams.WHEELBASE ret.centerToFront = CivicParams.CENTER_TO_FRONT @@ -106,7 +105,6 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 1. elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022): - stop_and_go = True ret.mass = CivicParams.MASS ret.wheelbase = CivicParams.WHEELBASE ret.centerToFront = CivicParams.CENTER_TO_FRONT @@ -116,7 +114,6 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] elif candidate in (CAR.ACCORD, CAR.ACCORDH): - stop_and_go = True ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.83 ret.centerToFront = ret.wheelbase * 0.39 @@ -130,7 +127,6 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] elif candidate == CAR.ACURA_ILX: - stop_and_go = False ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.37 @@ -140,7 +136,6 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] elif candidate in (CAR.CRV, CAR.CRV_EU): - stop_and_go = False ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.62 ret.centerToFront = ret.wheelbase * 0.41 @@ -151,7 +146,6 @@ class CarInterface(CarInterfaceBase): ret.wheelSpeedFactor = 1.025 elif candidate == CAR.CRV_5G: - stop_and_go = True ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.66 ret.centerToFront = ret.wheelbase * 0.41 @@ -169,7 +163,6 @@ class CarInterface(CarInterfaceBase): ret.wheelSpeedFactor = 1.025 elif candidate == CAR.CRV_HYBRID: - stop_and_go = True ret.mass = 1667. + STD_CARGO_KG # mean of 4 models in kg ret.wheelbase = 2.66 ret.centerToFront = ret.wheelbase * 0.41 @@ -180,7 +173,6 @@ class CarInterface(CarInterfaceBase): ret.wheelSpeedFactor = 1.025 elif candidate == CAR.FIT: - stop_and_go = False ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.53 ret.centerToFront = ret.wheelbase * 0.39 @@ -190,7 +182,6 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] elif candidate == CAR.FREED: - stop_and_go = False ret.mass = 3086. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.74 # the remaining parameters were copied from FIT @@ -201,7 +192,6 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] elif candidate == CAR.HRV: - stop_and_go = False ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.61 ret.centerToFront = ret.wheelbase * 0.41 @@ -212,7 +202,6 @@ class CarInterface(CarInterfaceBase): ret.wheelSpeedFactor = 1.025 elif candidate == CAR.ACURA_RDX: - stop_and_go = False ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.68 ret.centerToFront = ret.wheelbase * 0.38 @@ -222,7 +211,6 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] elif candidate == CAR.ACURA_RDX_3G: - stop_and_go = True ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.75 ret.centerToFront = ret.wheelbase * 0.41 @@ -232,7 +220,6 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.677 elif candidate == CAR.ODYSSEY: - stop_and_go = False ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 3.00 ret.centerToFront = ret.wheelbase * 0.41 @@ -242,7 +229,6 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] elif candidate == CAR.ODYSSEY_CHN: - stop_and_go = False ret.mass = 1849.2 + STD_CARGO_KG # mean of 4 models in kg ret.wheelbase = 2.90 ret.centerToFront = ret.wheelbase * 0.41 # from CAR.ODYSSEY @@ -252,7 +238,6 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] elif candidate in (CAR.PILOT, CAR.PASSPORT): - stop_and_go = False ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG # average weight ret.wheelbase = 2.82 ret.centerToFront = ret.wheelbase * 0.428 @@ -262,7 +247,6 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] elif candidate == CAR.RIDGELINE: - stop_and_go = False ret.mass = 4515. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 3.18 ret.centerToFront = ret.wheelbase * 0.41 @@ -272,7 +256,6 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] elif candidate == CAR.INSIGHT: - stop_and_go = True ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.7 ret.centerToFront = ret.wheelbase * 0.39 @@ -282,7 +265,6 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] elif candidate == CAR.HONDA_E: - stop_and_go = True ret.mass = 3338.8 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.5 ret.centerToFront = ret.wheelbase * 0.5 @@ -311,7 +293,8 @@ class CarInterface(CarInterfaceBase): # min speed to enable ACC. if car can do stop and go, then set enabling speed # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not # conflict with PCM acc - ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else 25.5 * CV.MPH_TO_MS + stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor + ret.minEnableSpeed = -1. if stop_and_go else 25.5 * CV.MPH_TO_MS # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase @@ -369,9 +352,6 @@ class CarInterface(CarInterfaceBase): if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001: events.add(EventName.manualRestart) - # handle button presses - events.events.extend(create_button_enable_events(ret.buttonEvents, self.CP.pcmCruise)) - ret.events = events.to_msg() return ret diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index ab1cc9a6c..ad4f73c01 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -113,7 +113,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), ], CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), - CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec), + CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec, video_link="https://youtu.be/-IkImTe1NYE"), CAR.CIVIC_BOSCH: [ HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a), HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a), diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 60fb46340..586d215ff 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -5,7 +5,7 @@ from common.realtime import DT_CTRL from opendbc.can.packer import CANPacker from selfdrive.car import apply_std_steer_torque_limits from selfdrive.car.hyundai import hyundaicanfd, hyundaican -from selfdrive.car.hyundai.values import Buttons, CarControllerParams, CANFD_CAR, CAR +from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState @@ -15,6 +15,7 @@ def process_hud_alert(enabled, fingerprint, hud_control): sys_warning = (hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)) # initialize to no line visible + # TODO: this is not accurate for all cars sys_state = 1 if hud_control.leftLaneVisible and hud_control.rightLaneVisible or sys_warning: # HUD alert only display when LKAS status is active sys_state = 3 if enabled or sys_warning else 4 @@ -71,22 +72,33 @@ class CarController: if self.CP.carFingerprint in CANFD_CAR: # steering control - can_sends.append(hyundaicanfd.create_lkas(self.packer, CC.enabled, CC.latActive, apply_steer)) + can_sends.append(hyundaicanfd.create_lkas(self.packer, self.CP, CC.enabled, CC.latActive, apply_steer)) - if self.frame % 5 == 0: + # block LFA on HDA2 + if self.frame % 5 == 0 and (self.CP.flags & HyundaiFlags.CANFD_HDA2): can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, CS.cam_0x2a4)) - # cruise cancel + # LFA and HDA icons + if self.frame % 2 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_HDA2): + can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, CC.enabled)) + + # button presses if (self.frame - self.last_button_frame) * DT_CTRL > 0.25: + # cruise cancel if CC.cruiseControl.cancel: - for _ in range(20): - can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL)) - self.last_button_frame = self.frame + if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: + can_sends.append(hyundaicanfd.create_cruise_info(self.packer, CS.cruise_info_copy, True)) + self.last_button_frame = self.frame + else: + for _ in range(20): + can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL)) + self.last_button_frame = self.frame # cruise standstill resume elif CC.cruiseControl.resume: - can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL)) - self.last_button_frame = self.frame + if not (self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS): + can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL)) + self.last_button_frame = self.frame else: # tester present - w/ no response (keeps radar disabled) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 9105f1278..eab6e73f1 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -5,7 +5,7 @@ from cereal import car from common.conversions import Conversions as CV from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine -from selfdrive.car.hyundai.values import DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams +from selfdrive.car.hyundai.values import HyundaiFlags, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams from selfdrive.car.interfaces import CarStateBase PREV_BUTTON_SAMPLES = 8 @@ -20,7 +20,7 @@ class CarState(CarStateBase): self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES) if CP.carFingerprint in CANFD_CAR: - self.shifter_values = can_define.dv["ACCELERATOR"]["GEAR"] + self.shifter_values = can_define.dv["GEAR_SHIFTER"]["GEAR"] elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]: self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"] elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]: @@ -136,14 +136,17 @@ class CarState(CarStateBase): def update_canfd(self, cp, cp_cam): ret = car.CarState.new_message() - ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255. - ret.gasPressed = ret.gas > 1e-3 + if self.CP.flags & HyundaiFlags.CANFD_HDA2: + ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255. + else: + ret.gas = cp.vl["ACCELERATOR_ALT"]["ACCELERATOR_PEDAL"] / 1023. + ret.gasPressed = ret.gas > 1e-5 ret.brakePressed = cp.vl["BRAKE"]["BRAKE_PRESSED"] == 1 ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1 ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT_LATCHED"] == 0 - gear = cp.vl["ACCELERATOR"]["GEAR"] + gear = cp.vl["GEAR_SHIFTER"]["GEAR"] ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear)) # TODO: figure out positions @@ -168,16 +171,19 @@ class CarState(CarStateBase): ret.cruiseState.available = True ret.cruiseState.enabled = cp.vl["SCC1"]["CRUISE_ACTIVE"] == 1 - ret.cruiseState.standstill = cp.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1 - + cp_cruise_info = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam speed_factor = CV.MPH_TO_MS if cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] == 1 else CV.KPH_TO_MS - ret.cruiseState.speed = cp.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor + ret.cruiseState.speed = cp_cruise_info.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor + ret.cruiseState.standstill = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1 - self.cruise_buttons.extend(cp.vl_all["CRUISE_BUTTONS"]["CRUISE_BUTTONS"]) - self.main_buttons.extend(cp.vl_all["CRUISE_BUTTONS"]["ADAPTIVE_CRUISE_MAIN_BTN"]) - self.buttons_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"] + cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS" + self.cruise_buttons.extend(cp.vl_all[cruise_btn_msg]["CRUISE_BUTTONS"]) + self.main_buttons.extend(cp.vl_all[cruise_btn_msg]["ADAPTIVE_CRUISE_MAIN_BTN"]) + self.buttons_counter = cp.vl[cruise_btn_msg]["COUNTER"] + self.cruise_info_copy = copy.copy(cp_cruise_info.vl["CRUISE_INFO"]) - self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"]) + if self.CP.flags & HyundaiFlags.CANFD_HDA2: + self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"]) return ret @@ -319,9 +325,7 @@ class CarState(CarStateBase): @staticmethod def get_cam_can_parser(CP): if CP.carFingerprint in CANFD_CAR: - signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)] - checks = [("CAM_0x2a4", 20)] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6) + return CarState.get_cam_can_parser_canfd(CP) signals = [ # signal_name, signal_address @@ -374,14 +378,15 @@ class CarState(CarStateBase): @staticmethod def get_can_parser_canfd(CP): + + cruise_btn_msg = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS" signals = [ ("WHEEL_SPEED_1", "WHEEL_SPEEDS"), ("WHEEL_SPEED_2", "WHEEL_SPEEDS"), ("WHEEL_SPEED_3", "WHEEL_SPEEDS"), ("WHEEL_SPEED_4", "WHEEL_SPEEDS"), - ("ACCELERATOR_PEDAL", "ACCELERATOR"), - ("GEAR", "ACCELERATOR"), + ("GEAR", "GEAR_SHIFTER"), ("BRAKE_PRESSED", "BRAKE"), ("STEERING_RATE", "STEERING_SENSORS"), @@ -390,11 +395,9 @@ class CarState(CarStateBase): ("STEERING_OUT_TORQUE", "MDPS"), ("CRUISE_ACTIVE", "SCC1"), - ("SET_SPEED", "CRUISE_INFO"), - ("CRUISE_STANDSTILL", "CRUISE_INFO"), - ("COUNTER", "CRUISE_BUTTONS"), - ("CRUISE_BUTTONS", "CRUISE_BUTTONS"), - ("ADAPTIVE_CRUISE_MAIN_BTN", "CRUISE_BUTTONS"), + ("COUNTER", cruise_btn_msg), + ("CRUISE_BUTTONS", cruise_btn_msg), + ("ADAPTIVE_CRUISE_MAIN_BTN", cruise_btn_msg), ("DISTANCE_UNIT", "CLUSTER_INFO"), @@ -407,16 +410,64 @@ class CarState(CarStateBase): checks = [ ("WHEEL_SPEEDS", 100), - ("ACCELERATOR", 100), + ("GEAR_SHIFTER", 100), ("BRAKE", 100), ("STEERING_SENSORS", 100), ("MDPS", 100), ("SCC1", 50), - ("CRUISE_INFO", 50), - ("CRUISE_BUTTONS", 50), + (cruise_btn_msg, 50), ("CLUSTER_INFO", 4), ("BLINKERS", 4), ("DOORS_SEATBELTS", 4), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 5) + if CP.flags & HyundaiFlags.CANFD_HDA2: + signals += [ + ("ACCELERATOR_PEDAL", "ACCELERATOR"), + ("GEAR", "ACCELERATOR"), + ("SET_SPEED", "CRUISE_INFO"), + ("CRUISE_STANDSTILL", "CRUISE_INFO"), + ] + checks += [ + ("CRUISE_INFO", 50), + ("ACCELERATOR", 100), + ] + else: + signals += [ + ("ACCELERATOR_PEDAL", "ACCELERATOR_ALT"), + ] + checks += [ + ("ACCELERATOR_ALT", 100), + ] + + bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4 + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus) + + @staticmethod + def get_cam_can_parser_canfd(CP): + if CP.flags & HyundaiFlags.CANFD_HDA2: + signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)] + checks = [("CAM_0x2a4", 20)] + else: + signals = [ + ("COUNTER", "CRUISE_INFO"), + ("NEW_SIGNAL_1", "CRUISE_INFO"), + ("CRUISE_MAIN", "CRUISE_INFO"), + ("CRUISE_STATUS", "CRUISE_INFO"), + ("CRUISE_INACTIVE", "CRUISE_INFO"), + ("NEW_SIGNAL_2", "CRUISE_INFO"), + ("CRUISE_STANDSTILL", "CRUISE_INFO"), + ("NEW_SIGNAL_3", "CRUISE_INFO"), + ("BYTE11", "CRUISE_INFO"), + ("SET_SPEED", "CRUISE_INFO"), + ("NEW_SIGNAL_4", "CRUISE_INFO"), + ] + + signals += [(f"BYTE{i}", "CRUISE_INFO") for i in range(3, 7)] + signals += [(f"BYTE{i}", "CRUISE_INFO") for i in range(13, 31)] + + checks = [ + ("CRUISE_INFO", 50), + ] + + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6) diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index 8a5e33f11..f94cc508a 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -37,12 +37,26 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, # Note: the warning is hidden while the blinkers are on values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0 + # Likely cars lacking the ability to show individual lane lines in the dash + elif car_fingerprint in (CAR.KIA_OPTIMA,): + # SysWarning 4 = keep hands on wheel + beep + values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0 + + # SysState 0 = no icons + # SysState 1-2 = white car + lanes + # SysState 3 = green car + lanes, green steering wheel + # SysState 4 = green car + lanes + values["CF_Lkas_LdwsSysState"] = 3 if enabled else 1 + values["CF_Lkas_LdwsOpt_USM"] = 2 # non-2 changes above SysState definition + + # these have no effect + values["CF_Lkas_LdwsActivemode"] = 0 + values["CF_Lkas_FcwOpt_USM"] = 0 + elif car_fingerprint == CAR.HYUNDAI_GENESIS: # This field is actually LdwsActivemode # Genesis and Optima fault when forwarding while engaged values["CF_Lkas_LdwsActivemode"] = 2 - elif car_fingerprint == CAR.KIA_OPTIMA: - values["CF_Lkas_LdwsActivemode"] = 0 dat = packer.make_can_msg("LKAS11", 0, values)[2] diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index 36207aa11..a53be7627 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -1,4 +1,7 @@ -def create_lkas(packer, enabled, lat_active, apply_steer): +from selfdrive.car.hyundai.values import HyundaiFlags + + +def create_lkas(packer, CP, enabled, lat_active, apply_steer): values = { "LKA_MODE": 2, "LKA_ICON": 2 if enabled else 1, @@ -10,7 +13,9 @@ def create_lkas(packer, enabled, lat_active, apply_steer): "NEW_SIGNAL_1": 0, "NEW_SIGNAL_2": 0, } - return packer.make_can_msg("LKAS", 4, values) + + msg = "LKAS" if CP.flags & HyundaiFlags.CANFD_HDA2 else "LFA" + return packer.make_can_msg(msg, 4, values) def create_cam_0x2a4(packer, camera_values): camera_values.update({ @@ -25,3 +30,17 @@ def create_buttons(packer, cnt, btn): "CRUISE_BUTTONS": btn, } return packer.make_can_msg("CRUISE_BUTTONS", 5, values) + +def create_cruise_info(packer, cruise_info_copy, cancel): + values = cruise_info_copy + if cancel: + values["CRUISE_STATUS"] = 0 + values["CRUISE_INACTIVE"] = 1 + return packer.make_can_msg("CRUISE_INFO", 4, values) + +def create_lfahda_cluster(packer, enabled): + values = { + "HDA_ICON": 1 if enabled else 0, + "LFA_ICON": 2 if enabled else 0, + } + return packer.make_can_msg("LFAHDA_CLUSTER", 4, values) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index d3dc1a2c6..bbb797c2e 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -2,9 +2,9 @@ from cereal import car from panda import Panda from common.conversions import Conversions as CV -from selfdrive.car.hyundai.values import CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams +from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR -from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config +from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.disable_ecu import disable_ecu @@ -115,13 +115,11 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.indi.actuatorEffectivenessV = [2.3] ret.minSteerSpeed = 60 * CV.KPH_TO_MS elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022): - ret.lateralTuning.pid.kf = 0.00005 ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.) + STD_CARGO_KG ret.wheelbase = 2.6 ret.steerRatio = 13.42 # Spec tire_stiffness_factor = 0.385 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022): ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx @@ -162,6 +160,12 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] + elif candidate == CAR.TUCSON_HYBRID_4TH_GEN: + ret.mass = 1680. + STD_CARGO_KG # average of all 3 trims + ret.wheelbase = 2.756 + ret.steerRatio = 16. + tire_stiffness_factor = 0.385 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) # Kia elif candidate == CAR.KIA_SORENTO: @@ -171,7 +175,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] - elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021): + elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021): ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1737. + STD_CARGO_KG ret.wheelbase = 2.7 @@ -179,7 +183,7 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.385 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] - if candidate == CAR.KIA_NIRO_HEV: + if candidate == CAR.KIA_NIRO_PHEV: ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.KIA_SELTOS: ret.mass = 1337. + STD_CARGO_KG @@ -286,7 +290,19 @@ class CarInterface(CarInterfaceBase): if candidate in CANFD_CAR: ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput), get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)] + + # detect HDA2 with LKAS message + if 0x50 in fingerprint[6]: + ret.flags |= HyundaiFlags.CANFD_HDA2.value + ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2 + else: + # non-HDA2 + if 0x1cf not in fingerprint[4]: + ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value + ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS else: + ret.enableBsm = 0x58b in fingerprint[0] + if candidate in LEGACY_SAFETY_MODE_CAR: # these cars require a special panda safety mode due to missing counters and checksums in the messages ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)] @@ -316,8 +332,6 @@ class CarInterface(CarInterfaceBase): ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, tire_stiffness_factor=tire_stiffness_factor) - ret.enableBsm = 0x58b in fingerprint[0] - return ret @staticmethod @@ -328,6 +342,14 @@ class CarInterface(CarInterfaceBase): def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) + if self.CS.CP.openpilotLongitudinalControl and self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons: + buttonEvents = [create_button_event(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)] + # Handle CF_Clu_CruiseSwState changing buttons mid-press + if self.CS.cruise_buttons[-1] != 0 and self.CS.prev_cruise_buttons != 0: + buttonEvents.append(create_button_event(0, self.CS.prev_cruise_buttons, BUTTONS_DICT)) + + ret.buttonEvents = buttonEvents + # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons # Main button also can trigger an engagement on these cars @@ -337,15 +359,6 @@ class CarInterface(CarInterfaceBase): if self.CS.brake_error: events.add(EventName.brakeUnavailable) - if self.CS.CP.openpilotLongitudinalControl and self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons: - buttonEvents = [create_button_event(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)] - # Handle CF_Clu_CruiseSwState changing buttons mid-press - if self.CS.cruise_buttons[-1] != 0 and self.CS.prev_cruise_buttons != 0: - buttonEvents.append(create_button_event(0, self.CS.prev_cruise_buttons, BUTTONS_DICT)) - - ret.buttonEvents = buttonEvents - events.events.extend(create_button_enable_events(ret.buttonEvents)) - # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s) if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.: self.low_speed_alert = True diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 625b2630f..e2374a1c0 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1,3 +1,4 @@ +from enum import IntFlag from dataclasses import dataclass from typing import Dict, List, Optional, Union @@ -29,7 +30,7 @@ class CarControllerParams: # To determine the limit for your car, find the maximum value that the stock LKAS will request. # If the max stock LKAS request is <384, add your car to this list. elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ, - CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV, + CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV, CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER): self.STEER_MAX = 255 @@ -38,6 +39,11 @@ class CarControllerParams: self.STEER_MAX = 384 +class HyundaiFlags(IntFlag): + CANFD_HDA2 = 1 + CANFD_ALT_BUTTONS = 2 + + class CAR: # Hyundai ELANTRA = "HYUNDAI ELANTRA 2017" @@ -66,12 +72,13 @@ class CAR: VELOSTER = "HYUNDAI VELOSTER 2019" SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021" IONIQ_5 = "HYUNDAI IONIQ 5 2022" + TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN" # Kia KIA_FORTE = "KIA FORTE E 2018 & GT 2021" KIA_K5_2021 = "KIA K5 2021" KIA_NIRO_EV = "KIA NIRO EV 2020" - KIA_NIRO_HEV = "KIA NIRO HYBRID 2019" + KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019" KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021" KIA_OPTIMA = "KIA OPTIMA SX 2019 & 2016" KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019" @@ -112,7 +119,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", "Smart Cruise Control (SCC)", harness=Harness.hyundai_o), CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i), CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d), - CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", harness=Harness.hyundai_l), + CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l), CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l), CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness=Harness.hyundai_l), CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a), @@ -128,11 +135,12 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", "Smart Cruise Control (SCC)", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e), CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a), CAR.IONIQ_5: HyundaiCarInfo("Hyundai Ioniq 5 2022", "Highway Driving Assist II", harness=Harness.hyundai_q), + CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n), # Kia CAR.KIA_FORTE: [ HyundaiCarInfo("Kia Forte 2018", harness=Harness.hyundai_b), - HyundaiCarInfo("Kia Forte 2019-21", "All", harness=Harness.hyundai_g), + HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g), ], CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a), CAR.KIA_NIRO_EV: [ @@ -141,7 +149,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Niro Electric 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c), HyundaiCarInfo("Kia Niro Electric 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), ], - CAR.KIA_NIRO_HEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c), + CAR.KIA_NIRO_PHEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c), CAR.KIA_NIRO_HEV_2021: [ HyundaiCarInfo("Kia Niro Hybrid 2021", harness=Harness.hyundai_f), # TODO: could be hyundai_d, verify HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h), @@ -390,7 +398,7 @@ FW_VERSIONS = { b'\xf1\x8799110L0000\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ', b'\xf1\x8799110L0000\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ', ], - (Ecu.esp, 0x7d1, None): [ + (Ecu.abs, 0x7d1, None): [ b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', b'\xf1\x00DN ESC \x01 102\x19\x04\x13 58910-L1300', b'\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300', @@ -510,7 +518,7 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00LF__ SCC F-CUP 1.00 1.00 96401-C2200 ', ], - (Ecu.esp, 0x7d1, None): [ + (Ecu.abs, 0x7d1, None): [ b'\xf1\x00LF ESC \f 11 \x17\x01\x13 58920-C2610', b'\xf1\x00LF ESC \t 11 \x17\x01\x13 58920-C2610', ], @@ -557,7 +565,7 @@ FW_VERSIONS = { b'\xf1\x00TM__ SCC F-CUP 1.00 1.02 99110-S2000 ', b'\xf1\x00TM__ SCC F-CUP 1.00 1.03 99110-S2000 ', ], - (Ecu.esp, 0x7d1, None): [ + (Ecu.abs, 0x7d1, None): [ b'\xf1\x00TM ESC \r 100\x18\x031 58910-S2650', b'\xf1\x00TM ESC \r 103\x18\x11\x08 58910-S2650', b'\xf1\x00TM ESC \r 104\x19\a\b 58910-S2650', @@ -613,14 +621,16 @@ FW_VERSIONS = { b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ', b'\xf1\x8799110S1500\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ', b'\xf1\x8799110S1500\xf1\x00TM__ SCC FHCUP 1.00 1.00 99110-S1500 ', + b'\xf1\x00TM__ SCC FHCUP 1.00 1.00 99110-S1500 ', ], - (Ecu.esp, 0x7d1, None): [ + (Ecu.abs, 0x7d1, None): [ b'\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0', b'\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0', b'\xf1\x8758910-S2DA0\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0', b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0', b'\xf1\x8758910-S1DA0\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0', b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0', + b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x82TACVN5GMI3XXXH0A', @@ -629,6 +639,7 @@ FW_VERSIONS = { b'\xf1\x82TMCFD5MMCXXXXG0A', b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A', b'\xf1\x81HM6M2_0a0_G00', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00TM MDPS C 1.00 1.02 56370-S2AA0 0B19', @@ -648,6 +659,8 @@ FW_VERSIONS = { b'\xf1\x87KMMYBU034207SB72x\x89\x88\x98h\x88\x98\x89\x87fhvvfWf33_\xff\x87\xff\x8f\xfa\x81\xe5\xf1\x89HT6TAF00A1\xf1\x82STM0M25GS1\x00\x00\x00\x00\x00\x00', b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6', b'\xf1\x00HT6TA290BLHT6TAF00A1STM0M25GS1\x00\x00\x00\x00\x00\x006\xd8\x97\x15', + b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc', + b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02900A1 \xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc', ], }, CAR.SANTA_FE_HEV_2022: { @@ -690,6 +703,7 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5100 ', b'\xf1\x00CK__ SCC F_CUP 1.00 1.03 96400-J5100 ', + b'\xf1\x00CK__ SCC F_CUP 1.00 1.01 96400-J5000 ', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x81606DE051\x00\x00\x00\x00\x00\x00\x00\x00', @@ -707,6 +721,7 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00CK MFC AT USA LHD 1.00 1.03 95740-J5000 170822', b'\xf1\x00CK MFC AT USA LHD 1.00 1.04 95740-J5000 180504', + b'\xf1\x00CK MFC AT EUR LHD 1.00 1.03 95740-J5000 170822', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x87VCJLE17622572DK0vd6D\x99\x98y\x97vwVffUfvfC%CuT&Dx\x87o\xff{\x1c\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', @@ -716,6 +731,7 @@ FW_VERSIONS = { b'\xf1\x87VDHLG17118862DK2\x8awWwgu\x96wVfUVwv\x97xWvfvUTGTx\x87o\xff\xc9\xed\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', b'\xf1\x87VDKLJ18675252DK6\x89vhgwwwwveVU\x88w\x87w\x99vgf\x97vXfgw_\xff\xc2\xfb\xf1\x89E25\x00\x00\x00\x00\x00\x00\x00\xf1\x82TCK0T33NB2', b'\xf1\x87WAJTE17552812CH4vfFffvfVeT5DwvvVVdFeegeg\x88\x88o\xff\x1a]\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00TCK2T20NB1\x19\xd2\x00\x94', + b'\xf1\x87VDHLG17274082DK2wfFf\x89x\x98wUT5T\x88v\x97xgeGefTGTVvO\xff\x1c\x14\xf1\x81E19\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E19\x00\x00\x00\x00\x00\x00\x00SCK0T33UB2\xee[\x97S', ], }, CAR.PALISADE: { @@ -728,7 +744,7 @@ FW_VERSIONS = { b'\xf1\x00LX2_ SCC FHCUP 1.00 1.05 99110-S8100 ', b'\xf1\x00ON__ FCA FHCUP 1.00 1.02 99110-S9100 ', ], - (Ecu.esp, 0x7d1, None): [ + (Ecu.abs, 0x7d1, None): [ b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360', b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360', b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330', @@ -810,6 +826,7 @@ FW_VERSIONS = { b"\xf1\x87LBLUFN622950KF36\xa8\x88\x88\x88\x87w\x87xh\x99\x96\x89\x88\x99\x98\x89\x88\x99\x98\x89\x87o\xf6\xff\x98\x88o\xffx'\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8", b'\xf1\x87LDMVBN950669KF37\x97www\x96fffy\x99\xa7\x99\xa9\x99\xaa\x99g\x88\x96x\xb8\x8f\xf9\xffTD/\xff\xa7\xcb\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', b'\xf1\x87LDLVAA4478824HH1\x87wwwvfvg\x89\x99\xa8\x99w\x88\x87x\x89\x99\xa8\x99\xa6o\xfa\xfffU/\xffu\x92\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6', + b'\xf1\x87LDMVBN871852KF37\xb9\x99\x99\x99\xa8\x88\x88\x88y\x99\xa7\x99x\x99\xa7\x89\x88\x88\x98\x88\x89o\xf7\xff\xaa\x88o\xff\x0e\xed\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', ], }, CAR.VELOSTER: { @@ -817,7 +834,7 @@ FW_VERSIONS = { b'\xf1\x00JS__ SCC H-CUP 1.00 1.02 95650-J3200 ', b'\xf1\x00JS__ SCC HNCUP 1.00 1.02 95650-J3100 ', ], - (Ecu.esp, 0x7d1, None): [ + (Ecu.abs, 0x7d1, None): [ b'\xf1\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x816V8RAC00121.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', ], @@ -878,7 +895,7 @@ FW_VERSIONS = { }, CAR.KONA: { (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00OS__ SCC F-CUP 1.00 1.00 95655-J9200 ', ], - (Ecu.esp, 0x7d1, None): [b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', ], + (Ecu.abs, 0x7d1, None): [b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [b'"\x01TOS-0NU06F301J02', ], (Ecu.eps, 0x7d4, None): [b'\xf1\x00OS MDPS C 1.00 1.05 56310J9030\x00 4OSDC105', ], (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21', ], @@ -893,7 +910,7 @@ FW_VERSIONS = { b'\xf1\x816U2V7051\000\000\xf1\0006U2V0_C2\000\0006U2V7051\000\000DCD0T14US1\000\000\000\000', b'\xf1\x816U2V7051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V7051\x00\x00DCD0T14US1U\x867Z', ], - (Ecu.esp, 0x7D1, None): [b'\xf1\000CD ESC \003 102\030\b\005 58920-J7350', ], + (Ecu.abs, 0x7D1, None): [b'\xf1\000CD ESC \003 102\030\b\005 58920-J7350', ], }, CAR.KIA_FORTE: { (Ecu.eps, 0x7D4, None): [ @@ -911,7 +928,7 @@ FW_VERSIONS = { b'\x01TBDM1NU06F200H01', b'391182B945\x00', ], - (Ecu.esp, 0x7d1, None): [ + (Ecu.abs, 0x7d1, None): [ b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.transmission, 0x7e1, None): [ @@ -935,7 +952,7 @@ FW_VERSIONS = { b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.03 99210-L3000 200915', b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.04 99210-L3000 210208', ], - (Ecu.esp, 0x7D1, None): [ + (Ecu.abs, 0x7D1, None): [ b'\xf1\000DL ESC \006 101 \004\002 58910-L3200', b'\xf1\x8758910-L3200\xf1\000DL ESC \006 101 \004\002 58910-L3200', b'\xf1\x8758910-L3800\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800', @@ -955,7 +972,7 @@ FW_VERSIONS = { ], }, CAR.KONA_EV: { - (Ecu.esp, 0x7D1, None): [ + (Ecu.abs, 0x7D1, None): [ b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000', b'\xf1\x00OS IEB \x01 212 \x11\x13 58520-K4000', b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000', @@ -982,7 +999,7 @@ FW_VERSIONS = { ], }, CAR.KONA_EV_2022: { - (Ecu.esp, 0x7D1, None): [ + (Ecu.abs, 0x7D1, None): [ b'\xf1\x8758520-K4010\xf1\x00OS IEB \x02 101 \x11\x13 58520-K4010', b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010', b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010', @@ -1010,6 +1027,7 @@ FW_VERSIONS = { b'\xf1\x00DEev SCC F-CUP 1.00 1.02 96400-Q4000 ', b'\xf1\x00DEev SCC F-CUP 1.00 1.02 96400-Q4100 ', b'\xf1\x00DEev SCC F-CUP 1.00 1.03 96400-Q4100 ', + b'\xf1\x00DEev SCC FHCUP 1.00 1.03 96400-Q4000 ', b'\xf1\x8799110Q4000\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ', b'\xf1\x8799110Q4100\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4100 ', b'\xf1\x8799110Q4500\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4500 ', @@ -1029,9 +1047,10 @@ FW_VERSIONS = { b'\xf1\x00DEE MFC AT USA LHD 1.00 1.03 95740-Q4000 180821', b'\xf1\x00DEE MFC AT USA LHD 1.00 1.01 99211-Q4500 210428', b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.03 95740-Q4000 180821', + b'\xf1\x00DEE MFC AT KOR LHD 1.00 1.03 95740-Q4000 180821', ], }, - CAR.KIA_NIRO_HEV: { + CAR.KIA_NIRO_PHEV: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00', @@ -1074,7 +1093,7 @@ FW_VERSIONS = { }, CAR.KIA_SELTOS: { (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x8799110Q5100\xf1\000SP2_ SCC FHCUP 1.01 1.05 99110-Q5100 ',], - (Ecu.esp, 0x7d1, None): [ + (Ecu.abs, 0x7d1, None): [ b'\xf1\x8758910-Q5450\xf1\000SP ESC \a 101\031\t\005 58910-Q5450', b'\xf1\x8758910-Q5450\xf1\000SP ESC \t 101\031\t\005 58910-Q5450', ], @@ -1102,7 +1121,7 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 ', ], - (Ecu.esp, 0x7d1, None): [ + (Ecu.abs, 0x7d1, None): [ b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180', ], (Ecu.engine, 0x7e0, None): [ @@ -1137,11 +1156,13 @@ FW_VERSIONS = { b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.00 99210-AB000 200819', b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AA000 200819', b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.01 99210-AB000 210205', + b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.06 99210-AA000 220111', ], - (Ecu.esp, 0x7d1, None): [ + (Ecu.abs, 0x7d1, None): [ b'\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800', b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 104 \x08\x03 58910-AA800', b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800', + b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 105 \x10\x03 58910-AA800', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -1156,7 +1177,7 @@ FW_VERSIONS = { b'\xf1\x82CNCWD0AMFCXCSFFA', b'\xf1\x82CNCWD0AMFCXCSFFB', b'\xf1\x82CNCVD0AMFCXCSFFB', - b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82CNDWD0AMFCXCSG8A', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_G80', ], }, CAR.ELANTRA_HEV_2021: { @@ -1183,7 +1204,7 @@ FW_VERSIONS = { ] }, CAR.KONA_HEV: { - (Ecu.esp, 0x7d1, None): [ + (Ecu.abs, 0x7d1, None): [ b'\xf1\x00OS IEB \x01 104 \x11 58520-CM000', ], (Ecu.fwdRadar, 0x7d0, None): [ @@ -1237,7 +1258,7 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00UMP LKAS AT USA LHD 1.01 1.01 95740-C6550 d01' ], - (Ecu.esp, 0x7d1, None): [ + (Ecu.abs, 0x7d1, None): [ b'\xf1\x00UM ESC \x0c 12 \x18\x05\x06 58910-C6330' ], (Ecu.fwdRadar, 0x7D0, None): [ @@ -1251,7 +1272,7 @@ FW_VERSIONS = { ], }, CAR.KIA_EV6: { - (Ecu.esp, 0x7d1, None): [ + (Ecu.abs, 0x7d1, None): [ b'\xf1\x8758520CV100\xf1\x00CV IEB \x02 101!\x10\x18 58520-CV100', ], (Ecu.eps, 0x7d4, None): [ @@ -1266,9 +1287,11 @@ FW_VERSIONS = { ], }, CAR.IONIQ_5: { - (Ecu.esp, 0x7d1, None): [ + (Ecu.abs, 0x7d1, None): [ b'\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010', b'\xf1\x8758520GI010\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010', + b'\xf1\x00NE1 IEB \x08 104!\x04\x05 58520-GI000', + b'\xf1\x8758520GI000\xf1\x00NE1 IEB \x08 104!\x04\x05 58520-GI000', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00NE MDPS R 1.00 1.06 57700GI000 4NEDR106', @@ -1280,6 +1303,22 @@ FW_VERSIONS = { ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.02 99211-GI010 211206', + b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813', + ], + }, + CAR.TUCSON_HYBRID_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00NX4 MDPS C 1.00 1.01 56300-P0100 2228', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x87391312MND0', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00PSBG2441 G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa', + b'\xf1\x8795441-3D220\x00\xf1\x81G19_Rev\x00\x00\x00\xf1\x00PSBG2441 G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa', ], }, } @@ -1293,18 +1332,18 @@ FEATURES = { # which message has the gear "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA}, "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, - "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022}, + "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022}, # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12 "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022}, } -CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5} +CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN} # The camera does SCC on these cars, rather than the radar CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } -HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019} # these cars use a different gas signal +HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019} # these cars use a different gas signal EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022} # these cars require a special panda safety mode due to missing counters and checksums in the messages @@ -1331,7 +1370,7 @@ DBC = { CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None), CAR.KIA_K5_2021: dbc_dict('hyundai_kia_generic', None), CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), - CAR.KIA_NIRO_HEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), + CAR.KIA_NIRO_PHEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None), CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None), CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None), @@ -1352,7 +1391,8 @@ DBC = { CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None), CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_EV6: dbc_dict('kia_ev6', None), + CAR.KIA_EV6: dbc_dict('hyundai_canfd', None), CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), - CAR.IONIQ_5: dbc_dict('kia_ev6', None), + CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None), + CAR.IONIQ_5: dbc_dict('hyundai_canfd', None), } diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 1e55e72ac..1e14aca8c 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -9,7 +9,7 @@ from common.basedir import BASEDIR from common.conversions import Conversions as CV from common.kalman.simple_kalman import KF1D from common.realtime import DT_CTRL -from selfdrive.car import gen_empty_fingerprint +from selfdrive.car import create_button_enable_events, gen_empty_fingerprint from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX from selfdrive.controls.lib.events import Events from selfdrive.controls.lib.vehicle_model import VehicleModel @@ -107,11 +107,14 @@ class CarInterfaceBase(ABC): ret = car.CarParams.new_message() ret.carFingerprint = candidate + # Car docs fields + ret.maxLateralAccel = get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED'] + ret.autoResumeSng = True # describes whether car can resume from a stop automatically + # standard ALC params ret.steerControlType = car.CarParams.SteerControlType.torque ret.minSteerSpeed = 0. ret.wheelSpeedFactor = 1.0 - ret.maxLateralAccel = get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED'] ret.pcmCruise = True # openpilot's state is tied to the PCM's cruise state on most cars ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this @@ -213,6 +216,9 @@ class CarInterfaceBase(ABC): if cs_out.accFaulted: events.add(EventName.accFaulted) + # Handle button presses + events.events.extend(create_button_enable_events(cs_out.buttonEvents, pcm_cruise=self.CP.pcmCruise)) + # Handle permanent and temporary steering faults self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1 if cs_out.steerFaultTemporary: @@ -265,12 +271,12 @@ class CarStateBase(ABC): self.left_blinker_prev = False self.right_blinker_prev = False - # Q = np.matrix([[10.0, 0.0], [0.0, 100.0]]) - # R = 1e3 + # Q = np.matrix([[0.0, 0.0], [0.0, 100.0]]) + # R = 0.3 self.v_ego_kf = KF1D(x0=[[0.0], [0.0]], A=[[1.0, DT_CTRL], [0.0, 1.0]], C=[1.0, 0.0], - K=[[0.12287673], [0.29666309]]) + K=[[0.17406039], [1.65925647]]) def update_speed_kf(self, v_ego_raw): if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0: # Prevent large accelerations when car starts at non zero speed diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 7e99cccec..95f140422 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -40,7 +40,7 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = { CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-20"), CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"), CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"), - CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-22"), + CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-22", video_link="https://youtu.be/dA3duO4a0O4"), CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022"), } @@ -72,7 +72,7 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x764, None): [ b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x760, None): [ + (Ecu.abs, 0x760, None): [ b'KSD5-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x706, None): [ @@ -116,7 +116,7 @@ FW_VERSIONS = { b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x760, None): [ + (Ecu.abs, 0x760, None): [ b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'KBJ5-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'KL2K-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -173,7 +173,7 @@ FW_VERSIONS = { b'TK80-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'TK80-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x760, None): [ + (Ecu.abs, 0x760, None): [ b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'TK79-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'TK79-437K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -217,7 +217,7 @@ FW_VERSIONS = { b'GHP9-67Y10---41\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x760, None): [ + (Ecu.abs, 0x760, None): [ b'B45A-437AS-0-08\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x706, None): [ @@ -248,7 +248,7 @@ FW_VERSIONS = { b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'K131-67XK2-E\000\000\000\000\000\000\000\000\000\000\000\000', ], - (Ecu.esp, 0x760, None): [ + (Ecu.abs, 0x760, None): [ b'GBVH-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GDDM-437K2-A\000\000\000\000\000\000\000\000\000\000\000\000', ], @@ -275,7 +275,7 @@ FW_VERSIONS = { b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x760, None): [ + (Ecu.abs, 0x760, None): [ b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x706, None): [ diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index 9c04d975f..494573f49 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -13,28 +13,27 @@ class CarInterface(CarInterfaceBase): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "nissan" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)] + ret.autoResumeSng = False ret.steerLimitTimer = 1.0 ret.steerActuatorDelay = 0.1 + ret.steerRatio = 17 if candidate in (CAR.ROGUE, CAR.XTRAIL): ret.mass = 1610 + STD_CARGO_KG ret.wheelbase = 2.705 ret.centerToFront = ret.wheelbase * 0.44 - ret.steerRatio = 17 elif candidate in (CAR.LEAF, CAR.LEAF_IC): ret.mass = 1610 + STD_CARGO_KG ret.wheelbase = 2.705 ret.centerToFront = ret.wheelbase * 0.44 - ret.steerRatio = 17 elif candidate == CAR.ALTIMA: # Altima has EPS on C-CAN unlike the others that have it on V-CAN ret.safetyConfigs[0].safetyParam = 1 # EPS is on alternate bus ret.mass = 1492 + STD_CARGO_KG ret.wheelbase = 2.824 ret.centerToFront = ret.wheelbase * 0.44 - ret.steerRatio = 17 ret.steerControlType = car.CarParams.SteerControlType.angle ret.radarOffCan = True diff --git a/selfdrive/car/nissan/nissancan.py b/selfdrive/car/nissan/nissancan.py index f59714b8d..01fb3463a 100644 --- a/selfdrive/car/nissan/nissancan.py +++ b/selfdrive/car/nissan/nissancan.py @@ -24,10 +24,7 @@ def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torqu def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg): values = copy.copy(cruise_throttle_msg) - can_bus = 2 - - if car_fingerprint == CAR.ALTIMA: - can_bus = 1 + can_bus = 1 if car_fingerprint == CAR.ALTIMA else 2 values["CANCEL_BUTTON"] = 1 values["NO_BUTTON_PRESSED"] = 0 diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index 2126e550e..440c68249 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -95,7 +95,7 @@ FW_VERSIONS = { b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80', b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80', ], - (Ecu.esp, 0x740, None): [ + (Ecu.abs, 0x740, None): [ b'476605SH1D', b'476605SK2A', ], @@ -112,7 +112,7 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x707, None): [ b'284N86FR2A', ], - (Ecu.esp, 0x740, None): [ + (Ecu.abs, 0x740, None): [ b'6FU1BD\x11\x02\x00\x02e\x95e\x80iX#\x01\x00\x00\x00\x00\x00\x80', b'6FU0AD\x11\x02\x00\x02e\x95e\x80iQ#\x01\x00\x00\x00\x00\x00\x80', ], diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index de5e62cb7..7fc5456d9 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine from common.conversions import Conversions as CV from selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser -from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, GLOBAL_GEN2, PREGLOBAL_CARS +from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS class CarState(CarStateBase): @@ -50,7 +50,9 @@ class CarState(CarStateBase): ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"] ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"] ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"] - ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint] + + steer_threshold = 75 if self.CP.carFingerprint in PREGLOBAL_CARS else 80 + ret.steeringPressed = abs(ret.steeringTorque) > steer_threshold cp_cruise = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0 diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 049da10a1..b84291225 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -15,6 +15,7 @@ class CarInterface(CarInterfaceBase): ret.carName = "subaru" ret.radarOffCan = True ret.dashcamOnly = candidate in PREGLOBAL_CARS + ret.autoResumeSng = False if candidate in PREGLOBAL_CARS: ret.enableBsm = 0x25c in fingerprint[0] @@ -71,7 +72,7 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]] - elif candidate == CAR.OUTBACK: + elif candidate in (CAR.OUTBACK, CAR.LEGACY): ret.mass = 1568. + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 691a4c915..53dd4a763 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -35,6 +35,7 @@ class CAR: IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020" FORESTER = "SUBARU FORESTER 2019" OUTBACK = "SUBARU OUTBACK 6TH GEN" + LEGACY = "SUBARU LEGACY 7TH GEN" # Pre-global FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018" @@ -52,6 +53,7 @@ class SubaruCarInfo(CarInfo): CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"), CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness=Harness.subaru_b), + CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", harness=Harness.subaru_b), CAR.IMPREZA: [ SubaruCarInfo("Subaru Impreza 2017-19"), SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), @@ -72,7 +74,7 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { FW_VERSIONS = { CAR.ASCENT: { - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'\xa5 \x19\x02\x00', b'\xa5 !\002\000', b'\xf1\x82\xa5 \x19\x02\x00', @@ -101,8 +103,30 @@ FW_VERSIONS = { b'\x01\xfe\xf7\x00\x00', ], }, + CAR.LEGACY: { + (Ecu.abs, 0x7b0, None): [ + b'\xa1\\ x04\x01', + b'\xa1 \x03\x03' + ], + (Ecu.eps, 0x746, None): [ + b'\x9b\xc0\x11\x00', + b'\x9b\xc0\x11\x02' + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00e\x80\x00\x1f@ \x19\x00', + b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00' + ], + (Ecu.engine, 0x7e0, None): [ + b'\xde\"a0\x07', + b'\xe2"aq\x07' + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xa5\xf6\x05@\x00', + b'\xa7\xf6\x04@\x00' + ], + }, CAR.IMPREZA: { - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'\x7a\x94\x3f\x90\x00', b'\xa2 \x185\x00', b'\xa2 \x193\x00', @@ -177,7 +201,7 @@ FW_VERSIONS = { ], }, CAR.IMPREZA_2020: { - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'\xa2 \0314\000', b'\xa2 \0313\000', b'\xa2 !i\000', @@ -215,7 +239,7 @@ FW_VERSIONS = { ], }, CAR.FORESTER: { - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'\xa3 \x18\x14\x00', b'\xa3 \024\000', b'\xa3 \031\024\000', @@ -250,7 +274,7 @@ FW_VERSIONS = { ], }, CAR.FORESTER_PREGLOBAL: { - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'\x7d\x97\x14\x40', b'\xf1\x00\xbb\x0c\x04', ], @@ -279,7 +303,7 @@ FW_VERSIONS = { ], }, CAR.LEGACY_PREGLOBAL: { - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'k\x97D\x00', b'[\xba\xc4\x03', b'{\x97D\x00', @@ -309,7 +333,7 @@ FW_VERSIONS = { ], }, CAR.OUTBACK_PREGLOBAL: { - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'{\x9a\xac\x00', b'k\x97\xac\x00', b'\x5b\xf7\xbc\x03', @@ -363,7 +387,7 @@ FW_VERSIONS = { ], }, CAR.OUTBACK_PREGLOBAL_2018: { - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'\x8b\x97\xac\x00', b'\x8b\x9a\xac\x00', b'\x9b\x97\xac\x00', @@ -406,7 +430,7 @@ FW_VERSIONS = { ], }, CAR.OUTBACK: { - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'\xa1 \x06\x01', b'\xa1 \a\x00', b'\xa1 \b\001', @@ -448,29 +472,18 @@ FW_VERSIONS = { }, } -STEER_THRESHOLD = { - CAR.ASCENT: 80, - CAR.IMPREZA: 80, - CAR.IMPREZA_2020: 80, - CAR.FORESTER: 80, - CAR.OUTBACK: 80, - CAR.FORESTER_PREGLOBAL: 75, - CAR.LEGACY_PREGLOBAL: 75, - CAR.OUTBACK_PREGLOBAL: 75, - CAR.OUTBACK_PREGLOBAL_2018: 75, -} - DBC = { CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None), CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None), CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None), CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None), CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None), + CAR.LEGACY: dbc_dict('subaru_global_2017_generated', None), CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None), CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None), CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None), CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None), } -GLOBAL_GEN2 = (CAR.OUTBACK, ) +GLOBAL_GEN2 = (CAR.OUTBACK, CAR.LEGACY) PREGLOBAL_CARS = (CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018) diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 0b1726b01..b769cbe5f 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -26,198 +26,201 @@ non_tested_cars = [ HYUNDAI.KIA_OPTIMA_H, ] -TestRoute = namedtuple('TestRoute', ['route', 'car_model', 'segment'], defaults=(None,)) +CarTestRoute = namedtuple('CarTestRoute', ['route', 'car_model', 'segment'], defaults=(None,)) routes = [ - TestRoute("efdf9af95e71cd84|2022-05-13--19-03-31", COMMA.BODY), - - TestRoute("0c94aa1e1296d7c6|2021-05-05--19-48-37", CHRYSLER.JEEP_CHEROKEE), - TestRoute("91dfedae61d7bd75|2021-05-22--20-07-52", CHRYSLER.JEEP_CHEROKEE_2019), - TestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.PACIFICA_2017_HYBRID), - TestRoute("43a685a66291579b|2021-05-27--19-47-29", CHRYSLER.PACIFICA_2018), - TestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.PACIFICA_2018_HYBRID), - TestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.PACIFICA_2019_HYBRID), - TestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.PACIFICA_2020), - TestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500), - TestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6), + CarTestRoute("efdf9af95e71cd84|2022-05-13--19-03-31", COMMA.BODY), + + CarTestRoute("0c94aa1e1296d7c6|2021-05-05--19-48-37", CHRYSLER.JEEP_CHEROKEE), + CarTestRoute("91dfedae61d7bd75|2021-05-22--20-07-52", CHRYSLER.JEEP_CHEROKEE_2019), + CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.PACIFICA_2017_HYBRID), + CarTestRoute("43a685a66291579b|2021-05-27--19-47-29", CHRYSLER.PACIFICA_2018), + CarTestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.PACIFICA_2018_HYBRID), + CarTestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.PACIFICA_2019_HYBRID), + CarTestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.PACIFICA_2020), + CarTestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500), + CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6), #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION), - TestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA), - TestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL), - TestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV), - TestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT), - TestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV), - - TestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G), - TestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.CIVIC), - TestRoute("a859a044a447c2b0|2020-03-03--18-42-45", HONDA.CRV_EU), - TestRoute("68aac44ad69f838e|2021-05-18--20-40-52", HONDA.CRV), - TestRoute("14fed2e5fa0aa1a5|2021-05-25--14-59-42", HONDA.CRV_HYBRID), - TestRoute("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.FIT), - TestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.FREED), - TestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HRV), - TestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX), - TestRoute("81722949a62ea724|2019-04-06--15-19-25", HONDA.ODYSSEY_CHN), - TestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD), # 1.5T - TestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD), # 2.0T - TestRoute("085ac1d942c35910|2021-03-25--20-11-15", HONDA.ACCORD), # 2021 with new style HUD msgs - TestRoute("07585b0da3c88459|2021-05-26--18-52-04", HONDA.ACCORDH), - TestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.ACCORDH), # 2021 with new style HUD msgs - TestRoute("1ad763dd22ef1a0e|2020-02-29--18-37-03", HONDA.CRV_5G), - TestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.ODYSSEY), - TestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.CIVIC_BOSCH_DIESEL), - TestRoute("f0890d16a07a236b|2021-05-25--17-27-22", HONDA.INSIGHT), - TestRoute("07d37d27996096b6|2020-03-04--21-57-27", HONDA.PILOT), - TestRoute("684e8f96bd491a0e|2021-11-03--11-08-42", HONDA.PASSPORT), - TestRoute("0a78dfbacc8504ef|2020-03-04--13-29-55", HONDA.CIVIC_BOSCH), - TestRoute("f34a60d68d83b1e5|2020-10-06--14-35-55", HONDA.ACURA_RDX), - TestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.RIDGELINE), - TestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E), - TestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022), - - TestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS), - TestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70), - TestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80), - TestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.SANTA_FE), - TestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022), - TestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.SANTA_FE_HEV_2022), - TestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022), - TestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED), - TestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA), - TestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS), - TestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA), - TestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF), - TestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON), - TestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO), - TestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE), - TestRoute("22de8111a8c5463c|2022-07-29--13-34-49", HYUNDAI.IONIQ_5), - TestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019), - TestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV), - TestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020), - TestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD), - TestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ), - TestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022), - TestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA), - TestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV), - TestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.KONA_EV_2022, segment=11), - TestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV), - TestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER), - TestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER), - TestRoute("d824e27e8c60172c|2022-05-19--16-15-28", HYUNDAI.KIA_EV6), - TestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021), - TestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV), - TestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_HEV), - TestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021), - TestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE), - TestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA), - TestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021), - TestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021), - TestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID), - TestRoute("715ac05b594e9c59|2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020), - - TestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.ALPHARD_TSS2), - TestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.ALPHARDH_TSS2), - TestRoute("000cf3730200c71c|2021-05-24--10-42-05", TOYOTA.AVALON), - TestRoute("0bb588106852abb7|2021-05-26--12-22-01", TOYOTA.AVALON_2019), - TestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.AVALONH_2019), - TestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.AVALON_TSS2), - TestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALONH_TSS2), - TestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.CAMRY), - TestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2), - TestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRYH_TSS2), - TestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRYH), - TestRoute("4e45c89c38e8ec4d|2021-05-02--02-49-28", TOYOTA.COROLLA), - TestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.COROLLA_TSS2), - TestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLAH_TSS2), - TestRoute("d2525c22173da58b|2021-04-25--16-47-04", TOYOTA.PRIUS), - TestRoute("b14c5b4742e6fc85|2020-07-28--19-50-11", TOYOTA.RAV4), - TestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H), - TestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2), - TestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022), - TestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4H_TSS2), - TestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022), - TestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2), - TestRoute("25057fa6a5a63dfb|2020-03-04--08-44-23", TOYOTA.LEXUS_CTH), - TestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ESH_TSS2), - TestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ESH), - TestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC), - TestRoute("886fcd8408d570e9|2020-01-29--05-11-22", TOYOTA.LEXUS_RX), - TestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX), - TestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH), - TestRoute("01b22eb2ed121565|2020-02-02--11-25-51", TOYOTA.LEXUS_RX_TSS2), - TestRoute("b74758c690a49668|2020-05-20--15-58-57", TOYOTA.LEXUS_RXH_TSS2), - TestRoute("ec429c0f37564e3c|2020-02-01--17-28-12", TOYOTA.LEXUS_NXH), - TestRoute("964c09eb11ca8089|2020-11-03--22-04-00", TOYOTA.LEXUS_NX), - TestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2), - TestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NXH_TSS2), - TestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2), - TestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDERH_TSS2), - TestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER), - TestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDERH), - TestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.SIENNA), - TestRoute("2e07163a1ba9a780|2019-08-25--13-15-13", TOYOTA.LEXUS_IS), - TestRoute("0a0de17a1e6a2d15|2020-09-21--21-24-41", TOYOTA.PRIUS_TSS2), - TestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI), - TestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR), - TestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH), - TestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V), - - TestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1), - TestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.ATLAS_MK1), - TestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.GOLF_MK7), - TestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.JETTA_MK7), - TestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.PASSAT_MK8), - TestRoute("0cd0b7f7e31a3853|2021-11-03--19-30-22", VOLKSWAGEN.POLO_MK6), - TestRoute("7d82b2f3a9115f1f|2021-10-21--15-39-42", VOLKSWAGEN.TAOS_MK1), - TestRoute("2744c89a8dda9a51|2021-07-24--21-28-06", VOLKSWAGEN.TCROSS_MK1), - TestRoute("2cef8a0b898f331a|2021-03-25--20-13-57", VOLKSWAGEN.TIGUAN_MK2), - TestRoute("a589dcc642fdb10a|2021-06-14--20-54-26", VOLKSWAGEN.TOURAN_MK2), - TestRoute("a459f4556782eba1|2021-09-19--09-48-00", VOLKSWAGEN.TRANSPORTER_T61), - TestRoute("0cd0b7f7e31a3853|2021-11-18--00-38-32", VOLKSWAGEN.TROC_MK1), - TestRoute("07667b885add75fd|2021-01-23--19-48-42", VOLKSWAGEN.AUDI_A3_MK3), - TestRoute("6c6b466346192818|2021-06-06--14-17-47", VOLKSWAGEN.AUDI_Q2_MK1), - TestRoute("0cd0b7f7e31a3853|2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2), - TestRoute("8f205bdd11bcbb65|2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1), - TestRoute("fc6b6c9a3471c846|2021-05-27--13-39-56", VOLKSWAGEN.SEAT_LEON_MK3), - TestRoute("12d6ae3057c04b0d|2021-09-15--00-04-07", VOLKSWAGEN.SKODA_KAMIQ_MK1), - TestRoute("12d6ae3057c04b0d|2021-09-04--21-21-21", VOLKSWAGEN.SKODA_KAROQ_MK1), - TestRoute("90434ff5d7c8d603|2021-03-15--12-07-31", VOLKSWAGEN.SKODA_KODIAQ_MK1), - TestRoute("66e5edc3a16459c5|2021-05-25--19-00-29", VOLKSWAGEN.SKODA_OCTAVIA_MK3), - TestRoute("026b6d18fba6417f|2021-03-26--09-17-04", VOLKSWAGEN.SKODA_SCALA_MK1), - TestRoute("b2e9858e29db492b|2021-03-26--16-58-42", VOLKSWAGEN.SKODA_SUPERB_MK3), - - TestRoute("3c8f0c502e119c1c|2020-06-30--12-58-02", SUBARU.ASCENT), - TestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER), - TestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA), - TestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020), - TestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=3), + CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA), + CarTestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL), + CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV), + CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT), + CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV), + CarTestRoute("38aa7da107d5d252|2022-08-15--16-01-12", GM.SILVERADO), + + CarTestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G), + CarTestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.CIVIC), + CarTestRoute("a859a044a447c2b0|2020-03-03--18-42-45", HONDA.CRV_EU), + CarTestRoute("68aac44ad69f838e|2021-05-18--20-40-52", HONDA.CRV), + CarTestRoute("14fed2e5fa0aa1a5|2021-05-25--14-59-42", HONDA.CRV_HYBRID), + CarTestRoute("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.FIT), + CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.FREED), + CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HRV), + CarTestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX), + CarTestRoute("81722949a62ea724|2019-04-06--15-19-25", HONDA.ODYSSEY_CHN), + CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD), # 1.5T + CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD), # 2.0T + CarTestRoute("085ac1d942c35910|2021-03-25--20-11-15", HONDA.ACCORD), # 2021 with new style HUD msgs + CarTestRoute("07585b0da3c88459|2021-05-26--18-52-04", HONDA.ACCORDH), + CarTestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.ACCORDH), # 2021 with new style HUD msgs + CarTestRoute("1ad763dd22ef1a0e|2020-02-29--18-37-03", HONDA.CRV_5G), + CarTestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.ODYSSEY), + CarTestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.CIVIC_BOSCH_DIESEL), + CarTestRoute("f0890d16a07a236b|2021-05-25--17-27-22", HONDA.INSIGHT), + CarTestRoute("07d37d27996096b6|2020-03-04--21-57-27", HONDA.PILOT), + CarTestRoute("684e8f96bd491a0e|2021-11-03--11-08-42", HONDA.PASSPORT), + CarTestRoute("0a78dfbacc8504ef|2020-03-04--13-29-55", HONDA.CIVIC_BOSCH), + CarTestRoute("f34a60d68d83b1e5|2020-10-06--14-35-55", HONDA.ACURA_RDX), + CarTestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.RIDGELINE), + CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E), + CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022), + + CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS), + CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70), + CarTestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80), + CarTestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.SANTA_FE), + CarTestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022), + CarTestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.SANTA_FE_HEV_2022), + CarTestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022, segment=1), + CarTestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED), + CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA), + CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS), + CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA), + CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF), + CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON), + CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_HYBRID_4TH_GEN), + CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO), + CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE), + CarTestRoute("22de8111a8c5463c|2022-07-29--13-34-49", HYUNDAI.IONIQ_5), + CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019), + CarTestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV), + CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020), + CarTestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD), + CarTestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ), + CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022), + CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA), + CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV), + CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.KONA_EV_2022, segment=11), + CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV), + CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER), + CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER), + CarTestRoute("d824e27e8c60172c|2022-05-19--16-15-28", HYUNDAI.KIA_EV6), + CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021), + CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV), + CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV), + CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021), + CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE), + CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA), + CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021), + CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021), + CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID), + CarTestRoute("715ac05b594e9c59|2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020), + + CarTestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.ALPHARD_TSS2), + CarTestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.ALPHARDH_TSS2), + CarTestRoute("000cf3730200c71c|2021-05-24--10-42-05", TOYOTA.AVALON), + CarTestRoute("0bb588106852abb7|2021-05-26--12-22-01", TOYOTA.AVALON_2019), + CarTestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.AVALONH_2019), + CarTestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.AVALON_TSS2), + CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALONH_TSS2), + CarTestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.CAMRY), + CarTestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2), + CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRYH_TSS2), + CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRYH), + CarTestRoute("4e45c89c38e8ec4d|2021-05-02--02-49-28", TOYOTA.COROLLA), + CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.COROLLA_TSS2), + CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLAH_TSS2), + CarTestRoute("d2525c22173da58b|2021-04-25--16-47-04", TOYOTA.PRIUS), + CarTestRoute("b14c5b4742e6fc85|2020-07-28--19-50-11", TOYOTA.RAV4), + CarTestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H), + CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2), + CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022), + CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4H_TSS2), + CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022), + CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2), + CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3), + CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ESH_TSS2), + CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ESH), + CarTestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC), + CarTestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX), + CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH), + CarTestRoute("01b22eb2ed121565|2020-02-02--11-25-51", TOYOTA.LEXUS_RX_TSS2), + CarTestRoute("b74758c690a49668|2020-05-20--15-58-57", TOYOTA.LEXUS_RXH_TSS2), + CarTestRoute("ec429c0f37564e3c|2020-02-01--17-28-12", TOYOTA.LEXUS_NXH), + CarTestRoute("964c09eb11ca8089|2020-11-03--22-04-00", TOYOTA.LEXUS_NX), + CarTestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2), + CarTestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NXH_TSS2), + CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2), + CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDERH_TSS2), + CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER), + CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDERH), + CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.SIENNA), + CarTestRoute("2e07163a1ba9a780|2019-08-25--13-15-13", TOYOTA.LEXUS_IS), + CarTestRoute("0a0de17a1e6a2d15|2020-09-21--21-24-41", TOYOTA.PRIUS_TSS2), + CarTestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI), + CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR), + CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH), + CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V), + + CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1), + CarTestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.ATLAS_MK1), + CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.GOLF_MK7), + CarTestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.JETTA_MK7), + CarTestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.PASSAT_MK8), + CarTestRoute("3cfdec54aa035f3f|2022-07-19--23-45-10", VOLKSWAGEN.PASSAT_NMS), + CarTestRoute("0cd0b7f7e31a3853|2021-11-03--19-30-22", VOLKSWAGEN.POLO_MK6), + CarTestRoute("7d82b2f3a9115f1f|2021-10-21--15-39-42", VOLKSWAGEN.TAOS_MK1), + CarTestRoute("2744c89a8dda9a51|2021-07-24--21-28-06", VOLKSWAGEN.TCROSS_MK1), + CarTestRoute("2cef8a0b898f331a|2021-03-25--20-13-57", VOLKSWAGEN.TIGUAN_MK2), + CarTestRoute("a589dcc642fdb10a|2021-06-14--20-54-26", VOLKSWAGEN.TOURAN_MK2), + CarTestRoute("a459f4556782eba1|2021-09-19--09-48-00", VOLKSWAGEN.TRANSPORTER_T61), + CarTestRoute("0cd0b7f7e31a3853|2021-11-18--00-38-32", VOLKSWAGEN.TROC_MK1), + CarTestRoute("07667b885add75fd|2021-01-23--19-48-42", VOLKSWAGEN.AUDI_A3_MK3), + CarTestRoute("6c6b466346192818|2021-06-06--14-17-47", VOLKSWAGEN.AUDI_Q2_MK1), + CarTestRoute("0cd0b7f7e31a3853|2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2), + CarTestRoute("8f205bdd11bcbb65|2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1), + CarTestRoute("fc6b6c9a3471c846|2021-05-27--13-39-56", VOLKSWAGEN.SEAT_LEON_MK3), + CarTestRoute("12d6ae3057c04b0d|2021-09-15--00-04-07", VOLKSWAGEN.SKODA_KAMIQ_MK1), + CarTestRoute("12d6ae3057c04b0d|2021-09-04--21-21-21", VOLKSWAGEN.SKODA_KAROQ_MK1), + CarTestRoute("90434ff5d7c8d603|2021-03-15--12-07-31", VOLKSWAGEN.SKODA_KODIAQ_MK1), + CarTestRoute("66e5edc3a16459c5|2021-05-25--19-00-29", VOLKSWAGEN.SKODA_OCTAVIA_MK3), + CarTestRoute("026b6d18fba6417f|2021-03-26--09-17-04", VOLKSWAGEN.SKODA_SCALA_MK1), + CarTestRoute("b2e9858e29db492b|2021-03-26--16-58-42", VOLKSWAGEN.SKODA_SUPERB_MK3), + + CarTestRoute("3c8f0c502e119c1c|2020-06-30--12-58-02", SUBARU.ASCENT), + CarTestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER), + CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA), + CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020), + CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=3), + CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3), # Pre-global, dashcam - TestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL), - TestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.LEGACY_PREGLOBAL), - TestRoute("5ab784f361e19b78|2020-06-08--16-30-41", SUBARU.OUTBACK_PREGLOBAL), - TestRoute("e19eb5d5353b1ac1|2020-08-09--14-37-56", SUBARU.OUTBACK_PREGLOBAL_2018), - - TestRoute("fbbfa6af821552b9|2020-03-03--08-09-43", NISSAN.XTRAIL), - TestRoute("5b7c365c50084530|2020-03-25--22-10-13", NISSAN.LEAF), - TestRoute("22c3dcce2dd627eb|2020-12-30--16-38-48", NISSAN.LEAF_IC), - TestRoute("059ab9162e23198e|2020-05-30--09-41-01", NISSAN.ROGUE), - TestRoute("b72d3ec617c0a90f|2020-12-11--15-38-17", NISSAN.ALTIMA), - - TestRoute("32a319f057902bb3|2020-04-27--15-18-58", MAZDA.CX5), - TestRoute("10b5a4b380434151|2020-08-26--17-11-45", MAZDA.CX9), - TestRoute("74f1038827005090|2020-08-26--20-05-50", MAZDA.MAZDA3), - TestRoute("fb53c640f499b73d|2021-06-01--04-17-56", MAZDA.MAZDA6), - TestRoute("f6d5b1a9d7a1c92e|2021-07-08--06-56-59", MAZDA.CX9_2021), - TestRoute("a4af1602d8e668ac|2022-02-03--12-17-07", MAZDA.CX5_2022), - - TestRoute("6c14ee12b74823ce|2021-06-30--11-49-02", TESLA.AP1_MODELS), - TestRoute("bb50caf5f0945ab1|2021-06-19--17-20-18", TESLA.AP2_MODELS), + CarTestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL), + CarTestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.LEGACY_PREGLOBAL), + CarTestRoute("5ab784f361e19b78|2020-06-08--16-30-41", SUBARU.OUTBACK_PREGLOBAL), + CarTestRoute("e19eb5d5353b1ac1|2020-08-09--14-37-56", SUBARU.OUTBACK_PREGLOBAL_2018), + + CarTestRoute("fbbfa6af821552b9|2020-03-03--08-09-43", NISSAN.XTRAIL), + CarTestRoute("5b7c365c50084530|2020-03-25--22-10-13", NISSAN.LEAF), + CarTestRoute("22c3dcce2dd627eb|2020-12-30--16-38-48", NISSAN.LEAF_IC), + CarTestRoute("059ab9162e23198e|2020-05-30--09-41-01", NISSAN.ROGUE), + CarTestRoute("b72d3ec617c0a90f|2020-12-11--15-38-17", NISSAN.ALTIMA), + + CarTestRoute("32a319f057902bb3|2020-04-27--15-18-58", MAZDA.CX5), + CarTestRoute("10b5a4b380434151|2020-08-26--17-11-45", MAZDA.CX9), + CarTestRoute("74f1038827005090|2020-08-26--20-05-50", MAZDA.MAZDA3), + CarTestRoute("fb53c640f499b73d|2021-06-01--04-17-56", MAZDA.MAZDA6), + CarTestRoute("f6d5b1a9d7a1c92e|2021-07-08--06-56-59", MAZDA.CX9_2021), + CarTestRoute("a4af1602d8e668ac|2022-02-03--12-17-07", MAZDA.CX5_2022), + + CarTestRoute("6c14ee12b74823ce|2021-06-30--11-49-02", TESLA.AP1_MODELS), + CarTestRoute("bb50caf5f0945ab1|2021-06-19--17-20-18", TESLA.AP2_MODELS), # Segments that test specific issues # Controls mismatch due to interceptor threshold - TestRoute("cfb32f0fb91b173b|2022-04-06--14-54-45", HONDA.CIVIC, segment=21), - TestRoute("5a8762b91fc70467|2022-04-14--21-26-20", TOYOTA.RAV4, segment=2), + CarTestRoute("cfb32f0fb91b173b|2022-04-06--14-54-45", HONDA.CIVIC, segment=21), + CarTestRoute("5a8762b91fc70467|2022-04-14--21-26-20", TOYOTA.RAV4, segment=2), # Controls mismatch due to standstill threshold - TestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.CRV_HYBRID, segment=22), + CarTestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.CRV_HYBRID, segment=22), ] diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 412874c81..aabf652c8 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -5,6 +5,7 @@ import importlib from parameterized import parameterized from cereal import car +from selfdrive.car import gen_empty_fingerprint from selfdrive.car.fingerprints import all_known_cars from selfdrive.car.car_helpers import interfaces from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS @@ -19,11 +20,8 @@ class TestCarInterfaces(unittest.TestCase): fingerprint = {} CarInterface, CarController, CarState = interfaces[car_name] - fingerprints = { - 0: fingerprint, - 1: fingerprint, - 2: fingerprint, - } + fingerprints = gen_empty_fingerprint() + fingerprints.update({k: fingerprint for k in fingerprints.keys()}) car_fw = [] diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py index 84c6b6e52..af58bb5e5 100755 --- a/selfdrive/car/tests/test_docs.py +++ b/selfdrive/car/tests/test_docs.py @@ -13,7 +13,7 @@ class TestCarDocs(unittest.TestCase): self.all_cars = get_all_car_info() def test_generator(self): - generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE, False) + generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE) with open(CARS_MD_OUT, "r") as f: current_cars_md = f.read() diff --git a/selfdrive/car/tests/test_fingerprints.py b/selfdrive/car/tests/test_fingerprints.py index 9dd28b2d5..26ade29e4 100755 --- a/selfdrive/car/tests/test_fingerprints.py +++ b/selfdrive/car/tests/test_fingerprints.py @@ -94,4 +94,4 @@ if __name__ == "__main__": print("TEST FAILED") sys.exit(1) else: - print("TEST SUCESSFUL") + print("TEST SUCCESSFUL") diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index cda241c73..2a47c60bf 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -37,44 +37,40 @@ class TestFwFingerprint(unittest.TestCase): self.assertFingerprints(matches, car_model) def test_no_duplicate_fw_versions(self): - passed = True for car_model, ecus in FW_VERSIONS.items(): - for ecu, ecu_fw in ecus.items(): - duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1} - if len(duplicates): - print(car_model, ECU_NAME[ecu[0]], duplicates) - passed = False - - self.assertTrue(passed, "Duplicate FW versions found") + with self.subTest(car_model=car_model): + for ecu, ecu_fw in ecus.items(): + with self.subTest(ecu): + duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1} + self.assertFalse(len(duplicates), f"{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}") def test_blacklisted_ecus(self): - passed = True blacklisted_addrs = (0x7c4, 0x7d0) # includes A/C ecu and an unknown ecu for car_model, ecus in FW_VERSIONS.items(): - CP = interfaces[car_model][0].get_params(car_model) - if CP.carName == 'subaru': - for ecu in ecus.keys(): - if ecu[1] in blacklisted_addrs: - print(f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})') - passed = False + with self.subTest(car_model=car_model): + CP = interfaces[car_model][0].get_params(car_model) + if CP.carName == 'subaru': + for ecu in ecus.keys(): + self.assertNotIn(ecu[1], blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})') - self.assertTrue(passed, "Blacklisted FW versions found") + elif CP.carName == "chrysler": + # Some HD trucks have a combined TCM and ECM + if CP.carFingerprint.startswith("RAM HD"): + for ecu in ecus.keys(): + self.assertNotEqual(ecu[0], Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})") def test_fw_request_ecu_whitelist(self): - passed = True - brands = set(r.brand for r in REQUESTS) - for brand in brands: - whitelisted_ecus = [ecu for r in REQUESTS for ecu in r.whitelist_ecus if r.brand == brand] - brand_ecus = set([fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw]) + for brand in set(r.brand for r in REQUESTS): + with self.subTest(brand=brand): + whitelisted_ecus = [ecu for r in REQUESTS for ecu in r.whitelist_ecus if r.brand == brand] + brand_ecus = set([fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw]) - # each ecu in brand's fw versions needs to be whitelisted at least once - ecus_not_whitelisted = set(brand_ecus) - set(whitelisted_ecus) - if len(whitelisted_ecus) and len(ecus_not_whitelisted): - ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted]) - print(f'{brand.title()}: FW query whitelist missing ecus: {ecu_strings}') - passed = False + # each ecu in brand's fw versions needs to be whitelisted at least once + ecus_not_whitelisted = set(brand_ecus) - set(whitelisted_ecus) - self.assertTrue(passed, "Not all ecus in FW versions found in query whitelists") + ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted]) + self.assertFalse(len(whitelisted_ecus) and len(ecus_not_whitelisted), + f'{brand.title()}: FW query whitelist missing ecus: {ecu_strings}') if __name__ == "__main__": diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 4a1f1a61e..cc7d3da87 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -15,7 +15,7 @@ from selfdrive.car.car_helpers import interfaces from selfdrive.car.gm.values import CAR as GM from selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH from selfdrive.car.hyundai.values import CAR as HYUNDAI -from selfdrive.car.tests.routes import non_tested_cars, routes, TestRoute +from selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute from selfdrive.test.openpilotci import get_url from tools.lib.logreader import LogReader from tools.lib.route import Route @@ -38,7 +38,7 @@ routes_by_car = defaultdict(set) for r in routes: routes_by_car[r.car_model].add(r) -test_cases: List[Tuple[str, Optional[TestRoute]]] = [] +test_cases: List[Tuple[str, Optional[CarTestRoute]]] = [] for i, c in enumerate(sorted(all_known_cars())): if i % NUM_JOBS == JOB_ID: test_cases.extend((c, r) for r in routes_by_car.get(c, (None, ))) @@ -81,6 +81,7 @@ class TestCarModelBase(unittest.TestCase): except Exception: continue + car_fw = [] can_msgs = [] fingerprint = defaultdict(dict) for msg in lr: @@ -90,6 +91,7 @@ class TestCarModelBase(unittest.TestCase): fingerprint[m.src][m.address] = len(m.dat) can_msgs.append(msg) elif msg.which() == "carParams": + car_fw = msg.carParams.carFw if msg.carParams.openpilotLongitudinalControl: disable_radar = True if cls.car_model is None and not cls.ci: @@ -103,7 +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, [], disable_radar) + cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, car_fw, disable_radar) assert cls.CP assert cls.CP.carFingerprint == cls.car_model @@ -135,22 +137,26 @@ class TestCarModelBase(unittest.TestCase): elif tuning == 'indi': self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV)) else: - raise Exception("unkown tuning") + raise Exception("unknown tuning") def test_car_interface(self): - # TODO: also check for checkusm and counter violations from can parser + # TODO: also check for checksum violations from can parser can_invalid_cnt = 0 + can_valid = False CC = car.CarControl.new_message() for i, msg in enumerate(self.can_msgs): CS = self.CI.update(CC, (msg.as_builder().to_bytes(),)) self.CI.apply(CC) - # wait 2s for low frequency msgs to be seen - if i > 200: + if CS.canValid: + can_valid = True + + # wait max of 2s for low frequency msgs to be seen + if i > 200 or can_valid: can_invalid_cnt += not CS.canValid - self.assertLess(can_invalid_cnt, 50) + self.assertEqual(can_invalid_cnt, 0) def test_radar_interface(self): os.environ['NO_RADAR_SLEEP'] = "1" @@ -228,6 +234,9 @@ class TestCarModelBase(unittest.TestCase): checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev() checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available + if self.CP.carName in ("honda", "toyota"): + # TODO: fix standstill mismatches for other makes + checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving() # TODO: remove this exception once this mismatch is resolved brake_pressed = CS.brakePressed @@ -257,8 +266,6 @@ class TestCarModelBase(unittest.TestCase): if self.CP.carName == "honda": checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on() - # TODO: fix standstill mismatches for other makes - checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving() CS_prev = CS diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 0a958a9d0..14ee7e223 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -25,6 +25,9 @@ RAM 1500 5TH GEN: [2.0, 2.0, 0.0] RAM HD 5TH GEN: [1.4, 1.4, 0.0] SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11] CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05] +CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112] +VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1] +HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index 279e28ff5..de64a5544 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -69,6 +69,8 @@ VOLKSWAGEN POLO 6TH GEN: VOLKSWAGEN GOLF 7TH GEN SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN +SUBARU LEGACY 7TH GEN: SUBARU OUTBACK 6TH GEN + # Old subarus don't have much data guessing it's like low torque impreza SUBARU OUTBACK 2018 - 2019: SUBARU IMPREZA LIMITED 2019 SUBARU OUTBACK 2015 - 2017: SUBARU IMPREZA LIMITED 2019 diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 3326d7c96..b34a31a01 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -10,6 +10,13 @@ from opendbc.can.packer import CANPacker VisualAlert = car.CarControl.HUDControl.VisualAlert +# EPS faults if you apply torque while the steering rate is above 100 deg/s for too long +MAX_STEER_RATE = 100 # deg/s +MAX_STEER_RATE_FRAMES = 18 # tx control frames needed before torque can be cut + +# EPS allows user torque above threshold for 50 frames before permanently faulting +MAX_USER_TORQUE = 500 + class CarController: def __init__(self, dbc_name, CP, VM): @@ -20,6 +27,7 @@ class CarController: self.alert_active = False self.last_standstill = False self.standstill_req = False + self.steer_rate_counter = 0 self.packer = CANPacker(dbc_name) self.gas = 0 @@ -29,6 +37,7 @@ class CarController: actuators = CC.actuators hud_control = CC.hudControl pcm_cancel_cmd = CC.cruiseControl.cancel + lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE # gas and brake if self.CP.enableGasInterceptor and CC.longActive: @@ -52,11 +61,19 @@ class CarController: new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX)) apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits) - if not CC.latActive: + # Count up to MAX_STEER_RATE_FRAMES, at which point we need to cut torque to avoid a steering fault + if lat_active and abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE: + self.steer_rate_counter += 1 + else: + self.steer_rate_counter = 0 + + apply_steer_req = 1 + if not lat_active: apply_steer = 0 apply_steer_req = 0 - else: - apply_steer_req = 1 + elif self.steer_rate_counter > MAX_STEER_RATE_FRAMES: + apply_steer_req = 0 + self.steer_rate_counter = 0 # TODO: probably can delete this. CS.pcm_acc_status uses a different signal # than CS.cruiseState.enabled. confirm they're not meaningfully different @@ -109,28 +126,29 @@ class CarController: can_sends.append(create_gas_interceptor_command(self.packer, interceptor_gas_cmd, self.frame // 2)) self.gas = interceptor_gas_cmd - # ui mesg is at 1Hz but we send asap if: - # - there is something to display - # - there is something to stop displaying - fcw_alert = hud_control.visualAlert == VisualAlert.fcw - steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) - - send_ui = False - if ((fcw_alert or steer_alert) and not self.alert_active) or \ - (not (fcw_alert or steer_alert) and self.alert_active): - send_ui = True - self.alert_active = not self.alert_active - elif pcm_cancel_cmd: - # forcing the pcm to disengage causes a bad fault sound so play a good sound instead - send_ui = True - - if (self.frame % 100 == 0 or send_ui) and (self.CP.carFingerprint != CAR.PRIUS_V): - can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible, - hud_control.rightLaneVisible, hud_control.leftLaneDepart, - hud_control.rightLaneDepart, CC.enabled)) - - if (self.frame % 100 == 0 or send_ui) and self.CP.enableDsu: - can_sends.append(create_fcw_command(self.packer, fcw_alert)) + if self.CP.carFingerprint != CAR.PRIUS_V: + # ui mesg is at 1Hz but we send asap if: + # - there is something to display + # - there is something to stop displaying + fcw_alert = hud_control.visualAlert == VisualAlert.fcw + steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) + + send_ui = False + if ((fcw_alert or steer_alert) and not self.alert_active) or \ + (not (fcw_alert or steer_alert) and self.alert_active): + send_ui = True + self.alert_active = not self.alert_active + elif pcm_cancel_cmd: + # forcing the pcm to disengage causes a bad fault sound so play a good sound instead + send_ui = True + + if self.frame % 100 == 0 or send_ui: + can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible, + hud_control.rightLaneVisible, hud_control.leftLaneDepart, + hud_control.rightLaneDepart, CC.enabled)) + + if (self.frame % 100 == 0 or send_ui) and self.CP.enableDsu: + can_sends.append(create_fcw_command(self.packer, fcw_alert)) # *** static msgs *** for addr, cars, bus, fr_step, vl in STATIC_DSU_MSGS: diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 281d01026..0cfba2b09 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -53,7 +53,7 @@ class CarState(CarStateBase): ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]) ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) - ret.standstill = ret.vEgoRaw < 0.001 + ret.standstill = ret.vEgoRaw == 0 ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"] torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"] @@ -90,16 +90,23 @@ class CarState(CarStateBase): if self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC): ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0 ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS + cluster_set_speed = cp.vl["PCM_CRUISE_ALT"]["UI_SET_SPEED"] else: ret.cruiseState.available = cp.vl["PCM_CRUISE_2"]["MAIN_ON"] != 0 ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]["SET_SPEED"] * CV.KPH_TO_MS + cluster_set_speed = cp.vl["PCM_CRUISE_SM"]["UI_SET_SPEED"] - if self.CP.carFingerprint in RADAR_ACC_CAR: - self.acc_type = cp.vl["ACC_CONTROL"]["ACC_TYPE"] - ret.stockFcw = bool(cp.vl["ACC_HUD"]["FCW"]) - elif self.CP.carFingerprint in TSS2_CAR: - self.acc_type = cp_cam.vl["ACC_CONTROL"]["ACC_TYPE"] - ret.stockFcw = bool(cp_cam.vl["ACC_HUD"]["FCW"]) + # UI_SET_SPEED is always non-zero when main is on, hide until first enable + if ret.cruiseState.speed != 0: + is_metric = cp.vl["BODY_CONTROL_STATE_2"]["UNITS"] in (1, 2) + conversion_factor = CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS + ret.cruiseState.speedCluster = cluster_set_speed * conversion_factor + + cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp + + if self.CP.carFingerprint in (TSS2_CAR | RADAR_ACC_CAR): + self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"] + ret.stockFcw = bool(cp_acc.vl["ACC_HUD"]["FCW"]) # some TSS2 cars have low speed lockout permanently set, so ignore on those cars # these cars are identified by an ACC_TYPE value of 2. @@ -120,10 +127,11 @@ class CarState(CarStateBase): ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in (1, 2, 3, 4, 5, 6) ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"]) - ret.stockAeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5) - ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0 + if not self.CP.enableDsu: + ret.stockAeb = bool(cp_acc.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_acc.vl["PRE_COLLISION"]["FORCE"] < -1e-5) + if self.CP.enableBsm: ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1) ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1) @@ -147,6 +155,7 @@ class CarState(CarStateBase): ("DOOR_OPEN_RR", "BODY_CONTROL_STATE"), ("SEATBELT_DRIVER_UNLATCHED", "BODY_CONTROL_STATE"), ("PARKING_BRAKE", "BODY_CONTROL_STATE"), + ("UNITS", "BODY_CONTROL_STATE_2"), ("TC_DISABLED", "ESP_CONTROL"), ("BRAKE_HOLD_ACTIVE", "ESP_CONTROL"), ("STEER_FRACTION", "STEER_ANGLE_SENSOR"), @@ -154,6 +163,7 @@ class CarState(CarStateBase): ("CRUISE_ACTIVE", "PCM_CRUISE"), ("CRUISE_STATE", "PCM_CRUISE"), ("GAS_RELEASED", "PCM_CRUISE"), + ("UI_SET_SPEED", "PCM_CRUISE_SM"), ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"), ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR"), ("STEER_ANGLE", "STEER_TORQUE_SENSOR"), @@ -168,12 +178,14 @@ class CarState(CarStateBase): ("LIGHT_STALK", 1), ("BLINKERS_STATE", 0.15), ("BODY_CONTROL_STATE", 3), + ("BODY_CONTROL_STATE_2", 2), ("ESP_CONTROL", 3), ("EPS_STATUS", 25), ("BRAKE_MODULE", 40), ("WHEEL_SPEEDS", 80), ("STEER_ANGLE_SENSOR", 80), ("PCM_CRUISE", 33), + ("PCM_CRUISE_SM", 1), ("STEER_TORQUE_SENSOR", 50), ] @@ -187,7 +199,9 @@ class CarState(CarStateBase): if CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC): signals.append(("MAIN_ON", "DSU_CRUISE")) signals.append(("SET_SPEED", "DSU_CRUISE")) + signals.append(("UI_SET_SPEED", "PCM_CRUISE_ALT")) checks.append(("DSU_CRUISE", 5)) + checks.append(("PCM_CRUISE_ALT", 1)) else: signals.append(("MAIN_ON", "PCM_CRUISE_2")) signals.append(("SET_SPEED", "PCM_CRUISE_2")) @@ -219,27 +233,31 @@ class CarState(CarStateBase): ("ACC_HUD", 1), ] + if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu: + signals += [ + ("FORCE", "PRE_COLLISION"), + ("PRECOLLISION_ACTIVE", "PRE_COLLISION"), + ] + checks += [ + ("PRE_COLLISION", 33), + ] + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) @staticmethod def get_cam_can_parser(CP): - signals = [ - ("FORCE", "PRE_COLLISION"), - ("PRECOLLISION_ACTIVE", "PRE_COLLISION"), - ] - - # use steering message to check if panda is connected to frc - checks = [ - ("STEERING_LKA", 42), - ("PRE_COLLISION", 0), # TODO: figure out why freq is inconsistent - ] + signals = [] + checks = [] if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR): signals += [ + ("PRECOLLISION_ACTIVE", "PRE_COLLISION"), + ("FORCE", "PRE_COLLISION"), ("ACC_TYPE", "ACC_CONTROL"), ("FCW", "ACC_HUD"), ] checks += [ + ("PRE_COLLISION", 33), ("ACC_CONTROL", 33), ("ACC_HUD", 1), ] diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 642c39952..a0d3ce9b8 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -218,6 +218,7 @@ class CarInterface(CarInterfaceBase): ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) if not ret.openpilotLongitudinalControl: + ret.autoResumeSng = False ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL # we can't use the fingerprint to detect this reliably, since diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py index a8b8758d8..fc538b969 100644 --- a/selfdrive/car/toyota/tunes.py +++ b/selfdrive/car/toyota/tunes.py @@ -38,7 +38,7 @@ def set_long_tune(tune, name): # Default longitudinal tune elif name == LongTunes.TSS: tune.deadzoneBP = [0., 9.] - tune.deadzoneV = [0., .15] + tune.deadzoneV = [.0, .15] tune.kpBP = [0., 5., 35.] tune.kiBP = [0., 35.] tune.kpV = [3.6, 2.4, 1.5] diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index b6181c1fd..af2fc9f56 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -6,7 +6,7 @@ from typing import Dict, List, Union from cereal import car from common.conversions import Conversions as CV from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness, Star +from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness Ecu = car.CarParams.Ecu MIN_ACC_SPEED = 19. * CV.MPH_TO_MS @@ -89,7 +89,7 @@ class Footnote(Enum): DSU = CarFootnote( "When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace " + "stock Adaptive Cruise Control (ACC). NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).", - Column.LONGITUDINAL, star=Star.HALF) + Column.LONGITUDINAL) CAMRY = CarFootnote( "openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.", Column.FSR_LONGITUDINAL) @@ -114,7 +114,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.AVALON_TSS2: ToyotaCarInfo("Toyota Avalon 2022"), CAR.AVALONH_TSS2: ToyotaCarInfo("Toyota Avalon Hybrid 2022"), CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]), - CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk", footnotes=[Footnote.CAMRY]), + CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"), CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-22", footnotes=[Footnote.CAMRY]), CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-22"), CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-21"), @@ -200,7 +200,7 @@ STATIC_DSU_MSGS = [ FW_VERSIONS = { CAR.AVALON: { - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152607060\x00\x00\x00\x00\x00\x00', ], (Ecu.dsu, 0x791, None): [ @@ -225,7 +225,7 @@ FW_VERSIONS = { ], }, CAR.AVALON_2019: { - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152607140\x00\x00\x00\x00\x00\x00', b'F152607171\x00\x00\x00\x00\x00\x00', b'F152607110\x00\x00\x00\x00\x00\x00', @@ -253,7 +253,7 @@ FW_VERSIONS = { ], }, CAR.AVALONH_2019: { - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152641040\x00\x00\x00\x00\x00\x00', b'F152641061\x00\x00\x00\x00\x00\x00', b'F152641050\x00\x00\x00\x00\x00\x00', @@ -280,7 +280,7 @@ FW_VERSIONS = { ], }, CAR.AVALON_TSS2: { - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'\x01F152607240\x00\x00\x00\x00\x00\x00', b'\x01F152607280\x00\x00\x00\x00\x00\x00', ], @@ -300,7 +300,7 @@ FW_VERSIONS = { ], }, CAR.AVALONH_TSS2: { - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152641080\x00\x00\x00\x00\x00\x00', ], (Ecu.eps, 0x7a1, None): [ @@ -356,7 +356,7 @@ FW_VERSIONS = { b'8821F0608200 ', b'8821F0609100 ', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152606210\x00\x00\x00\x00\x00\x00', b'F152606230\x00\x00\x00\x00\x00\x00', b'F152606270\x00\x00\x00\x00\x00\x00', @@ -420,7 +420,7 @@ FW_VERSIONS = { b'\x028966306S0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', b'\x028966306S1100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152633214\x00\x00\x00\x00\x00\x00', b'F152633660\x00\x00\x00\x00\x00\x00', b'F152633712\x00\x00\x00\x00\x00\x00', @@ -486,7 +486,7 @@ FW_VERSIONS = { (Ecu.eps, 0x7a1, None): [ b'8965B33630\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'\x01F152606370\x00\x00\x00\x00\x00\x00', b'\x01F152606390\x00\x00\x00\x00\x00\x00', b'\x01F152606400\x00\x00\x00\x00\x00\x00', @@ -512,7 +512,7 @@ FW_VERSIONS = { (Ecu.eps, 0x7a1, None): [ b'8965B33630\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152633D00\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ @@ -547,7 +547,7 @@ FW_VERSIONS = { b'8821FF406000 ', b'8821FF407100 ', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152610020\x00\x00\x00\x00\x00\x00', b'F152610153\x00\x00\x00\x00\x00\x00', b'F152610210\x00\x00\x00\x00\x00\x00', @@ -599,7 +599,7 @@ FW_VERSIONS = { b'\x0289663F431000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x0189663F438000\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152610012\x00\x00\x00\x00\x00\x00', b'F152610013\x00\x00\x00\x00\x00\x00', b'F152610014\x00\x00\x00\x00\x00\x00', @@ -658,7 +658,7 @@ FW_VERSIONS = { b'881510201100\x00\x00\x00\x00', b'881510201200\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152602190\x00\x00\x00\x00\x00\x00', b'F152602191\x00\x00\x00\x00\x00\x00', ], @@ -687,6 +687,7 @@ FW_VERSIONS = { b'\x01896630ZP2000\x00\x00\x00\x00', b'\x01896630ZQ5000\x00\x00\x00\x00', b'\x01896630ZU9000\x00\x00\x00\x00', + b'\x01896630ZX4000\x00\x00\x00\x00', b'\x018966312L8000\x00\x00\x00\x00', b'\x018966312M0000\x00\x00\x00\x00', b'\x018966312M9000\x00\x00\x00\x00', @@ -717,6 +718,7 @@ FW_VERSIONS = { b'\x03312N6000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00', b'\x03312N6100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00', b'\x03312N6100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00', + b'\x03312N6200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00', b'\x02312K4000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02312U5000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', ], @@ -733,7 +735,7 @@ FW_VERSIONS = { b'\x018965B12510\x00\x00\x00\x00\x00\x00', b'\x018965B1256000\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'\x01F152602280\x00\x00\x00\x00\x00\x00', b'\x01F152602560\x00\x00\x00\x00\x00\x00', b'\x01F152602590\x00\x00\x00\x00\x00\x00', @@ -782,6 +784,7 @@ FW_VERSIONS = { b'\x01896637626000\x00\x00\x00\x00', b'\x01896637648000\x00\x00\x00\x00', b'\x01896637643000\x00\x00\x00\x00', + b'\x02896630A21000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896630ZJ5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896630ZN8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896630ZQ3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', @@ -810,7 +813,7 @@ FW_VERSIONS = { b'\x018965B12520\x00\x00\x00\x00\x00\x00', b'\x018965B12530\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152612590\x00\x00\x00\x00\x00\x00', b'F152612691\x00\x00\x00\x00\x00\x00', b'F152612692\x00\x00\x00\x00\x00\x00', @@ -826,6 +829,7 @@ FW_VERSIONS = { b'F152612A10\x00\x00\x00\x00\x00\x00', b'F152612D00\x00\x00\x00\x00\x00\x00', b'F152616011\x00\x00\x00\x00\x00\x00', + b'F152616060\x00\x00\x00\x00\x00\x00', b'F152642540\x00\x00\x00\x00\x00\x00', b'F152676293\x00\x00\x00\x00\x00\x00', b'F152676303\x00\x00\x00\x00\x00\x00', @@ -881,7 +885,7 @@ FW_VERSIONS = { b'8965B48150\x00\x00\x00\x00\x00\x00', b'8965B48210\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [b'F15260E011\x00\x00\x00\x00\x00\x00'], + (Ecu.abs, 0x7b0, None): [b'F15260E011\x00\x00\x00\x00\x00\x00'], (Ecu.dsu, 0x791, None): [ b'881510E01100\x00\x00\x00\x00', b'881510E01200\x00\x00\x00\x00', @@ -899,7 +903,7 @@ FW_VERSIONS = { (Ecu.eps, 0x7a1, None): [ b'8965B48160\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152648541\x00\x00\x00\x00\x00\x00', b'F152648542\x00\x00\x00\x00\x00\x00', ], @@ -924,7 +928,7 @@ FW_VERSIONS = { b'8965B48310\x00\x00\x00\x00\x00\x00', b'8965B48320\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'\x01F15260E051\x00\x00\x00\x00\x00\x00', b'\x01F15260E061\x00\x00\x00\x00\x00\x00', b'\x01F15260E110\x00\x00\x00\x00\x00\x00', @@ -943,7 +947,9 @@ FW_VERSIONS = { b'\x01896630EB2200\x00\x00\x00\x00', b'\x01896630EC4000\x00\x00\x00\x00', b'\x01896630ED9000\x00\x00\x00\x00', + b'\x01896630ED9100\x00\x00\x00\x00', b'\x01896630EE1000\x00\x00\x00\x00', + b'\x01896630EE1100\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F3301400\x00\x00\x00\x00', @@ -961,7 +967,7 @@ FW_VERSIONS = { b'8965B48241\x00\x00\x00\x00\x00\x00', b'8965B48310\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'\x01F15264872300\x00\x00\x00\x00', b'\x01F15264872400\x00\x00\x00\x00', b'\x01F15264872500\x00\x00\x00\x00', @@ -971,15 +977,16 @@ FW_VERSIONS = { b'\x01F152648J6000\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ - b'\x01896630EE4000\x00\x00\x00\x00', - b'\x01896630EE6000\x00\x00\x00\x00', b'\x01896630E67000\x00\x00\x00\x00', b'\x01896630EA1000\x00\x00\x00\x00', - b'\x01896630EA1000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', + b'\x01896630EE4000\x00\x00\x00\x00', + b'\x01896630EE4100\x00\x00\x00\x00', + b'\x01896630EE6000\x00\x00\x00\x00', b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', + b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', + b'\x01896630EA1000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630EB3100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', - b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F3301400\x00\x00\x00\x00', @@ -1008,7 +1015,7 @@ FW_VERSIONS = { b'\x02353P7000\x00\x00\x00\x00\x00\x00\x00\x00530J5000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02353P9000\x00\x00\x00\x00\x00\x00\x00\x00553C1000\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152653300\x00\x00\x00\x00\x00\x00', b'F152653301\x00\x00\x00\x00\x00\x00', b'F152653310\x00\x00\x00\x00\x00\x00', @@ -1092,7 +1099,7 @@ FW_VERSIONS = { b'8965B47050\x00\x00\x00\x00\x00\x00', b'8965B47060\x00\x00\x00\x00\x00\x00', # This is the EPS with good angle sensor ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152647290\x00\x00\x00\x00\x00\x00', b'F152647300\x00\x00\x00\x00\x00\x00', b'F152647310\x00\x00\x00\x00\x00\x00', @@ -1133,7 +1140,7 @@ FW_VERSIONS = { ], }, CAR.PRIUS_V: { - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152647280\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ @@ -1166,7 +1173,7 @@ FW_VERSIONS = { b'8965B42082\x00\x00\x00\x00\x00\x00', b'8965B42083\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F15260R102\x00\x00\x00\x00\x00\x00', b'F15260R103\x00\x00\x00\x00\x00\x00', b'F152642493\x00\x00\x00\x00\x00\x00', @@ -1203,7 +1210,7 @@ FW_VERSIONS = { b'8965B42162\x00\x00\x00\x00\x00\x00', b'8965B42163\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152642090\x00\x00\x00\x00\x00\x00', b'F152642110\x00\x00\x00\x00\x00\x00', b'F152642120\x00\x00\x00\x00\x00\x00', @@ -1263,8 +1270,9 @@ FW_VERSIONS = { b'\x02896634A18100\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00', b'\x02896634A43000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00', b'\x02896634A47000\x00\x00\x00\x00897CF4201001\x00\x00\x00\x00', + b'\x028966342Z8000\x00\x00\x00\x00897CF1201001\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'\x01F15260R210\x00\x00\x00\x00\x00\x00', b'\x01F15260R220\x00\x00\x00\x00\x00\x00', b'\x01F15260R290\x00\x00\x00\x00\x00\x00', @@ -1305,7 +1313,7 @@ FW_VERSIONS = { ], }, CAR.RAV4_TSS2_2022: { - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'\x01F15260R350\x00\x00\x00\x00\x00\x00', b'\x01F15260R361\x00\x00\x00\x00\x00\x00', ], @@ -1345,7 +1353,7 @@ FW_VERSIONS = { b'\x02896634A14001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896634A14101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152642291\x00\x00\x00\x00\x00\x00', b'F152642290\x00\x00\x00\x00\x00\x00', b'F152642322\x00\x00\x00\x00\x00\x00', @@ -1384,7 +1392,7 @@ FW_VERSIONS = { ], }, CAR.RAV4H_TSS2_2022: { - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'\x01F15264283100\x00\x00\x00\x00', b'\x01F15264286200\x00\x00\x00\x00', b'\x01F15264286100\x00\x00\x00\x00', @@ -1432,7 +1440,7 @@ FW_VERSIONS = { b'8965B45080\x00\x00\x00\x00\x00\x00', b'8965B45082\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152608130\x00\x00\x00\x00\x00\x00', ], (Ecu.dsu, 0x791, None): [ @@ -1451,7 +1459,7 @@ FW_VERSIONS = { (Ecu.dsu, 0x791, None): [ b'881517601100\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152676144\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ @@ -1473,7 +1481,7 @@ FW_VERSIONS = { b'\x018966333X6000\x00\x00\x00\x00', b'\x01896633T07000\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'\x01F152606281\x00\x00\x00\x00\x00\x00', b'\x01F152606340\x00\x00\x00\x00\x00\x00', b'\x01F152606461\x00\x00\x00\x00\x00\x00', @@ -1510,7 +1518,7 @@ FW_VERSIONS = { b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00', b'\x01896633T38000\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152633423\x00\x00\x00\x00\x00\x00', b'F152633680\x00\x00\x00\x00\x00\x00', b'F152633681\x00\x00\x00\x00\x00\x00', @@ -1543,7 +1551,7 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'\x02333M4200\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152633171\x00\x00\x00\x00\x00\x00', ], (Ecu.dsu, 0x791, None): [ @@ -1569,7 +1577,7 @@ FW_VERSIONS = { b'\x01896637854000\x00\x00\x00\x00', b'\x01896637878000\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152678130\x00\x00\x00\x00\x00\x00', b'F152678140\x00\x00\x00\x00\x00\x00', ], @@ -1596,7 +1604,7 @@ FW_VERSIONS = { b'\x018966378B3000\x00\x00\x00\x00', b'\x018966378G3000\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'\x01F152678221\x00\x00\x00\x00\x00\x00', ], (Ecu.eps, 0x7a1, None): [ @@ -1616,7 +1624,7 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152678210\x00\x00\x00\x00\x00\x00', ], (Ecu.eps, 0x7a1, None): [ @@ -1637,7 +1645,7 @@ FW_VERSIONS = { b'\x0237882000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x0237886000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152678160\x00\x00\x00\x00\x00\x00', b'F152678170\x00\x00\x00\x00\x00\x00', b'F152678171\x00\x00\x00\x00\x00\x00', @@ -1664,7 +1672,7 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'\x0232484000\x00\x00\x00\x00\x00\x00\x00\x0052422000\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152624221\x00\x00\x00\x00\x00\x00', ], (Ecu.dsu, 0x791, None): [ @@ -1700,7 +1708,7 @@ FW_VERSIONS = { b'\x018966348R8500\x00\x00\x00\x00', b'\x018966348W1300\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152648472\x00\x00\x00\x00\x00\x00', b'F152648473\x00\x00\x00\x00\x00\x00', b'F152648492\x00\x00\x00\x00\x00\x00', @@ -1747,7 +1755,7 @@ FW_VERSIONS = { b'\x02348V6000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02348Z3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152648361\x00\x00\x00\x00\x00\x00', b'F152648501\x00\x00\x00\x00\x00\x00', b'F152648502\x00\x00\x00\x00\x00\x00', @@ -1795,7 +1803,7 @@ FW_VERSIONS = { b'\x01896634D43000\x00\x00\x00\x00', b'\x01896634D44000\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'\x01F15260E031\x00\x00\x00\x00\x00\x00', b'\x01F15260E041\x00\x00\x00\x00\x00\x00', b'\x01F152648781\x00\x00\x00\x00\x00\x00', @@ -1825,7 +1833,7 @@ FW_VERSIONS = { b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152648831\x00\x00\x00\x00\x00\x00', b'F152648891\x00\x00\x00\x00\x00\x00', b'F152648D00\x00\x00\x00\x00\x00\x00', @@ -1855,7 +1863,7 @@ FW_VERSIONS = { b'\x038966347C5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00', b'\x038966347C5100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707101\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152647500\x00\x00\x00\x00\x00\x00', b'F152647510\x00\x00\x00\x00\x00\x00', b'F152647520\x00\x00\x00\x00\x00\x00', @@ -1875,8 +1883,8 @@ FW_VERSIONS = { ], }, CAR.MIRAI: { - (Ecu.esp, 0x7D1, None): [b'\x01898A36203000\x00\x00\x00\x00',], - (Ecu.esp, 0x7B0, None): [ # a second ESP ECU + (Ecu.abs, 0x7D1, None): [b'\x01898A36203000\x00\x00\x00\x00',], + (Ecu.abs, 0x7B0, None): [ # a second ABS ECU b'\x01F15266203200\x00\x00\x00\x00', b'\x01F15266203500\x00\x00\x00\x00', ], @@ -1909,7 +1917,7 @@ FW_VERSIONS = { (Ecu.eps, 0x7a1, None): [ b'8965B58040\x00\x00\x00\x00\x00\x00', ], - (Ecu.esp, 0x7b0, None): [ + (Ecu.abs, 0x7b0, None): [ b'F152658341\x00\x00\x00\x00\x00\x00' ], (Ecu.fwdRadar, 0x750, 0xf): [ diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index 5ace68649..ae3aa675c 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -5,7 +5,6 @@ import traceback import cereal.messaging as messaging import panda.python.uds as uds -from panda.python.uds import FUNCTIONAL_ADDRS from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery from system.swaglog import cloudlog @@ -24,10 +23,11 @@ def is_valid_vin(vin: str): def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False): + addrs = [0x7e0, 0x7e2, 0x18da10f1, 0x18da0ef1] # engine, VMCU, 29-bit engine, PGM-FI for i in range(retry): for request, response in ((UDS_VIN_REQUEST, UDS_VIN_RESPONSE), (OBD_VIN_REQUEST, OBD_VIN_RESPONSE)): try: - query = IsoTpParallelQuery(sendcan, logcan, bus, FUNCTIONAL_ADDRS, [request, ], [response, ], functional_addr=True, debug=debug) + query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, [request, ], [response, ], debug=debug) for (addr, rx_addr), vin in query.get_data(timeout).items(): # Honda Bosch response starts with a length, trim to correct length diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index f99a9dfb6..d12cc9ef0 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -3,8 +3,8 @@ from opendbc.can.packer import CANPacker from common.numpy_fast import clip from common.conversions import Conversions as CV from selfdrive.car import apply_std_steer_torque_limits -from selfdrive.car.volkswagen import mqbcan -from selfdrive.car.volkswagen.values import CANBUS, CarControllerParams +from selfdrive.car.volkswagen import mqbcan, pqcan +from selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState @@ -14,7 +14,7 @@ class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP self.CCP = CarControllerParams(CP) - self.CCS = mqbcan + self.CCS = pqcan if CP.carFingerprint in PQ_CARS else mqbcan self.packer_pt = CANPacker(dbc_name) self.apply_steer_last = 0 @@ -122,6 +122,13 @@ class CarController: self.apply_steer_last = apply_steer can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hcaEnabled)) + # **** Acceleration Controls ******************************************** # + + if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl: + tsk_status = self.CCS.tsk_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive) + accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0 + can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, tsk_status, accel)) + # **** HUD Controls ***************************************************** # if self.frame % self.CCP.LDW_STEP == 0: @@ -131,6 +138,12 @@ class CarController: can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.enabled, CS.out.steeringPressed, hud_alert, hud_control)) + if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl: + acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive) + set_speed = hud_control.setSpeed * CV.MS_TO_KPH # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem? + can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed, + hud_control.leadVisible)) + # **** Stock ACC Button Controls **************************************** # if self.CP.pcmCruise and self.frame % self.CCP.GRA_ACC_STEP == 0: diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 92258ddc0..2566b8596 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -3,7 +3,7 @@ from cereal import car from common.conversions import Conversions as CV from selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser -from selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \ +from selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \ CarControllerParams @@ -29,6 +29,9 @@ class CarState(CarStateBase): return button_events def update(self, pt_cp, cam_cp, ext_cp, trans_type): + if self.CP.carFingerprint in PQ_CARS: + return self.update_pq(pt_cp, cam_cp, ext_cp, trans_type) + ret = car.CarState.new_message() # Update vehicle speed and acceleration from ABS wheel speeds. ret.wheelSpeeds = self.get_wheel_speeds( @@ -142,8 +145,111 @@ class CarState(CarStateBase): return ret + def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type): + ret = car.CarState.new_message() + # Update vehicle speed and acceleration from ABS wheel speeds. + ret.wheelSpeeds = self.get_wheel_speeds( + pt_cp.vl["Bremse_3"]["Radgeschw__VL_4_1"], + pt_cp.vl["Bremse_3"]["Radgeschw__VR_4_1"], + pt_cp.vl["Bremse_3"]["Radgeschw__HL_4_1"], + pt_cp.vl["Bremse_3"]["Radgeschw__HR_4_1"], + ) + + # vEgo obtained from Bremse_1 vehicle speed rather than Bremse_3 wheel speeds because Bremse_3 isn't present on NSF + ret.vEgoRaw = pt_cp.vl["Bremse_1"]["Geschwindigkeit_neu__Bremse_1_"] * CV.KPH_TO_MS + ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + ret.standstill = ret.vEgo < 0.1 + + # Update steering angle, rate, yaw rate, and driver input torque. VW send + # the sign/direction in a separate signal so they must be recombined. + ret.steeringAngleDeg = pt_cp.vl["Lenkhilfe_3"]["LH3_BLW"] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]["LH3_BLWSign"])] + ret.steeringRateDeg = pt_cp.vl["Lenkwinkel_1"]["Lenkradwinkel_Geschwindigkeit"] * (1, -1)[int(pt_cp.vl["Lenkwinkel_1"]["Lenkradwinkel_Geschwindigkeit_S"])] + ret.steeringTorque = pt_cp.vl["Lenkhilfe_3"]["LH3_LM"] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]["LH3_LMSign"])] + ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE + ret.yawRate = pt_cp.vl["Bremse_5"]["Giergeschwindigkeit"] * (1, -1)[int(pt_cp.vl["Bremse_5"]["Vorzeichen_der_Giergeschwindigk"])] * CV.DEG_TO_RAD + + # Verify EPS readiness to accept steering commands + hca_status = self.CCP.hca_status_values.get(pt_cp.vl["Lenkhilfe_2"]["LH2_Sta_HCA"]) + ret.steerFaultPermanent = hca_status in ("DISABLED", "FAULT") + ret.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED") + + # Update gas, brakes, and gearshift. + ret.gas = pt_cp.vl["Motor_3"]["Fahrpedal_Rohsignal"] / 100.0 + ret.gasPressed = ret.gas > 0 + ret.brake = pt_cp.vl["Bremse_5"]["Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects + ret.brakePressed = bool(pt_cp.vl["Motor_2"]["Bremstestschalter"]) + ret.parkingBrake = bool(pt_cp.vl["Kombi_1"]["Bremsinfo"]) + + # Update gear and/or clutch position data. + if trans_type == TransmissionType.automatic: + ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"], None)) + elif trans_type == TransmissionType.manual: + ret.clutchPressed = not pt_cp.vl["Motor_1"]["Kupplungsschalter"] + reverse_light = bool(pt_cp.vl["Gate_Komf_1"]["GK1_Rueckfahr"]) + if reverse_light: + ret.gearShifter = GearShifter.reverse + else: + ret.gearShifter = GearShifter.drive + + # Update door and trunk/hatch lid open status. + ret.doorOpen = any([pt_cp.vl["Gate_Komf_1"]["GK1_Fa_Tuerkont"], + pt_cp.vl["Gate_Komf_1"]["BSK_BT_geoeffnet"], + pt_cp.vl["Gate_Komf_1"]["BSK_HL_geoeffnet"], + pt_cp.vl["Gate_Komf_1"]["BSK_HR_geoeffnet"], + pt_cp.vl["Gate_Komf_1"]["BSK_HD_Hauptraste"]]) + + # Update seatbelt fastened status. + ret.seatbeltUnlatched = not bool(pt_cp.vl["Airbag_1"]["Gurtschalter_Fahrer"]) + + # Consume blind-spot monitoring info/warning LED states, if available. + # Infostufe: BSM LED on, Warnung: BSM LED flashing + if self.CP.enableBsm: + ret.leftBlindspot = bool(ext_cp.vl["SWA_1"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_1"]["SWA_Warnung_SWA_li"]) + ret.rightBlindspot = bool(ext_cp.vl["SWA_1"]["SWA_Infostufe_SWA_re"]) or bool(ext_cp.vl["SWA_1"]["SWA_Warnung_SWA_re"]) + + # Consume factory LDW data relevant for factory SWA (Lane Change Assist) + # and capture it for forwarding to the blind spot radar controller + self.ldw_stock_values = cam_cp.vl["LDW_Status"] if self.CP.networkLocation == NetworkLocation.fwdCamera else {} + + # Stock FCW is considered active if the release bit for brake-jerk warning + # is set. Stock AEB considered active if the partial braking or target + # braking release bits are set. + # Refer to VW Self Study Program 890253: Volkswagen Driver Assistance + # Systems, chapters on Front Assist with Braking and City Emergency + # Braking for the 2016 Passat NMS + # TODO: deferred until we can collect data on pre-MY2016 behavior, AWV message may be shorter with fewer signals + ret.stockFcw = False + ret.stockAeb = False + + # Update ACC radar status. + ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"]) + ret.cruiseState.enabled = bool(pt_cp.vl["Motor_2"]["GRA_Status"]) + if self.CP.pcmCruise: + ret.accFaulted = ext_cp.vl["ACC_GRA_Anziege"]["ACA_StaACC"] in (6, 7) + # TODO: update opendbc with PQ TSK state for OP long accFaulted + + # Update ACC setpoint. When the setpoint reads as 255, the driver has not + # yet established an ACC setpoint, so treat it as zero. + ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anziege"]["ACA_V_Wunsch"] * CV.KPH_TO_MS + if ret.cruiseState.speed > 70: # 255 kph in m/s == no current setpoint + ret.cruiseState.speed = 0 + + # Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough + ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(300, pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_li"], + pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_re"]) + ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS) + self.gra_stock_values = pt_cp.vl["GRA_Neu"] + + # Additional safety checks performed in CarInterface. + ret.espDisabled = bool(pt_cp.vl["Bremse_1"]["ESP_Passiv_getastet"]) + + return ret + @staticmethod def get_can_parser(CP): + if CP.carFingerprint in PQ_CARS: + return CarState.get_can_parser_pq(CP) + signals = [ # sig_name, sig_address ("LWI_Lenkradwinkel", "LWI_01"), # Absolute steering angle @@ -231,6 +337,9 @@ class CarState(CarStateBase): @staticmethod def get_cam_can_parser(CP): + if CP.carFingerprint in PQ_CARS: + return CarState.get_cam_can_parser_pq(CP) + signals = [] checks = [] @@ -257,6 +366,123 @@ class CarState(CarStateBase): return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.cam) + @staticmethod + def get_can_parser_pq(CP): + signals = [ + # sig_name, sig_address, default + ("LH3_BLW", "Lenkhilfe_3"), # Absolute steering angle + ("LH3_BLWSign", "Lenkhilfe_3"), # Steering angle sign + ("LH3_LM", "Lenkhilfe_3"), # Absolute driver torque input + ("LH3_LMSign", "Lenkhilfe_3"), # Driver torque input sign + ("LH2_Sta_HCA", "Lenkhilfe_2"), # Steering rack HCA status + ("Lenkradwinkel_Geschwindigkeit", "Lenkwinkel_1"), # Absolute steering rate + ("Lenkradwinkel_Geschwindigkeit_S", "Lenkwinkel_1"), # Steering rate sign + ("Geschwindigkeit_neu__Bremse_1_", "Bremse_1"), # Vehicle speed from ABS + ("Radgeschw__VL_4_1", "Bremse_3"), # ABS wheel speed, front left + ("Radgeschw__VR_4_1", "Bremse_3"), # ABS wheel speed, front right + ("Radgeschw__HL_4_1", "Bremse_3"), # ABS wheel speed, rear left + ("Radgeschw__HR_4_1", "Bremse_3"), # ABS wheel speed, rear right + ("Giergeschwindigkeit", "Bremse_5"), # Absolute yaw rate + ("Vorzeichen_der_Giergeschwindigk", "Bremse_5"), # Yaw rate sign + ("Gurtschalter_Fahrer", "Airbag_1"), # Seatbelt status, driver + ("Gurtschalter_Beifahrer", "Airbag_1"), # Seatbelt status, passenger + ("Bremstestschalter", "Motor_2"), # Brake pedal pressed (brake light test switch) + ("Bremslichtschalter", "Motor_2"), # Brakes applied (brake light switch) + ("Bremsdruck", "Bremse_5"), # Brake pressure applied + ("Vorzeichen_Bremsdruck", "Bremse_5"), # Brake pressure applied sign (???) + ("Fahrpedal_Rohsignal", "Motor_3"), # Accelerator pedal value + ("ESP_Passiv_getastet", "Bremse_1"), # Stability control disabled + ("GRA_Hauptschalter", "Motor_5"), # ACC main switch + ("GRA_Status", "Motor_2"), # ACC engagement status + ("GK1_Fa_Tuerkont", "Gate_Komf_1"), # Door open, driver + ("BSK_BT_geoeffnet", "Gate_Komf_1"), # Door open, passenger + ("BSK_HL_geoeffnet", "Gate_Komf_1"), # Door open, rear left + ("BSK_HR_geoeffnet", "Gate_Komf_1"), # Door open, rear right + ("BSK_HD_Hauptraste", "Gate_Komf_1"), # Trunk or hatch open + ("GK1_Blinker_li", "Gate_Komf_1"), # Left turn signal on + ("GK1_Blinker_re", "Gate_Komf_1"), # Right turn signal on + ("Bremsinfo", "Kombi_1"), # Manual handbrake applied + ("GRA_Hauptschalt", "GRA_Neu"), # ACC button, on/off + ("GRA_Typ_Hauptschalt", "GRA_Neu"), # ACC button, momentary vs latching + ("GRA_Kodierinfo", "GRA_Neu"), # ACC button, configuration + ("GRA_Abbrechen", "GRA_Neu"), # ACC button, cancel + ("GRA_Neu_Setzen", "GRA_Neu"), # ACC button, set + ("GRA_Up_lang", "GRA_Neu"), # ACC button, increase or accel, long press + ("GRA_Down_lang", "GRA_Neu"), # ACC button, decrease or decel, long press + ("GRA_Up_kurz", "GRA_Neu"), # ACC button, increase or accel, short press + ("GRA_Down_kurz", "GRA_Neu"), # ACC button, decrease or decel, short press + ("GRA_Recall", "GRA_Neu"), # ACC button, resume + ("GRA_Zeitluecke", "GRA_Neu"), # ACC button, time gap adj + ("COUNTER", "GRA_Neu"), # ACC button, message counter + ("GRA_Sender", "GRA_Neu"), # ACC button, CAN message originator + ] + + checks = [ + # sig_address, frequency + ("Bremse_1", 100), # From J104 ABS/ESP controller + ("Bremse_3", 100), # From J104 ABS/ESP controller + ("Lenkhilfe_3", 100), # From J500 Steering Assist with integrated sensors + ("Lenkwinkel_1", 100), # From J500 Steering Assist with integrated sensors + ("Motor_3", 100), # From J623 Engine control module + ("Airbag_1", 50), # From J234 Airbag control module + ("Bremse_5", 50), # From J104 ABS/ESP controller + ("GRA_Neu", 50), # From J??? steering wheel control buttons + ("Kombi_1", 50), # From J285 Instrument cluster + ("Motor_2", 50), # From J623 Engine control module + ("Motor_5", 50), # From J623 Engine control module + ("Lenkhilfe_2", 20), # From J500 Steering Assist with integrated sensors + ("Gate_Komf_1", 10), # From J533 CAN gateway + ] + + if CP.transmissionType == TransmissionType.automatic: + signals += [("Waehlhebelposition__Getriebe_1_", "Getriebe_1", 0)] # Auto trans gear selector position + checks += [("Getriebe_1", 100)] # From J743 Auto transmission control module + elif CP.transmissionType == TransmissionType.manual: + signals += [("Kupplungsschalter", "Motor_1", 0), # Clutch switch + ("GK1_Rueckfahr", "Gate_Komf_1", 0)] # Reverse light from BCM + checks += [("Motor_1", 100)] # From J623 Engine control module + + if CP.networkLocation == NetworkLocation.fwdCamera: + # Extended CAN devices other than the camera are here on CANBUS.pt + signals += PqExtraSignals.fwd_radar_signals + checks += PqExtraSignals.fwd_radar_checks + if CP.enableBsm: + signals += PqExtraSignals.bsm_radar_signals + checks += PqExtraSignals.bsm_radar_checks + + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.pt) + + @staticmethod + def get_cam_can_parser_pq(CP): + + signals = [] + checks = [] + + if CP.networkLocation == NetworkLocation.fwdCamera: + signals += [ + # sig_name, sig_address + ("LDW_SW_Warnung_links", "LDW_Status"), # Blind spot in warning mode on left side due to lane departure + ("LDW_SW_Warnung_rechts", "LDW_Status"), # Blind spot in warning mode on right side due to lane departure + ("LDW_Seite_DLCTLC", "LDW_Status"), # Direction of most likely lane departure (left or right) + ("LDW_DLC", "LDW_Status"), # Lane departure, distance to line crossing + ("LDW_TLC", "LDW_Status"), # Lane departure, time to line crossing + ] + checks += [ + # sig_address, frequency + ("LDW_Status", 10) # From R242 Driver assistance camera + ] + + if CP.networkLocation == NetworkLocation.gateway: + # Radars are here on CANBUS.cam + signals += PqExtraSignals.fwd_radar_signals + checks += PqExtraSignals.fwd_radar_checks + if CP.enableBsm: + signals += PqExtraSignals.bsm_radar_signals + checks += PqExtraSignals.bsm_radar_checks + + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.cam) + + class MqbExtraSignals: # Additional signal and message lists for optional or bus-portable controllers fwd_radar_signals = [ @@ -285,3 +511,22 @@ class MqbExtraSignals: bsm_radar_checks = [ ("SWA_01", 20), # From J1086 Lane Change Assist ] + +class PqExtraSignals: + # Additional signal and message lists for optional or bus-portable controllers + fwd_radar_signals = [ + ("ACA_StaACC", "ACC_GRA_Anziege", 0), # ACC drivetrain coordinator status + ("ACA_V_Wunsch", "ACC_GRA_Anziege", 0), # ACC set speed + ] + fwd_radar_checks = [ + ("ACC_GRA_Anziege", 25), # From J428 ACC radar control module + ] + bsm_radar_signals = [ + ("SWA_Infostufe_SWA_li", "SWA_1", 0), # Blind spot object info, left + ("SWA_Warnung_SWA_li", "SWA_1", 0), # Blind spot object warning, left + ("SWA_Infostufe_SWA_re", "SWA_1", 0), # Blind spot object info, right + ("SWA_Warnung_SWA_re", "SWA_1", 0), # Blind spot object warning, right + ] + bsm_radar_checks = [ + ("SWA_1", 20), # From J1086 Lane Change Assist + ] diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 29c9be83a..cec01f7a6 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -1,11 +1,10 @@ from cereal import car -from common.params import Params from panda import Panda -from selfdrive.car import STD_CARGO_KG, create_button_enable_events, scale_rot_inertia, scale_tire_stiffness, \ +from common.conversions import Conversions as CV +from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, \ gen_empty_fingerprint, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase -from selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter - +from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter EventName = car.CarEvent.EventName @@ -27,7 +26,36 @@ class CarInterface(CarInterfaceBase): ret.carName = "volkswagen" ret.radarOffCan = True - if True: # pylint: disable=using-constant-test + if candidate in PQ_CARS: + # Set global PQ35/PQ46/NMS parameters + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)] + ret.enableBsm = 0x3BA in fingerprint[0] # SWA_1 + + if 0x440 in fingerprint[0]: # Getriebe_1 + ret.transmissionType = TransmissionType.automatic + else: + ret.transmissionType = TransmissionType.manual + + if any(msg in fingerprint[1] for msg in (0x1A0, 0xC2)): # Bremse_1, Lenkwinkel_1 + ret.networkLocation = NetworkLocation.gateway + else: + ret.networkLocation = NetworkLocation.fwdCamera + + # The PQ port is in dashcam-only mode due to a fixed six-minute maximum timer on HCA steering. An unsupported + # EPS flash update to work around this timer, and enable steering down to zero, is available from: + # https://github.com/pd0wm/pq-flasher + # It is documented in a four-part blog series: + # https://blog.willemmelching.nl/carhacking/2022/01/02/vw-part1/ + # Panda ALLOW_DEBUG firmware required. + ret.dashcamOnly = True + + if disable_radar 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.openpilotLongitudinalControl = True + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL + + else: # Set global MQB parameters ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)] ret.enableBsm = 0x30F in fingerprint[0] # SWA_01 @@ -44,7 +72,7 @@ class CarInterface(CarInterfaceBase): else: ret.networkLocation = NetworkLocation.fwdCamera - if Params().get_bool("DisableRadar") and ret.networkLocation == NetworkLocation.gateway: + if disable_radar and ret.networkLocation == NetworkLocation.gateway: ret.openpilotLongitudinalControl = True ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL if ret.transmissionType == TransmissionType.manual: @@ -94,6 +122,14 @@ class CarInterface(CarInterfaceBase): ret.mass = 1551 + STD_CARGO_KG ret.wheelbase = 2.79 + elif candidate == CAR.PASSAT_NMS: + ret.mass = 1503 + STD_CARGO_KG + ret.wheelbase = 2.80 + ret.minEnableSpeed = 20 * CV.KPH_TO_MS # ACC "basic", no FtS + ret.minSteerSpeed = 50 * CV.KPH_TO_MS + ret.steerActuatorDelay = 0.2 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + elif candidate == CAR.POLO_MK6: ret.mass = 1230 + STD_CARGO_KG ret.wheelbase = 2.55 @@ -170,6 +206,7 @@ class CarInterface(CarInterfaceBase): else: raise ValueError(f"unsupported car {candidate}") + ret.autoResumeSng = ret.minEnableSpeed == -1 ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) ret.centerToFront = ret.wheelbase * 0.45 ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, @@ -197,7 +234,6 @@ class CarInterface(CarInterfaceBase): if c.enabled and ret.vEgo < self.CP.minEnableSpeed: events.add(EventName.speedTooLow) - events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise)) ret.events = events.to_msg() return ret diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py new file mode 100644 index 000000000..1e7ed2134 --- /dev/null +++ b/selfdrive/car/volkswagen/pqcan.py @@ -0,0 +1,84 @@ +def create_steering_control(packer, bus, apply_steer, lkas_enabled): + values = { + "LM_Offset": abs(apply_steer), + "LM_OffSign": 1 if apply_steer < 0 else 0, + "HCA_Status": 5 if (lkas_enabled and apply_steer != 0) else 3, + "Vib_Freq": 16, + } + + return packer.make_can_msg("HCA_1", bus, values) + + +def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control): + values = ldw_stock_values.copy() + + values.update({ + "LDW_Lampe_gelb": 1 if enabled and steering_pressed else 0, + "LDW_Lampe_gruen": 1 if enabled and not steering_pressed else 0, + "LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible, + "LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible, + "LDW_Textbits": hud_alert, + }) + + return packer.make_can_msg("LDW_Status", bus, values) + + +def create_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False): + values = gra_stock_values.copy() + + values.update({ + "COUNTER": idx, + "GRA_Abbrechen": cancel, + "GRA_Recall": resume, + }) + + return packer.make_can_msg("GRA_Neu", bus, values) + + +def tsk_status_value(main_switch_on, acc_faulted, long_active): + if long_active: + tsk_status = 1 + elif main_switch_on: + tsk_status = 2 + else: + tsk_status = 0 + + return tsk_status + + +def acc_hud_status_value(main_switch_on, acc_faulted, long_active): + if acc_faulted: + hud_status = 6 + elif long_active: + hud_status = 3 + elif main_switch_on: + hud_status = 2 + else: + hud_status = 0 + + return hud_status + + +def create_acc_accel_control(packer, bus, adr_status, accel): + values = { + "ACS_Sta_ADR": adr_status, + "ACS_StSt_Info": adr_status != 1, + "ACS_Typ_ACC": 0, # TODO: this is ACC "basic", find a way to detect FtS support (1) + "ACS_Sollbeschl": accel if adr_status == 1 else 3.01, + "ACS_zul_Regelabw": 0.2 if adr_status == 1 else 1.27, + "ACS_max_AendGrad": 3.0 if adr_status == 1 else 5.08, + } + + return packer.make_can_msg("ACC_System", bus, values) + + +def create_acc_hud_control(packer, bus, acc_status, set_speed, lead_visible): + values = { + "ACA_StaACC": acc_status, + "ACA_Zeitluecke": 2, + "ACA_V_Wunsch": set_speed, + "ACA_gemZeitl": 8 if lead_visible else 0, + } + # TODO: ACA_ID_StaACC, ACA_AnzDisplay, ACA_kmh_mph, ACA_PrioDisp, ACA_Aend_Zeitluecke + + return packer.make_can_msg("ACC_GRA_Anziege", bus, values) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 1434ee8ac..6181c9f04 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -33,7 +33,36 @@ class CarControllerParams: can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) - if True: # pylint: disable=using-constant-test + if CP.carFingerprint in PQ_CARS: + self.LDW_STEP = 5 # LDW_1 message frequency 20Hz + self.ACC_HUD_STEP = 4 # ACC_GRA_Anziege frequency 25Hz + self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm + self.STEER_DELTA_UP = 6 # Max HCA reached in 1.00s (STEER_MAX / (50Hz * 1.00)) + self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60)) + + if CP.transmissionType == TransmissionType.automatic: + self.shifter_values = can_define.dv["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"] + self.hca_status_values = can_define.dv["Lenkhilfe_2"]["LH2_Sta_HCA"] + + self.BUTTONS = [ + Button(car.CarState.ButtonEvent.Type.setCruise, "GRA_Neu", "GRA_Neu_Setzen", [1]), + Button(car.CarState.ButtonEvent.Type.resumeCruise, "GRA_Neu", "GRA_Recall", [1]), + Button(car.CarState.ButtonEvent.Type.accelCruise, "GRA_Neu", "GRA_Up_kurz", [1]), + Button(car.CarState.ButtonEvent.Type.decelCruise, "GRA_Neu", "GRA_Down_kurz", [1]), + Button(car.CarState.ButtonEvent.Type.cancel, "GRA_Neu", "GRA_Abbrechen", [1]), + Button(car.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_Neu", "GRA_Zeitluecke", [1]), + ] + + self.LDW_MESSAGES = { + "none": 0, # Nothing to display + "laneAssistUnavail": 1, # "Lane Assist currently not available." + "laneAssistUnavailSysError": 2, # "Lane Assist system error" + "laneAssistUnavailNoSensorView": 3, # "Lane Assist not available. No sensor view." + "laneAssistTakeOver": 4, # "Lane Assist: Please Take Over Steering" + "laneAssistDeactivTrailer": 5, # "Lane Assist: no function with trailer" + } + + else: self.LDW_STEP = 10 # LDW_02 message frequency 10Hz self.ACC_HUD_STEP = 6 # ACC_02/ACC_04 message frequency 16Hz self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm @@ -84,6 +113,7 @@ class CAR: GOLF_MK7 = "VOLKSWAGEN GOLF 7TH GEN" # Chassis 5G/AU/BA/BE, Mk7 VW Golf and variants JETTA_MK7 = "VOLKSWAGEN JETTA 7TH GEN" # Chassis BU, Mk7 VW Jetta PASSAT_MK8 = "VOLKSWAGEN PASSAT 8TH GEN" # Chassis 3G, Mk8 VW Passat and variants + PASSAT_NMS = "VOLKSWAGEN PASSAT NMS" # Chassis A3, North America/China/Mideast NMS Passat, incl. facelift POLO_MK6 = "VOLKSWAGEN POLO 6TH GEN" # Chassis AW, Mk6 VW Polo TAOS_MK1 = "VOLKSWAGEN TAOS 1ST GEN" # Chassis B2, Mk1 VW Taos and Tharu TCROSS_MK1 = "VOLKSWAGEN T-CROSS 1ST GEN" # Chassis C1, Mk1 VW T-Cross SWB and LWB variants @@ -104,7 +134,12 @@ class CAR: SKODA_OCTAVIA_MK3 = "SKODA OCTAVIA 3RD GEN" # Chassis NE, Mk3 Skoda Octavia and variants +PQ_CARS = {CAR.PASSAT_NMS} + + DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("vw_mqb_2010", None)) +for car_type in PQ_CARS: + DBC[car_type] = dbc_dict("vw_golf_mk4", None) class Footnote(Enum): @@ -140,7 +175,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { VWCarInfo("Volkswagen CC 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533, video_link="https://youtu.be/FAomFKPFlDA"), ], CAR.ATLAS_MK1: [ - VWCarInfo("Volkswagen Atlas 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + VWCarInfo("Volkswagen Atlas 2018-23", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), VWCarInfo("Volkswagen Atlas Cross Sport 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), VWCarInfo("Volkswagen Teramont 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), VWCarInfo("Volkswagen Teramont Cross Sport 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), @@ -165,6 +200,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { VWCarInfo("Volkswagen Passat Alltrack 2015-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), VWCarInfo("Volkswagen Passat GTE 2015-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533), ], + CAR.PASSAT_NMS: VWCarInfo("Volkswagen Passat NMS 2017-22", harness=Harness.j533), CAR.POLO_MK6: [ VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), @@ -240,6 +276,7 @@ FW_VERSIONS = { b'\xf1\x8703H906026AA\xf1\x899970', b'\xf1\x8703H906026AJ\xf1\x890638', b'\xf1\x8703H906026AT\xf1\x891922', + b'\xf1\x8703H906026BC\xf1\x892664', b'\xf1\x8703H906026F \xf1\x896696', b'\xf1\x8703H906026F \xf1\x899970', b'\xf1\x8703H906026J \xf1\x896026', @@ -252,12 +289,14 @@ FW_VERSIONS = { b'\xf1\x8709G927158DR\xf1\x893536', b'\xf1\x8709G927158DR\xf1\x893742', b'\xf1\x8709G927158FT\xf1\x893835', + b'\xf1\x8709G927158GL\xf1\x893939', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655BC\xf1\x890503\xf1\x82\0161914151912001103111122031200', b'\xf1\x873Q0959655BN\xf1\x890713\xf1\x82\0162214152212001105141122052900', b'\xf1\x873Q0959655DB\xf1\x890720\xf1\x82\0162214152212001105141122052900', b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1114151112001105161122052J00', + b'\xf1\x873Q0959655DM\xf1\x890732\xf1\x82\x0e1115151112001105171122052J00', ], (Ecu.eps, 0x712, None): [ b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\00571B60924A1', @@ -265,6 +304,7 @@ FW_VERSIONS = { b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6090105', ], (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', b'\xf1\x872Q0907572R \xf1\x890372', b'\xf1\x872Q0907572T \xf1\x890383', b'\xf1\x875Q0907572H \xf1\x890620', @@ -334,6 +374,8 @@ FW_VERSIONS = { b'\xf1\x870D9300012 \xf1\x894937', b'\xf1\x870D9300012 \xf1\x895045', b'\xf1\x870D9300014M \xf1\x895004', + b'\xf1\x870D9300014Q \xf1\x895006', + b'\xf1\x870D9300020Q \xf1\x895201', b'\xf1\x870D9300020S \xf1\x895201', b'\xf1\x870D9300040A \xf1\x893613', b'\xf1\x870D9300040S \xf1\x894311', @@ -385,6 +427,7 @@ FW_VERSIONS = { b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1', b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A01A18A1', b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A0JA16A1', + b'\xf1\x873QM909144 \xf1\x895072\xf1\x82\x0571A01714A1', b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820519A9040203', b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00441A1', b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00608A1', @@ -519,6 +562,26 @@ FW_VERSIONS = { b'\xf1\x875Q0907572R \xf1\x890771', ], }, + CAR.PASSAT_NMS: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8706K906016C \xf1\x899609', + b'\xf1\x8706K906016G \xf1\x891124', + b'\xf1\x8706K906071BJ\xf1\x894891', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x8709G927158AB\xf1\x893318', + b'\xf1\x8709G927158BD\xf1\x893121', + b'\xf1\x8709G927158FQ\xf1\x893745', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x87561959655 \xf1\x890210\xf1\x82\02212121111113000102011--121012--101312', + b'\xf1\x87561959655C \xf1\x890508\xf1\x82\02215141111121100314919--153015--304831', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x87561907567A \xf1\x890132', + b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\00152', + ], + }, CAR.POLO_MK6: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704C906025H \xf1\x895177', @@ -682,6 +745,7 @@ FW_VERSIONS = { b'\xf1\x8704E906023BL\xf1\x895190', b'\xf1\x8704E906027CJ\xf1\x897798', b'\xf1\x8704L997022N \xf1\x899459', + b'\xf1\x875G0906259A \xf1\x890004', b'\xf1\x875G0906259L \xf1\x890002', b'\xf1\x875G0906259Q \xf1\x890002', b'\xf1\x878V0906259F \xf1\x890002', @@ -694,6 +758,7 @@ FW_VERSIONS = { b'\xf1\x870CW300044T \xf1\x895245', b'\xf1\x870CW300048 \xf1\x895201', b'\xf1\x870D9300012 \xf1\x894912', + b'\xf1\x870D9300012K \xf1\x894513', b'\xf1\x870D9300013B \xf1\x894931', b'\xf1\x870D9300041N \xf1\x894512', b'\xf1\x870D9300043T \xf1\x899699', @@ -710,6 +775,7 @@ FW_VERSIONS = { b'\xf1\x875Q0959655AM\xf1\x890315\xf1\x82\x1311111111111111311411011231129321212100', b'\xf1\x875Q0959655AM\xf1\x890318\xf1\x82\x1311111111111112311411011531159321212100', b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1311110011131100311111011731179321342100', + b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13111112111111--241115141112221291163221', b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221', b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023121111111211--261117141112231291163221', b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111111--341117141212231291163221', @@ -723,6 +789,7 @@ FW_VERSIONS = { b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521G0G809A1', b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00303A0', b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00803A0', + b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0503G0G803A0', b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\00516G00804A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521G00807A1', ], diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 3b2307f04..370438930 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -15,8 +15,8 @@ from system.swaglog import cloudlog from system.version import 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.lane_planner import CAMERA_OFFSET -from selfdrive.controls.lib.drive_helpers import update_v_cruise, initialize_v_cruise +from selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET +from selfdrive.controls.lib.drive_helpers import V_CRUISE_INITIAL, update_v_cruise, initialize_v_cruise from selfdrive.controls.lib.drive_helpers import get_lag_adjusted_curvature from selfdrive.controls.lib.latcontrol import LatControl from selfdrive.controls.lib.longcontrol import LongControl @@ -50,6 +50,7 @@ LaneChangeState = log.LateralPlan.LaneChangeState LaneChangeDirection = log.LateralPlan.LaneChangeDirection EventName = car.CarEvent.EventName ButtonEvent = car.CarState.ButtonEvent +ButtonType = car.CarState.ButtonEvent.Type SafetyModel = car.CarParams.SafetyModel IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput) @@ -160,14 +161,14 @@ class Controls: self.state = State.disabled self.enabled = False self.active = False - self.can_rcv_error = False + self.can_rcv_timeout = False self.soft_disable_timer = 0 - self.v_cruise_kph = 255 - self.v_cruise_cluster_kph = 255 + self.v_cruise_kph = V_CRUISE_INITIAL + self.v_cruise_cluster_kph = V_CRUISE_INITIAL self.v_cruise_kph_last = 0 self.mismatch_counter = 0 self.cruise_mismatch_counter = 0 - self.can_rcv_error_counter = 0 + self.can_rcv_timeout_counter = 0 self.last_blinker_frame = 0 self.distance_traveled = 0 self.last_functional_fan_frame = 0 @@ -203,6 +204,16 @@ class Controls: self.rk = Ratekeeper(100, print_delay_threshold=None) self.prof = Profiler(False) # off by default + def set_initial_state(self): + if REPLAY: + controls_state = Params().get("ReplayControlsState") + if controls_state is not None: + controls_state = log.ControlsState.from_bytes(controls_state) + self.v_cruise_kph = controls_state.vCruise + + if self.sm['pandaStates'][0].controlsAllowed: + self.state = State.enabled + def update_events(self, CS): """Compute carEvents from carState""" @@ -218,6 +229,11 @@ class Controls: self.events.add(EventName.controlsInitializing) return + # Block resume if cruise never previously enabled + resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents) + if not self.CP.pcmCruise and self.v_cruise_kph == V_CRUISE_INITIAL and resume_pressed: + self.events.add(EventName.resumeBlocked) + # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0 if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \ (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)): @@ -323,19 +339,19 @@ class Controls: # generic catch-all. ideally, a more specific event should be added above instead has_disable_events = self.events.any(ET.NO_ENTRY) and (self.events.any(ET.SOFT_DISABLE) or self.events.any(ET.IMMEDIATE_DISABLE)) no_system_errors = (not has_disable_events) or (len(self.events) == num_events) - if (not self.sm.all_checks() or self.can_rcv_error) and no_system_errors: + if (not self.sm.all_checks() or self.can_rcv_timeout) and no_system_errors: if not self.sm.all_alive(): self.events.add(EventName.commIssue) elif not self.sm.all_freq_ok(): self.events.add(EventName.commIssueAvgFreq) - else: # invalid or can_rcv_error. + else: # invalid or can_rcv_timeout. self.events.add(EventName.commIssue) logs = { 'invalid': [s for s, valid in self.sm.valid.items() if not valid], 'not_alive': [s for s, alive in self.sm.alive.items() if not alive], 'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok], - 'can_error': self.can_rcv_error, + 'can_rcv_timeout': self.can_rcv_timeout, } if logs != self.logged_comm_issue: cloudlog.event("commIssue", error=True, **logs) @@ -417,19 +433,17 @@ class Controls: if all_valid or timed_out or SIMULATION: if not self.read_only: self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) - self.initialized = True - - if REPLAY and self.sm['pandaStates'][0].controlsAllowed: - self.state = State.enabled + self.initialized = True + self.set_initial_state() Params().put_bool("ControlsReady", True) # Check for CAN timeout if not can_strs: - self.can_rcv_error_counter += 1 - self.can_rcv_error = True + self.can_rcv_timeout_counter += 1 + self.can_rcv_timeout = True else: - self.can_rcv_error = False + self.can_rcv_timeout = False # When the panda and controlsd do not agree on controls_allowed # we want to disengage openpilot. However the status from the panda goes through @@ -452,18 +466,18 @@ class Controls: self.v_cruise_kph_last = self.v_cruise_kph - # if stock cruise is completely disabled, then we can use our own set speed logic - if not self.CP.pcmCruise: - self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.vEgo, CS.gasPressed, CS.buttonEvents, - self.button_timers, self.enabled, self.is_metric) - self.v_cruise_cluster_kph = self.v_cruise_kph - else: - if CS.cruiseState.available: + if CS.cruiseState.available: + # if stock cruise is completely disabled, then we can use our own set speed logic + if not self.CP.pcmCruise: + self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.vEgo, CS.gasPressed, CS.buttonEvents, + self.button_timers, self.enabled, self.is_metric) + self.v_cruise_cluster_kph = self.v_cruise_kph + else: self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH - else: - self.v_cruise_kph = 0 - self.v_cruise_cluster_kph = 0 + else: + self.v_cruise_kph = V_CRUISE_INITIAL + self.v_cruise_cluster_kph = V_CRUISE_INITIAL # decrement the soft disable timer at every step, as it's reset on # entrance in SOFT_DISABLING state @@ -695,8 +709,8 @@ class Controls: model_v2 = self.sm['modelV2'] desire_prediction = model_v2.meta.desirePrediction if len(desire_prediction) and ldw_allowed: - right_lane_visible = self.sm['lateralPlan'].rProb > 0.5 - left_lane_visible = self.sm['lateralPlan'].lProb > 0.5 + right_lane_visible = model_v2.laneLineProbs[2] > 0.5 + left_lane_visible = model_v2.laneLineProbs[1] > 0.5 l_lane_change_prob = desire_prediction[Desire.laneChangeLeft - 1] r_lane_change_prob = desire_prediction[Desire.laneChangeRight - 1] @@ -771,7 +785,7 @@ class Controls: controlsState.cumLagMs = -self.rk.remaining * 1000. controlsState.startMonoTime = int(start_time * 1e9) controlsState.forceDecel = bool(force_decel) - controlsState.canErrorCounter = self.can_rcv_error_counter + controlsState.canErrorCounter = self.can_rcv_timeout_counter lat_tuning = self.CP.lateralTuning.which() if self.joystick_mode: diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/controls/lib/alertmanager.py index 2dad05e21..cb878483d 100644 --- a/selfdrive/controls/lib/alertmanager.py +++ b/selfdrive/controls/lib/alertmanager.py @@ -22,7 +22,7 @@ def set_offroad_alert(alert: str, show_alert: bool, extra_text: Optional[str] = a['text'] += extra_text Params().put(alert, json.dumps(a)) else: - Params().delete(alert) + Params().remove(alert) @dataclass diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index d79f94bbf..ffa837383 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -11,6 +11,7 @@ from selfdrive.modeld.constants import T_IDXS V_CRUISE_MAX = 145 # kph V_CRUISE_MIN = 8 # kph V_CRUISE_ENABLE_MIN = 40 # kph +V_CRUISE_INITIAL = 255 # kph LAT_MPC_N = 16 LON_MPC_N = 32 diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index de666fd50..5139ead84 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -635,6 +635,10 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.NO_ENTRY: wrong_car_mode_alert, }, + EventName.resumeBlocked: { + ET.NO_ENTRY: NoEntryAlert("Press Set to Engage"), + }, + EventName.wrongCruiseMode: { ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), ET.NO_ENTRY: NoEntryAlert("Adaptive Cruise Disabled"), diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py deleted file mode 100644 index 1facb66d6..000000000 --- a/selfdrive/controls/lib/lane_planner.py +++ /dev/null @@ -1,97 +0,0 @@ -import numpy as np -from cereal import log -from common.filter_simple import FirstOrderFilter -from common.numpy_fast import interp -from common.realtime import DT_MDL -from system.swaglog import cloudlog - - -TRAJECTORY_SIZE = 33 -# camera offset is meters from center car to camera -# model path is in the frame of the camera -PATH_OFFSET = 0.00 -CAMERA_OFFSET = 0.04 - - -class LanePlanner: - def __init__(self, wide_camera=False): - self.ll_t = np.zeros((TRAJECTORY_SIZE,)) - self.ll_x = np.zeros((TRAJECTORY_SIZE,)) - self.lll_y = np.zeros((TRAJECTORY_SIZE,)) - self.rll_y = np.zeros((TRAJECTORY_SIZE,)) - self.lane_width_estimate = FirstOrderFilter(3.7, 9.95, DT_MDL) - self.lane_width_certainty = FirstOrderFilter(1.0, 0.95, DT_MDL) - self.lane_width = 3.7 - - self.lll_prob = 0. - self.rll_prob = 0. - self.d_prob = 0. - - self.lll_std = 0. - self.rll_std = 0. - - self.l_lane_change_prob = 0. - self.r_lane_change_prob = 0. - - self.camera_offset = -CAMERA_OFFSET if wide_camera else CAMERA_OFFSET - self.path_offset = -PATH_OFFSET if wide_camera else PATH_OFFSET - - def parse_model(self, md): - lane_lines = md.laneLines - if len(lane_lines) == 4 and len(lane_lines[0].t) == TRAJECTORY_SIZE: - self.ll_t = (np.array(lane_lines[1].t) + np.array(lane_lines[2].t))/2 - # left and right ll x is the same - self.ll_x = lane_lines[1].x - self.lll_y = np.array(lane_lines[1].y) + self.camera_offset - self.rll_y = np.array(lane_lines[2].y) + self.camera_offset - self.lll_prob = md.laneLineProbs[1] - self.rll_prob = md.laneLineProbs[2] - self.lll_std = md.laneLineStds[1] - self.rll_std = md.laneLineStds[2] - - desire_state = md.meta.desireState - if len(desire_state): - self.l_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeLeft] - self.r_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeRight] - - def get_d_path(self, v_ego, path_t, path_xyz): - # Reduce reliance on lanelines that are too far apart or - # will be in a few seconds - path_xyz[:, 1] += self.path_offset - l_prob, r_prob = self.lll_prob, self.rll_prob - width_pts = self.rll_y - self.lll_y - prob_mods = [] - for t_check in (0.0, 1.5, 3.0): - width_at_t = interp(t_check * (v_ego + 7), self.ll_x, width_pts) - prob_mods.append(interp(width_at_t, [4.0, 5.0], [1.0, 0.0])) - mod = min(prob_mods) - l_prob *= mod - r_prob *= mod - - # Reduce reliance on uncertain lanelines - l_std_mod = interp(self.lll_std, [.15, .3], [1.0, 0.0]) - r_std_mod = interp(self.rll_std, [.15, .3], [1.0, 0.0]) - l_prob *= l_std_mod - r_prob *= r_std_mod - - # Find current lanewidth - self.lane_width_certainty.update(l_prob * r_prob) - current_lane_width = abs(self.rll_y[0] - self.lll_y[0]) - self.lane_width_estimate.update(current_lane_width) - speed_lane_width = interp(v_ego, [0., 31.], [2.8, 3.5]) - self.lane_width = self.lane_width_certainty.x * self.lane_width_estimate.x + \ - (1 - self.lane_width_certainty.x) * speed_lane_width - - clipped_lane_width = min(4.0, self.lane_width) - path_from_left_lane = self.lll_y + clipped_lane_width / 2.0 - path_from_right_lane = self.rll_y - clipped_lane_width / 2.0 - - self.d_prob = l_prob + r_prob - l_prob * r_prob - lane_path_y = (l_prob * path_from_left_lane + r_prob * path_from_right_lane) / (l_prob + r_prob + 0.0001) - safe_idxs = np.isfinite(self.ll_t) - if safe_idxs[0]: - lane_path_y_interp = np.interp(path_t, self.ll_t[safe_idxs], lane_path_y[safe_idxs]) - path_xyz[:,1] = self.d_prob * lane_path_y_interp + (1.0 - self.d_prob) * path_xyz[:,1] - else: - cloudlog.warning("Lateral mpc - NaNs in laneline times, ignoring") - return path_xyz diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 29dfc7711..3470754bc 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -4,16 +4,15 @@ from common.numpy_fast import interp from system.swaglog import cloudlog from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc from selfdrive.controls.lib.drive_helpers import CONTROL_N, MPC_COST_LAT, LAT_MPC_N -from selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE from selfdrive.controls.lib.desire_helper import DesireHelper import cereal.messaging as messaging from cereal import log +TRAJECTORY_SIZE = 33 +CAMERA_OFFSET = 0.04 class LateralPlanner: - def __init__(self, CP, use_lanelines=True, wide_camera=False): - self.use_lanelines = use_lanelines - self.LP = LanePlanner(wide_camera) + def __init__(self, CP): self.DH = DesireHelper() # Vehicle model parameters used to calculate lateral movement of car @@ -42,7 +41,6 @@ class LateralPlanner: # Parse model predictions md = sm['modelV2'] - self.LP.parse_model(md) if len(md.position.x) == TRAJECTORY_SIZE and len(md.orientation.x) == TRAJECTORY_SIZE: self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z]) self.t_idxs = np.array(md.position.t) @@ -51,23 +49,17 @@ class LateralPlanner: self.path_xyz_stds = np.column_stack([md.position.xStd, md.position.yStd, md.position.zStd]) # Lane change logic - lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob + desire_state = md.meta.desireState + if len(desire_state): + self.l_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeLeft] + self.r_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeRight] + lane_change_prob = self.l_lane_change_prob + self.r_lane_change_prob self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob) - # Turn off lanes during lane change - if self.DH.desire == log.LateralPlan.Desire.laneChangeRight or self.DH.desire == log.LateralPlan.Desire.laneChangeLeft: - self.LP.lll_prob *= self.DH.lane_change_ll_prob - self.LP.rll_prob *= self.DH.lane_change_ll_prob - - # Calculate final driving path and set MPC costs - if self.use_lanelines: - d_path_xyz = self.LP.get_d_path(v_ego, self.t_idxs, self.path_xyz) - self.lat_mpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, MPC_COST_LAT.STEER_RATE) - else: - d_path_xyz = self.path_xyz - # Heading cost is useful at low speed, otherwise end of plan can be off-heading - heading_cost = interp(v_ego, [5.0, 10.0], [MPC_COST_LAT.HEADING, 0.15]) - self.lat_mpc.set_weights(MPC_COST_LAT.PATH, heading_cost, MPC_COST_LAT.STEER_RATE) + d_path_xyz = self.path_xyz + # Heading cost is useful at low speed, otherwise end of plan can be off-heading + heading_cost = interp(v_ego, [5.0, 10.0], [MPC_COST_LAT.HEADING, 0.15]) + self.lat_mpc.set_weights(MPC_COST_LAT.PATH, heading_cost, MPC_COST_LAT.STEER_RATE) y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1]) heading_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw) @@ -112,20 +104,16 @@ class LateralPlanner: lateralPlan = plan_send.lateralPlan lateralPlan.modelMonoTime = sm.logMonoTime['modelV2'] - lateralPlan.laneWidth = float(self.LP.lane_width) lateralPlan.dPathPoints = self.y_pts.tolist() lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist() lateralPlan.curvatures = self.lat_mpc.x_sol[0:CONTROL_N, 3].tolist() lateralPlan.curvatureRates = [float(x) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0] - lateralPlan.lProb = float(self.LP.lll_prob) - lateralPlan.rProb = float(self.LP.rll_prob) - lateralPlan.dProb = float(self.LP.d_prob) lateralPlan.mpcSolutionValid = bool(plan_solution_valid) lateralPlan.solverExecutionTime = self.lat_mpc.solve_time lateralPlan.desire = self.DH.desire - lateralPlan.useLaneLines = self.use_lanelines + lateralPlan.useLaneLines = False lateralPlan.laneChangeState = self.DH.lane_change_state lateralPlan.laneChangeDirection = self.DH.lane_change_direction diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index e9458607d..082e7725d 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -11,16 +11,21 @@ LongCtrlState = car.CarControl.Actuators.LongControlState ACCEL_MIN_ISO = -3.5 # m/s^2 ACCEL_MAX_ISO = 2.0 # m/s^2 - def long_control_state_trans(CP, active, long_control_state, v_ego, v_target, - v_target_future, brake_pressed, cruise_standstill): - """Update longitudinal control state machine""" - accelerating = v_target_future > v_target - stopping_condition = (v_ego < 2.0 and cruise_standstill) or \ - (v_ego < CP.vEgoStopping and - ((v_target_future < CP.vEgoStopping and not accelerating) or brake_pressed)) - - starting_condition = v_target_future > CP.vEgoStarting and accelerating and not cruise_standstill + v_target_1sec, brake_pressed, cruise_standstill): + accelerating = v_target_1sec > v_target + planned_stop = (v_target < CP.vEgoStopping and + v_target_1sec < CP.vEgoStopping and + not accelerating) + stay_stopped = (v_ego < CP.vEgoStopping and + (brake_pressed or cruise_standstill)) + stopping_condition = planned_stop or stay_stopped + + starting_condition = (v_target_1sec > CP.vEgoStarting and + accelerating and + not cruise_standstill and + not brake_pressed) + started_condition = v_ego > CP.vEgoStarting if not active: long_control_state = LongCtrlState.off @@ -34,9 +39,21 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target, long_control_state = LongCtrlState.stopping elif long_control_state == LongCtrlState.stopping: - if starting_condition: + if starting_condition and CP.startingState: + long_control_state = LongCtrlState.starting + elif starting_condition: + long_control_state = LongCtrlState.pid + + elif long_control_state == LongCtrlState.starting: + if stopping_condition: + long_control_state = LongCtrlState.stopping + elif started_condition: long_control_state = LongCtrlState.pid + + + + return long_control_state @@ -60,64 +77,62 @@ class LongControl: # Interp control trajectory speeds = long_plan.speeds if len(speeds) == CONTROL_N: - v_target = interp(t_since_plan, T_IDXS[:CONTROL_N], speeds) - a_target = interp(t_since_plan, T_IDXS[:CONTROL_N], long_plan.accels) + v_target_now = interp(t_since_plan, T_IDXS[:CONTROL_N], speeds) + a_target_now = interp(t_since_plan, T_IDXS[:CONTROL_N], long_plan.accels) v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, T_IDXS[:CONTROL_N], speeds) - a_target_lower = 2 * (v_target_lower - v_target) / self.CP.longitudinalActuatorDelayLowerBound - a_target + a_target_lower = 2 * (v_target_lower - v_target_now) / self.CP.longitudinalActuatorDelayLowerBound - a_target_now v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, T_IDXS[:CONTROL_N], speeds) - a_target_upper = 2 * (v_target_upper - v_target) / self.CP.longitudinalActuatorDelayUpperBound - a_target + a_target_upper = 2 * (v_target_upper - v_target_now) / self.CP.longitudinalActuatorDelayUpperBound - a_target_now + + v_target = min(v_target_lower, v_target_upper) a_target = min(a_target_lower, a_target_upper) - v_target_future = speeds[-1] + v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, T_IDXS[:CONTROL_N], speeds) else: v_target = 0.0 - v_target_future = 0.0 + v_target_1sec = 0.0 a_target = 0.0 - # TODO: This check is not complete and needs to be enforced by MPC - a_target = clip(a_target, ACCEL_MIN_ISO, ACCEL_MAX_ISO) - self.pid.neg_limit = accel_limits[0] self.pid.pos_limit = accel_limits[1] - # Update state machine output_accel = self.last_output_accel self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo, - v_target, v_target_future, CS.brakePressed, + v_target, v_target_1sec, CS.brakePressed, CS.cruiseState.standstill) if self.long_control_state == LongCtrlState.off: self.reset(CS.vEgo) output_accel = 0. - # tracking objects and driving + elif self.long_control_state == LongCtrlState.stopping: + if output_accel > self.CP.stopAccel: + output_accel -= self.CP.stoppingDecelRate * DT_CTRL + self.reset(CS.vEgo) + + elif self.long_control_state == LongCtrlState.starting: + output_accel = self.CP.startAccel + self.reset(CS.vEgo) + elif self.long_control_state == LongCtrlState.pid: - self.v_pid = v_target + self.v_pid = v_target_now # Toyota starts braking more when it thinks you want to stop # Freeze the integrator so we don't accelerate to compensate, and don't allow positive acceleration - prevent_overshoot = not self.CP.stoppingControl and CS.vEgo < 1.5 and v_target_future < 0.7 and v_target_future < self.v_pid + # TODO too complex, needs to be simplified and tested on toyotas + prevent_overshoot = not self.CP.stoppingControl and CS.vEgo < 1.5 and v_target_1sec < 0.7 and v_target_1sec < self.v_pid deadzone = interp(CS.vEgo, self.CP.longitudinalTuning.deadzoneBP, self.CP.longitudinalTuning.deadzoneV) freeze_integrator = prevent_overshoot error = self.v_pid - CS.vEgo error_deadzone = apply_deadzone(error, deadzone) - output_accel = self.pid.update(error_deadzone, speed=CS.vEgo, feedforward=a_target, freeze_integrator=freeze_integrator) - - if prevent_overshoot: - output_accel = min(output_accel, 0.0) + output_accel = self.pid.update(error_deadzone, speed=CS.vEgo, + feedforward=a_target, + freeze_integrator=freeze_integrator) - # Intention is to stop, switch to a different brake control until we stop - elif self.long_control_state == LongCtrlState.stopping: - # Keep applying brakes until the car is stopped - if not CS.standstill or output_accel > self.CP.stopAccel: - output_accel -= self.CP.stoppingDecelRate * DT_CTRL - output_accel = clip(output_accel, accel_limits[0], accel_limits[1]) - self.reset(CS.vEgo) - self.last_output_accel = output_accel - final_accel = clip(output_accel, accel_limits[0], accel_limits[1]) + self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1]) - return final_accel + return self.last_output_accel diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 94efd7a87..ea9b0683a 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -3,7 +3,7 @@ import os import numpy as np from common.realtime import sec_since_boot -from common.numpy_fast import clip, interp +from common.numpy_fast import clip from system.swaglog import cloudlog from selfdrive.modeld.constants import index_function from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU @@ -20,11 +20,11 @@ LONG_MPC_DIR = os.path.dirname(os.path.abspath(__file__)) EXPORT_DIR = os.path.join(LONG_MPC_DIR, "c_generated_code") JSON_FILE = os.path.join(LONG_MPC_DIR, "acados_ocp_long.json") -SOURCES = ['lead0', 'lead1', 'cruise'] +SOURCES = ['lead0', 'lead1', 'cruise', 'e2e'] X_DIM = 3 U_DIM = 1 -PARAM_DIM = 4 +PARAM_DIM = 6 COST_E_DIM = 5 COST_DIM = COST_E_DIM + 1 CONSTR_DIM = 4 @@ -37,6 +37,7 @@ J_EGO_COST = 5.0 A_CHANGE_COST = 200. DANGER_ZONE_COST = 100. CRASH_DISTANCE = .5 +LEAD_DANGER_FACTOR = 0.75 LIMIT_COST = 1e6 ACADOS_SOLVER_TYPE = 'SQP_RTI' @@ -50,6 +51,7 @@ T_IDXS_LST = [index_function(idx, max_val=MAX_T, max_idx=N) for idx in range(N+1 T_IDXS = np.array(T_IDXS_LST) T_DIFFS = np.diff(T_IDXS, prepend=[0.]) MIN_ACCEL = -3.5 +MAX_ACCEL = 2.0 T_FOLLOW = 1.45 COMFORT_BRAKE = 2.5 STOP_DISTANCE = 6.0 @@ -57,8 +59,8 @@ STOP_DISTANCE = 6.0 def get_stopped_equivalence_factor(v_lead): return (v_lead**2) / (2 * COMFORT_BRAKE) -def get_safe_obstacle_distance(v_ego): - return (v_ego**2) / (2 * COMFORT_BRAKE) + T_FOLLOW * v_ego + STOP_DISTANCE +def get_safe_obstacle_distance(v_ego, t_follow=T_FOLLOW): + return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE def desired_follow_distance(v_ego, v_lead): return get_safe_obstacle_distance(v_ego) - get_stopped_equivalence_factor(v_lead) @@ -89,7 +91,9 @@ def gen_long_model(): a_max = SX.sym('a_max') x_obstacle = SX.sym('x_obstacle') prev_a = SX.sym('prev_a') - model.p = vertcat(a_min, a_max, x_obstacle, prev_a) + lead_t_follow = SX.sym('lead_t_follow') + lead_danger_factor = SX.sym('lead_danger_factor') + model.p = vertcat(a_min, a_max, x_obstacle, prev_a, lead_t_follow, lead_danger_factor) # dynamics model f_expl = vertcat(v_ego, a_ego, j_ego) @@ -123,11 +127,13 @@ def gen_long_ocp(): a_min, a_max = ocp.model.p[0], ocp.model.p[1] x_obstacle = ocp.model.p[2] prev_a = ocp.model.p[3] + lead_t_follow = ocp.model.p[4] + lead_danger_factor = ocp.model.p[5] ocp.cost.yref = np.zeros((COST_DIM, )) ocp.cost.yref_e = np.zeros((COST_E_DIM, )) - desired_dist_comfort = get_safe_obstacle_distance(v_ego) + desired_dist_comfort = get_safe_obstacle_distance(v_ego, lead_t_follow) # The main cost in normal operation is how close you are to the "desired" distance # from an obstacle at every timestep. This obstacle can be a lead car @@ -148,12 +154,12 @@ def gen_long_ocp(): constraints = vertcat(v_ego, (a_ego - a_min), (a_max - a_ego), - ((x_obstacle - x_ego) - (3/4) * (desired_dist_comfort)) / (v_ego + 10.)) + ((x_obstacle - x_ego) - lead_danger_factor * (desired_dist_comfort)) / (v_ego + 10.)) ocp.model.con_h_expr = constraints x0 = np.zeros(X_DIM) ocp.constraints.x0 = x0 - ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0]) + ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, T_FOLLOW, LEAD_DANGER_FACTOR]) # We put all constraint cost weights to 0 and only set them at runtime cost_weights = np.zeros(CONSTR_DIM) @@ -190,8 +196,8 @@ def gen_long_ocp(): class LongitudinalMpc: - def __init__(self, e2e=False): - self.e2e = e2e + def __init__(self, mode='acc'): + self.mode = mode self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N) self.reset() self.source = SOURCES[2] @@ -225,49 +231,42 @@ class LongitudinalMpc: self.x0 = np.zeros(X_DIM) self.set_weights() - def set_weights(self, prev_accel_constraint=True): - if self.e2e: - self.set_weights_for_xva_policy() - self.params[:,0] = -10. - self.params[:,1] = 10. - self.params[:,2] = 1e5 - else: - self.set_weights_for_lead_policy(prev_accel_constraint) - - def set_weights_for_lead_policy(self, prev_accel_constraint=True): - a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0 - W = np.asfortranarray(np.diag([X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_cost, J_EGO_COST])) + def set_cost_weights(self, cost_weights, constraint_cost_weights): + W = np.asfortranarray(np.diag(cost_weights)) for i in range(N): + # TODO don't hardcode A_CHANGE_COST idx # reduce the cost on (a-a_prev) later in the horizon. - W[4,4] = a_change_cost * np.interp(T_IDXS[i], [0.0, 1.0, 2.0], [1.0, 1.0, 0.0]) + W[4,4] = cost_weights[4] * np.interp(T_IDXS[i], [0.0, 1.0, 2.0], [1.0, 1.0, 0.0]) self.solver.cost_set(i, 'W', W) # Setting the slice without the copy make the array not contiguous, # causing issues with the C interface. self.solver.cost_set(N, 'W', np.copy(W[:COST_E_DIM, :COST_E_DIM])) # Set L2 slack cost on lower bound constraints - Zl = np.array([LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]) + Zl = np.array(constraint_cost_weights) for i in range(N): self.solver.cost_set(i, 'Zl', Zl) - def set_weights_for_xva_policy(self): - W = np.asfortranarray(np.diag([0., 0.2, 0.25, 1., 0.0, .1])) - for i in range(N): - self.solver.cost_set(i, 'W', W) - # Setting the slice without the copy make the array not contiguous, - # causing issues with the C interface. - self.solver.cost_set(N, 'W', np.copy(W[:COST_E_DIM, :COST_E_DIM])) - - # Set L2 slack cost on lower bound constraints - Zl = np.array([LIMIT_COST, LIMIT_COST, LIMIT_COST, 0.0]) - for i in range(N): - self.solver.cost_set(i, 'Zl', Zl) + def set_weights(self, prev_accel_constraint=True): + if self.mode == 'acc': + a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0 + cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_cost, J_EGO_COST] + constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST] + elif self.mode == 'blended': + cost_weights = [0., 0.2, 0.25, 1.0, 0.0, 1.0] + constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 50.0] + elif self.mode == 'e2e': + cost_weights = [0., 0.2, 0.25, 1., 0.0, .1] + constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 0.0] + else: + raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set') + self.set_cost_weights(cost_weights, constraint_cost_weights) def set_cur_state(self, v, a): v_prev = self.x0[1] self.x0[1] = v self.x0[2] = a - if abs(v_prev - v) > 2.: # probably only helps if v < v_prev + if abs(v_prev - v) > 2.: # probably only helps if v < v_prev for i in range(0, N+1): self.solver.set(i, 'x', self.x0) @@ -306,36 +305,69 @@ class LongitudinalMpc: self.cruise_min_a = min_a self.cruise_max_a = max_a - def update(self, carstate, radarstate, v_cruise): + def update(self, carstate, radarstate, v_cruise, x, v, a, j): v_ego = self.x0[1] self.status = radarstate.leadOne.status or radarstate.leadTwo.status lead_xv_0 = self.process_lead(radarstate.leadOne) lead_xv_1 = self.process_lead(radarstate.leadTwo) - # set accel limits in params - self.params[:,0] = interp(float(self.status), [0.0, 1.0], [self.cruise_min_a, MIN_ACCEL]) - self.params[:,1] = self.cruise_max_a - # To estimate a safe distance from a moving lead, we calculate how much stopping # distance that lead needs as a minimum. We can add that to the current distance # and then treat that as a stopped car/obstacle at this new distance. lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1]) lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1]) - # Fake an obstacle for cruise, this ensures smooth acceleration to set speed - # when the leads are no factor. - v_lower = v_ego + (T_IDXS * self.cruise_min_a * 1.05) - v_upper = v_ego + (T_IDXS * self.cruise_max_a * 1.05) - v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), - v_lower, - v_upper) - cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped) - - x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle]) - self.source = SOURCES[np.argmin(x_obstacles[0])] + # Update in ACC mode or ACC/e2e blend + if self.mode == 'acc': + self.params[:,0] = MIN_ACCEL if self.status else self.cruise_min_a + self.params[:,1] = self.cruise_max_a + self.params[:,5] = LEAD_DANGER_FACTOR + + # Fake an obstacle for cruise, this ensures smooth acceleration to set speed + # when the leads are no factor. + v_lower = v_ego + (T_IDXS * self.cruise_min_a * 1.05) + v_upper = v_ego + (T_IDXS * self.cruise_max_a * 1.05) + v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), + v_lower, + v_upper) + cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped) + x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle]) + self.source = SOURCES[np.argmin(x_obstacles[0])] + + # These are not used in ACC mode + x[:], v[:], a[:], j[:] = 0.0, 0.0, 0.0, 0.0 + + elif self.mode == 'blended': + self.params[:,0] = MIN_ACCEL + self.params[:,1] = MAX_ACCEL + self.params[:,5] = 1.0 + + x_obstacles = np.column_stack([lead_0_obstacle, + lead_1_obstacle]) + cruise_target = T_IDXS * v_cruise + x[0] + xforward = ((v[1:] + v[:-1]) / 2) * (T_IDXS[1:] - T_IDXS[:-1]) + x = np.cumsum(np.insert(xforward, 0, x[0])) + + x_and_cruise = np.column_stack([x, cruise_target]) + x = np.min(x_and_cruise, axis=1) + + self.source = 'e2e' if x_and_cruise[0,0] < x_and_cruise[0,1] else 'cruise' + + else: + raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner update') + + self.yref[:,1] = x + self.yref[:,2] = v + self.yref[:,3] = a + self.yref[:,5] = j + for i in range(N): + self.solver.set(i, "yref", self.yref[i]) + self.solver.set(N, "yref", self.yref[N][:COST_E_DIM]) + self.params[:,2] = np.min(x_obstacles, axis=1) self.params[:,3] = np.copy(self.prev_a) + self.params[:,4] = T_FOLLOW self.run() if (np.any(lead_xv_0[:,0] - self.x_sol[:,0] < CRASH_DISTANCE) and @@ -344,7 +376,24 @@ class LongitudinalMpc: else: self.crash_cnt = 0 + # Check if it got within lead comfort range + # TODO This should be done cleaner + if self.mode == 'blended': + if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], T_FOLLOW))- self.x_sol[:,0] < 0.0): + self.source = 'lead0' + if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], T_FOLLOW))- self.x_sol[:,0] < 0.0) and \ + (lead_1_obstacle[0] - lead_0_obstacle[0]): + self.source = 'lead1' + + + def update_with_xva(self, x, v, a): + self.params[:,0] = -10. + self.params[:,1] = 10. + self.params[:,2] = 1e5 + self.params[:,4] = T_FOLLOW + self.params[:,5] = LEAD_DANGER_FACTOR + # v, and a are in local frame, but x is wrt the x[0] position # In >90degree turns, x goes to 0 (and may even be -ve) # So, we use integral(v) + x[0] to obtain the forward-distance diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index cf5113677..8162d1007 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -6,6 +6,7 @@ from common.numpy_fast import interp import cereal.messaging as messaging from common.conversions import Conversions as CV from common.filter_simple import FirstOrderFilter +from common.params import Params from common.realtime import DT_MDL from selfdrive.modeld.constants import T_IDXS from selfdrive.controls.lib.longcontrol import LongCtrlState @@ -44,24 +45,53 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): return [a_target[0], min(a_target[1], a_x_allowed)] -class Planner: +class LongitudinalPlanner: def __init__(self, CP, init_v=0.0, init_a=0.0): self.CP = CP + self.params = Params() + self.param_read_counter = 0 + self.mpc = LongitudinalMpc() + self.read_param() self.fcw = False self.a_desired = init_a self.v_desired_filter = FirstOrderFilter(init_v, 2.0, DT_MDL) + self.t_uniform = np.arange(0.0, T_IDXS_MPC[-1] + 0.5, 0.5) self.v_desired_trajectory = np.zeros(CONTROL_N) self.a_desired_trajectory = np.zeros(CONTROL_N) self.j_desired_trajectory = np.zeros(CONTROL_N) self.solverExecutionTime = 0.0 + def read_param(self): + self.mpc.mode = 'blended' if self.params.get_bool('EndToEndLong') else 'acc' + + def parse_model(self, model_msg): + if (len(model_msg.position.x) == 33 and + len(model_msg.velocity.x) == 33 and + len(model_msg.acceleration.x) == 33): + x = np.interp(T_IDXS_MPC, T_IDXS, model_msg.position.x) + v = np.interp(T_IDXS_MPC, T_IDXS, model_msg.velocity.x) + a = np.interp(T_IDXS_MPC, T_IDXS, model_msg.acceleration.x) + # Uniform interp so gradient is less noisy + a_sparse = np.interp(self.t_uniform, T_IDXS, model_msg.acceleration.x) + j_sparse = np.gradient(a_sparse, self.t_uniform) + j = np.interp(T_IDXS_MPC, self.t_uniform, j_sparse) + else: + x = np.zeros(len(T_IDXS_MPC)) + v = np.zeros(len(T_IDXS_MPC)) + a = np.zeros(len(T_IDXS_MPC)) + j = np.zeros(len(T_IDXS_MPC)) + return x, v, a, j + def update(self, sm): - v_ego = sm['carState'].vEgo + if self.param_read_counter % 50 == 0: + self.read_param() + self.param_read_counter += 1 + v_ego = sm['carState'].vEgo v_cruise_kph = sm['controlsState'].vCruise v_cruise_kph = min(v_cruise_kph, V_CRUISE_MAX) v_cruise = v_cruise_kph * CV.KPH_TO_MS @@ -95,14 +125,16 @@ class Planner: self.mpc.set_weights(prev_accel_constraint) self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1]) self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired) - self.mpc.update(sm['carState'], sm['radarState'], v_cruise) + x, v, a, j = self.parse_model(sm['modelV2']) + self.mpc.update(sm['carState'], sm['radarState'], v_cruise, x, v, a, j) self.v_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.v_solution) self.a_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.a_solution) self.j_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution) # TODO counter is only needed because radar is glitchy, remove once radar is gone - self.fcw = self.mpc.crash_cnt > 5 + # TODO write fcw in e2e_long mode + self.fcw = self.mpc.mode == 'acc' and self.mpc.crash_cnt > 5 if self.fcw: cloudlog.info("FCW triggered") diff --git a/selfdrive/controls/lib/radar_helpers.py b/selfdrive/controls/lib/radar_helpers.py index 85699866b..0e2b96668 100644 --- a/selfdrive/controls/lib/radar_helpers.py +++ b/selfdrive/controls/lib/radar_helpers.py @@ -152,7 +152,7 @@ class Cluster(): def potential_low_speed_lead(self, v_ego): # stop for stuff in front of you and low speed, even without model confirmation - return abs(self.yRel) < 1.5 and (v_ego < v_ego_stationary) and self.dRel < 25 + return abs(self.yRel) < 1.0 and (v_ego < v_ego_stationary) and self.dRel < 25 def is_potential_fcw(self, model_prob): return model_prob > .9 diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py index f2636027e..3e08cb0aa 100755 --- a/selfdrive/controls/lib/tests/test_vehicle_model.py +++ b/selfdrive/controls/lib/tests/test_vehicle_model.py @@ -41,7 +41,7 @@ class TestVehicleModel(unittest.TestCase): self.assertAlmostEqual(float(yr1), yr2) def test_syn_ss_sol_simulate(self): - """Verifies that dyn_ss_sol mathes a simulation""" + """Verifies that dyn_ss_sol matches a simulation""" for roll in np.linspace(math.radians(-20), math.radians(20), num=11): for u in np.linspace(1, 30, num=10): diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index ca7523f2e..93d0c80da 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -3,7 +3,7 @@ from cereal import car from common.params import Params from common.realtime import Priority, config_realtime_process from system.swaglog import cloudlog -from selfdrive.controls.lib.longitudinal_planner import Planner +from selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner from selfdrive.controls.lib.lateral_planner import LateralPlanner import cereal.messaging as messaging @@ -16,13 +16,8 @@ def plannerd_thread(sm=None, pm=None): CP = car.CarParams.from_bytes(params.get("CarParams", block=True)) cloudlog.info("plannerd got CarParams: %s", CP.carName) - use_lanelines = False - wide_camera = params.get_bool('WideCameraOnly') - - cloudlog.event("e2e mode", on=use_lanelines) - - longitudinal_planner = Planner(CP) - lateral_planner = LateralPlanner(CP, use_lanelines=use_lanelines, wide_camera=wide_camera) + longitudinal_planner = LongitudinalPlanner(CP) + lateral_planner = LateralPlanner(CP) if sm is None: sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'], diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py index 79c56d6bc..9ed7eee12 100755 --- a/selfdrive/controls/tests/test_alerts.py +++ b/selfdrive/controls/tests/test_alerts.py @@ -52,7 +52,7 @@ class TestAlerts(unittest.TestCase): bold_font_path = os.path.join(font_path, "Inter-Bold.ttf") semibold_font_path = os.path.join(font_path, "Inter-SemiBold.ttf") - max_text_width = 2160 - 300 # full screen width is useable, minus sidebar + max_text_width = 2160 - 300 # full screen width is usable, minus sidebar draw = ImageDraw.Draw(Image.new('RGB', (0, 0))) fonts = { diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py index 364be8db7..a972bfb07 100644 --- a/selfdrive/controls/tests/test_cruise_speed.py +++ b/selfdrive/controls/tests/test_cruise_speed.py @@ -1,13 +1,16 @@ #!/usr/bin/env python3 import unittest import numpy as np +from common.params import Params + + from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver -def run_cruise_simulation(cruise, t_end=100.): +def run_cruise_simulation(cruise, t_end=20.): man = Maneuver( '', duration=t_end, - initial_speed=float(0.), + initial_speed=max(cruise - 1., 0.0), lead_relevancy=True, initial_distance_lead=100, cruise_values=[cruise], @@ -21,12 +24,15 @@ def run_cruise_simulation(cruise, t_end=100.): class TestCruiseSpeed(unittest.TestCase): def test_cruise_speed(self): - for speed in np.arange(5, 40, 5): - print(f'Testing {speed} m/s') - cruise_speed = float(speed) + params = Params() + for e2e in [False, True]: + params.put_bool("EndToEndLong", e2e) + for speed in np.arange(5, 40, 5): + print(f'Testing {speed} m/s') + cruise_speed = float(speed) - simulation_steady_state = run_cruise_simulation(cruise_speed) - self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {speed} m/s') + simulation_steady_state = run_cruise_simulation(cruise_speed) + self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {speed} m/s') if __name__ == "__main__": diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py index ebe477673..3534f5823 100644 --- a/selfdrive/controls/tests/test_following_distance.py +++ b/selfdrive/controls/tests/test_following_distance.py @@ -1,11 +1,13 @@ #!/usr/bin/env python3 import unittest import numpy as np +from common.params import Params + from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver -def run_following_distance_simulation(v_lead, t_end=100.0): +def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False): man = Maneuver( '', duration=t_end, @@ -14,6 +16,7 @@ def run_following_distance_simulation(v_lead, t_end=100.0): initial_distance_lead=100, speed_lead_values=[v_lead], breakpoints=[0.], + e2e=e2e ) valid, output = man.evaluate() assert valid @@ -22,14 +25,16 @@ def run_following_distance_simulation(v_lead, t_end=100.0): class TestFollowingDistance(unittest.TestCase): def test_following_distance(self): - for speed in np.arange(0, 40, 5): - print(f'Testing {speed} m/s') - v_lead = float(speed) - - simulation_steady_state = run_following_distance_simulation(v_lead) - correct_steady_state = desired_follow_distance(v_lead, v_lead) - - self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(correct_steady_state*.1 + .5)) + params = Params() + for e2e in [False, True]: + params.put_bool("EndToEndLong", e2e) + for speed in np.arange(0, 40, 5): + print(f'Testing {speed} m/s') + v_lead = float(speed) + simulation_steady_state = run_following_distance_simulation(v_lead) + correct_steady_state = desired_follow_distance(v_lead, v_lead) + err_ratio = 0.2 if e2e else 0.1 + self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5)) if __name__ == "__main__": diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py index a94311c8c..63af4c7d9 100755 --- a/selfdrive/controls/tests/test_startup.py +++ b/selfdrive/controls/tests/test_startup.py @@ -18,7 +18,7 @@ Ecu = car.CarParams.Ecu COROLLA_FW_VERSIONS = [ (Ecu.engine, 0x7e0, None, b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00'), - (Ecu.esp, 0x7b0, None, b'F152602190\x00\x00\x00\x00\x00\x00'), + (Ecu.abs, 0x7b0, None, b'F152602190\x00\x00\x00\x00\x00\x00'), (Ecu.eps, 0x7a1, None, b'8965B02181\x00\x00\x00\x00\x00\x00'), (Ecu.fwdRadar, 0x750, 0xf, b'8821F4702100\x00\x00\x00\x00'), (Ecu.fwdCamera, 0x750, 0x6d, b'8646F0201101\x00\x00\x00\x00'), @@ -29,7 +29,7 @@ COROLLA_FW_VERSIONS_NO_DSU = COROLLA_FW_VERSIONS[:-1] CX5_FW_VERSIONS = [ (Ecu.engine, 0x7e0, None, b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'), - (Ecu.esp, 0x760, None, b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'), + (Ecu.abs, 0x760, None, b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'), (Ecu.eps, 0x730, None, b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00'), (Ecu.fwdRadar, 0x764, None, b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'), (Ecu.fwdCamera, 0x706, None, b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'), diff --git a/selfdrive/debug/README.md b/selfdrive/debug/README.md index f6903170a..83b8a994d 100644 --- a/selfdrive/debug/README.md +++ b/selfdrive/debug/README.md @@ -19,7 +19,7 @@ optional arguments: ``` usage: dump.py [-h] [--pipe] [--raw] [--json] [--dump-json] [--no-print] [--addr ADDR] [--values VALUES] [socket [socket ...]] -Dump communcation sockets. See cereal/services.py for a complete list of available sockets. +Dump communication sockets. See cereal/services.py for a complete list of available sockets. positional arguments: socket socket names to dump. defaults to all services defined in cereal diff --git a/selfdrive/debug/cpu_usage_stat.py b/selfdrive/debug/cpu_usage_stat.py index 76e809d2c..b3294c872 100755 --- a/selfdrive/debug/cpu_usage_stat.py +++ b/selfdrive/debug/cpu_usage_stat.py @@ -5,8 +5,8 @@ System tools like top/htop can only show current cpu usage values, so I write th Features: Use psutil library to sample cpu usage(avergage for all cores) of openpilot processes, at a rate of 5 samples/sec. Do cpu usage statistics periodically, 5 seconds as a cycle. - Caculate the average cpu usage within this cycle. - Caculate minumium/maximium/accumulated_average cpu usage as long term inspections. + Calculate the average cpu usage within this cycle. + Calculate minumium/maximum/accumulated_average cpu usage as long term inspections. Monitor multiple processes simuteneously. Sample usage: root@localhost:/data/openpilot$ python selfdrive/debug/cpu_usage_stat.py boardd,ubloxd diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py index f182026aa..ac7e7102d 100755 --- a/selfdrive/debug/hyundai_enable_radar_points.py +++ b/selfdrive/debug/hyundai_enable_radar_points.py @@ -6,7 +6,7 @@ firmware versions. If you want to try on a new radar make sure to note the defau in case it's different from the other radars and you need to revert the changes. After changing the config the car should not show any faults when openpilot is not running. -These config changes are persistent accross car reboots. You need to run this script again +These config changes are persistent across car reboots. You need to run this script again to go back to the default values. USE AT YOUR OWN RISK! Safety features, like AEB and FCW, might be affected by these changes.""" diff --git a/selfdrive/debug/internal/power_monitor.py b/selfdrive/debug/internal/power_monitor.py index 09fb89835..34d2a12ad 100755 --- a/selfdrive/debug/internal/power_monitor.py +++ b/selfdrive/debug/internal/power_monitor.py @@ -59,6 +59,6 @@ if __name__ == '__main__': print(f" {(stop_time - start_time).total_seconds():.2f} Seconds {voltage_average[1]} samples") print("----------------------------------------------------------------") - # reenable charging + # re-enable charging os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled') print("charging enabled\n") diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py index b7721ca3a..b80428645 100755 --- a/selfdrive/debug/print_docs_diff.py +++ b/selfdrive/debug/print_docs_diff.py @@ -10,7 +10,7 @@ from selfdrive.car.docs_definitions import Column FOOTNOTE_TAG = "{}" STAR_ICON = '' COLUMNS = "|" + "|".join([column.value for column in Column]) + "|" -COLUMN_HEADER = "|---|---|---|:---:|:---:|:---:|:---:|" +COLUMN_HEADER = "|---|---|---|{}|".format("|".join([":---:"] * (len(Column) - 3))) ARROW_SYMBOL = "➡️" @@ -81,10 +81,6 @@ def print_car_info_diff(path): changes["additions"].append(format_row([car_info.get_column(column, STAR_ICON, FOOTNOTE_TAG) for column in Column])) for new_car, base_car in car_changes: - # Tier changes - if base_car.tier != new_car.tier: - changes["tier"].append(f"- Tier for {base_car.name} changed! ({base_car.tier.name.title()} {ARROW_SYMBOL} {new_car.tier.name.title()})") - # Column changes row_diff = build_column_diff(base_car, new_car) if ARROW_SYMBOL in row_diff: @@ -102,10 +98,10 @@ def print_car_info_diff(path): if any(len(c) for c in changes.values()): markdown_builder = ["### ⚠️ This PR makes changes to [CARS.md](../blob/master/docs/CARS.md) ⚠️"] - for title, category in (("## 🏅 Tier Changes", "tier"), ("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"), ("## ➕ Added", "additions"), ("## 📖 Detail Sentence Changes", "detail")): + for title, category in (("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"), ("## ➕ Added", "additions"), ("## 📖 Detail Sentence Changes", "detail")): if len(changes[category]): markdown_builder.append(title) - if category not in ("tier", "detail"): + if category not in ("detail",): markdown_builder.append(COLUMNS) markdown_builder.append(COLUMN_HEADER) markdown_builder.extend(changes[category]) diff --git a/selfdrive/debug/test_car_model.py b/selfdrive/debug/test_car_model.py index 9082dbe3d..4de5b2676 100755 --- a/selfdrive/debug/test_car_model.py +++ b/selfdrive/debug/test_car_model.py @@ -4,11 +4,11 @@ import sys from typing import List, Tuple import unittest -from selfdrive.car.tests.routes import TestRoute +from selfdrive.car.tests.routes import CarTestRoute from selfdrive.car.tests.test_models import TestCarModel -def create_test_models_suite(routes: List[Tuple[str, TestRoute]], ci=False) -> unittest.TestSuite: +def create_test_models_suite(routes: List[Tuple[str, CarTestRoute]], ci=False) -> unittest.TestSuite: test_suite = unittest.TestSuite() for car_model, test_route in routes: # create new test case and discover tests @@ -30,7 +30,7 @@ if __name__ == "__main__": parser.print_help() sys.exit() - test_route = TestRoute(args.route, args.car, segment=args.segment) + test_route = CarTestRoute(args.route, args.car, segment=args.segment) test_suite = create_test_models_suite([(args.car, test_route)], ci=args.ci) unittest.TextTestRunner().run(test_suite) diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index 868813b0f..595e25e8c 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -56,7 +56,7 @@ if __name__ == "__main__": qlog_path = f"cd:/{dongle_id}/{time}/0/qlog.bz2" else: route = Route(route) - qlog_path = route.qlog_paths()[0] + qlog_path = next((p for p in route.qlog_paths() if p is not None), None) if qlog_path is None: continue @@ -168,7 +168,7 @@ if __name__ == "__main__": break print() - # Print FW versions that need to be added seperated out by car and address + # Print FW versions that need to be added separated out by car and address for car, m in sorted(mismatches.items()): print(car) addrs = defaultdict(list) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 830eb3320..c7f2d2cea 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -28,7 +28,7 @@ from system.swaglog import cloudlog MAX_TIME_GAP = 10 EPHEMERIS_CACHE = 'LaikadEphemeris' -DOWNLOADS_CACHE_FOLDER = "/tmp/comma_download_cache" +DOWNLOADS_CACHE_FOLDER = "/tmp/comma_download_cache/" CACHE_VERSION = 0.1 POS_FIX_RESIDUAL_THRESHOLD = 100.0 diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 7714931b9..2fb3e0081 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -476,9 +476,9 @@ bool Localizer::isGpsOK() { } void Localizer::determine_gps_mode(double current_time) { - // 1. If the pos_std is greater than what's not acceptible and localizer is in gps-mode, reset to no-gps-mode - // 2. If the pos_std is greater than what's not acceptible and localizer is in no-gps-mode, fake obs - // 3. If the pos_std is smaller than what's not acceptible, let gps-mode be whatever it is + // 1. If the pos_std is greater than what's not acceptable and localizer is in gps-mode, reset to no-gps-mode + // 2. If the pos_std is greater than what's not acceptable and localizer is in no-gps-mode, fake obs + // 3. If the pos_std is smaller than what's not acceptable, let gps-mode be whatever it is VectorXd current_pos_std = this->kf->get_P().block(STATE_ECEF_POS_ERR_START, STATE_ECEF_POS_ERR_START).diagonal().array().sqrt(); if (current_pos_std.norm() > SANE_GPS_UNCERTAINTY){ if (this->gps_mode){ diff --git a/selfdrive/locationd/models/loc_kf.py b/selfdrive/locationd/models/loc_kf.py index 25bf36d2c..4c947422b 100755 --- a/selfdrive/locationd/models/loc_kf.py +++ b/selfdrive/locationd/models/loc_kf.py @@ -33,7 +33,7 @@ class States(): ACCELEROMETER_BIAS = slice(30, 33) # bias of mems accelerometer # TODO the offset is likely a translation of the sensor, not a rotation of the camera WIDE_FROM_DEVICE_EULER = slice(33, 36) # wide camera offset angles in radians (tici only) - # We curently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER). + # We currently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER). # From experiments we see that ACCELEROMETER_BIAS is more correct than ACCELEROMETER_SCALE # Error-state has different slices because it is an ESKF diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index 418625f9b..198ecfe93 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -65,7 +65,7 @@ class TestLaikad(unittest.TestCase): cls.first_gps_time = first_gps_time def setUp(self): - Params().delete(EPHEMERIS_CACHE) + Params().remove(EPHEMERIS_CACHE) def test_fetch_orbits_non_blocking(self): gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1)) @@ -226,7 +226,7 @@ class TestLaikad(unittest.TestCase): # Test cache with no ephemeris laikad.cache_ephemeris(t=GPSTime(0, 0)) wait_for_cache() - Params().delete(EPHEMERIS_CACHE) + Params().remove(EPHEMERIS_CACHE) laikad.astro_dog.get_navs(self.first_gps_time) laikad.fetch_orbits(self.first_gps_time, block=True) diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index 29036b838..e30331a46 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -62,7 +62,7 @@ class TestLocationdProc(unittest.TestCase): def test_params_gps(self): # first reset params - Params().delete('LastGPSPosition') + Params().remove('LastGPSPosition') self.lat = 30 + (random.random() * 10.0) self.lon = -70 + (random.random() * 10.0) diff --git a/selfdrive/locationd/test/ubloxd.py b/selfdrive/locationd/test/ubloxd.py index af9b86127..82aa502ce 100755 --- a/selfdrive/locationd/test/ubloxd.py +++ b/selfdrive/locationd/test/ubloxd.py @@ -41,13 +41,13 @@ def configure_ublox(dev): ITMF_config2 = 25374 payload = struct.pack(' build_boot_log() { - std::vector bootlog_commands; - if (Hardware::AGNOS()) { - bootlog_commands.push_back("journalctl"); - bootlog_commands.push_back("sudo nvme smart-log --output-format=json /dev/nvme0"); - } - MessageBuilder msg; auto boot = msg.initEvent().initBoot(); @@ -31,17 +25,22 @@ static kj::Array build_boot_log() { } // Gather output of commands - i = 0; + std::vector bootlog_commands = { + "[ -x \"$(command -v journalctl)\" ] && journalctl", + }; + + if (Hardware::TICI()) { + bootlog_commands.push_back("[ -e /dev/nvme0 ] && sudo nvme smart-log --output-format=json /dev/nvme0"); + } + auto commands = boot.initCommands().initEntries(bootlog_commands.size()); - for (auto &command : bootlog_commands) { - auto lentry = commands[i]; + for (int j = 0; j < bootlog_commands.size(); j++) { + auto lentry = commands[j]; - lentry.setKey(command); + lentry.setKey(bootlog_commands[j]); - const std::string result = util::check_output(command); + const std::string result = util::check_output(bootlog_commands[j]); lentry.setValue(capnp::Data::Reader((const kj::byte*)result.data(), result.size())); - - i++; } boot.setLaunchLog(util::read_file("/tmp/launch_log")); diff --git a/selfdrive/loggerd/encoder/v4l_encoder.cc b/selfdrive/loggerd/encoder/v4l_encoder.cc index b3bd692b1..88aeb2125 100644 --- a/selfdrive/loggerd/encoder/v4l_encoder.cc +++ b/selfdrive/loggerd/encoder/v4l_encoder.cc @@ -37,11 +37,11 @@ static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=N assert(v4l_buf.m.planes[0].data_offset == 0); } -static void queue_buffer(int fd, v4l2_buf_type buf_type, unsigned int index, VisionBuf *buf, struct timeval timestamp={0}, unsigned int bytesused=0) { +static void queue_buffer(int fd, v4l2_buf_type buf_type, unsigned int index, VisionBuf *buf, struct timeval timestamp={}) { v4l2_plane plane = { .length = (unsigned int)buf->len, .m = { .userptr = (unsigned long)buf->addr, }, - .bytesused = bytesused, + .bytesused = (uint32_t)buf->len, .reserved = {(unsigned int)buf->fd} }; @@ -51,7 +51,6 @@ static void queue_buffer(int fd, v4l2_buf_type buf_type, unsigned int index, Vis .memory = V4L2_MEMORY_USERPTR, .m = { .planes = &plane, }, .length = 1, - .bytesused = 0, .flags = V4L2_BUF_FLAG_TIMESTAMP_COPY, .timestamp = timestamp }; @@ -303,4 +302,10 @@ V4LEncoder::~V4LEncoder() { checked_ioctl(fd, VIDIOC_STREAMOFF, &buf_type); request_buffers(fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, 0); close(fd); + + for (int i = 0; i < BUF_OUT_COUNT; i++) { + if (buf_out[i].free() != 0) { + LOGE("Failed to free buffer"); + } + } } diff --git a/selfdrive/loggerd/logger.cc b/selfdrive/loggerd/logger.cc index 8038f1926..aaf267e52 100644 --- a/selfdrive/loggerd/logger.cc +++ b/selfdrive/loggerd/logger.cc @@ -24,9 +24,11 @@ kj::Array logger_build_init_data() { MessageBuilder msg; auto init = msg.initEvent().initInitData(); - init.setDeviceType(Hardware::get_device_type()); init.setVersion(COMMA_VERSION); + init.setDirty(!getenv("CLEAN")); + init.setDeviceType(Hardware::get_device_type()); + // log kernel args std::ifstream cmdline_stream("/proc/cmdline"); std::vector kernel_args; std::string buf; @@ -42,8 +44,6 @@ kj::Array logger_build_init_data() { init.setKernelVersion(util::read_file("/proc/version")); init.setOsVersion(util::read_file("/VERSION")); - init.setDirty(!getenv("CLEAN")); - // log params auto params = Params(); std::map params_map = params.readAll(); @@ -55,16 +55,31 @@ kj::Array logger_build_init_data() { init.setDongleId(params_map["DongleId"]); auto lparams = init.initParams().initEntries(params_map.size()); - int i = 0; + int j = 0; for (auto& [key, value] : params_map) { - auto lentry = lparams[i]; + auto lentry = lparams[j]; lentry.setKey(key); if ( !(params.getKeyType(key) & DONT_LOG) ) { lentry.setValue(capnp::Data::Reader((const kj::byte*)value.data(), value.size())); } - i++; + j++; + } + + // log commands + std::vector log_commands = { + "df -h", // usage for all filesystems + }; + + auto commands = init.initCommands().initEntries(log_commands.size()); + for (int i = 0; i < log_commands.size(); i++) { + auto lentry = commands[i]; + lentry.setKey(log_commands[i]); + + const std::string result = util::check_output(log_commands[i]); + lentry.setValue(capnp::Data::Reader((const kj::byte*)result.data(), result.size())); } + return capnp::messageToFlatArray(msg); } @@ -167,7 +182,7 @@ int logger_next(LoggerState *s, const char* root_path, pthread_mutex_unlock(&s->lock); - // write beggining of log metadata + // write beginning of log metadata log_init_data(s); lh_log_sentinel(s->cur_handle, is_start_of_route ? SentinelType::START_OF_ROUTE : SentinelType::START_OF_SEGMENT); return 0; diff --git a/selfdrive/loggerd/tests/test_logger.cc b/selfdrive/loggerd/tests/test_logger.cc index c8f662092..18a0e57df 100644 --- a/selfdrive/loggerd/tests/test_logger.cc +++ b/selfdrive/loggerd/tests/test_logger.cc @@ -47,7 +47,7 @@ void verify_segment(const std::string &route_path, int segment, int max_segment, } ++i; } catch (const kj::Exception &ex) { - INFO("failed parse " << i << " excpetion :" << ex.getDescription()); + INFO("failed parse " << i << " exception :" << ex.getDescription()); REQUIRE(0); break; } diff --git a/selfdrive/loggerd/tests/test_loggerd.py b/selfdrive/loggerd/tests/test_loggerd.py index 9dbc7ac33..b0907c54a 100755 --- a/selfdrive/loggerd/tests/test_loggerd.py +++ b/selfdrive/loggerd/tests/test_loggerd.py @@ -186,7 +186,7 @@ class TestLoggerd(unittest.TestCase): pm = messaging.PubMaster(services) # sleep enough for the first poll to time out - # TOOD: fix loggerd bug dropping the msgs from the first poll + # TODO: fix loggerd bug dropping the msgs from the first poll managed_processes["loggerd"].start() for s in services: while not pm.all_readers_updated(s): diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index 12f894061..c8a7d4153 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -15,7 +15,7 @@ from system.version import is_dirty MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache") -TOTAL_SCONS_NODES = 2035 +TOTAL_SCONS_NODES = 2395 MAX_BUILD_PROGRESS = 100 PREBUILT = os.path.exists(os.path.join(BASEDIR, 'prebuilt')) diff --git a/selfdrive/manager/helpers.py b/selfdrive/manager/helpers.py index b07362dd4..983c7cc0b 100644 --- a/selfdrive/manager/helpers.py +++ b/selfdrive/manager/helpers.py @@ -33,6 +33,6 @@ def unblock_stdout() -> None: pass # os.wait() returns a tuple with the pid and a 16 bit value - # whose low byte is the signal number and whose high byte is the exit satus + # whose low byte is the signal number and whose high byte is the exit status exit_status = os.wait()[1] >> 8 os._exit(exit_status) diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 9c370cb3d..772dd9488 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -40,6 +40,7 @@ def manager_init() -> None: ("CompletedTrainingVersion", "0"), ("DisengageOnAccelerator", "1"), ("HasAcceptedTerms", "0"), + ("LanguageSetting", "main_en"), ("OpenpilotEnabledToggle", "1"), ] if not PC: @@ -49,7 +50,7 @@ def manager_init() -> None: params.put_bool("RecordFront", True) if not params.get_bool("DisableRadar_Allow"): - params.delete("DisableRadar") + params.remove("DisableRadar") # set unset params for k, v in default_params: diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index dec51966a..7702b96ea 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -2,7 +2,7 @@ import os from cereal import car from common.params import Params -from system.hardware import PC +from system.hardware import PC, TICI from selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess WEBCAM = os.getenv("USE_WEBCAM") is not None @@ -45,6 +45,7 @@ procs = [ PythonProcess("navd", "selfdrive.navd.navd"), PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True), PythonProcess("paramsd", "selfdrive.locationd.paramsd"), + PythonProcess("pigeond", "selfdrive.sensord.pigeond", enabled=TICI), PythonProcess("plannerd", "selfdrive.controls.plannerd"), PythonProcess("radard", "selfdrive.controls.radard"), PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True), @@ -57,7 +58,7 @@ procs = [ PythonProcess("webjoystick", "tools.joystick.web", onroad=False, callback=notcar), # Experimental - PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=os.path.isfile("/persist/comma/use-quectel-rawgps")), + PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=(TICI and os.path.isfile("/persist/comma/use-quectel-rawgps"))), ] managed_processes = {p.name: p for p in procs} diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index a108e2c9d..246f8c294 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -23,9 +23,9 @@ common_src = [ ] thneed_src = [ - "thneed/thneed.cc", + "thneed/thneed_common.cc", + "thneed/thneed_qcom2.cc", "thneed/serialize.cc", - "thneed/optimizer.cc", "runners/thneedmodel.cc", ] @@ -61,25 +61,53 @@ else: common_model = lenv.Object(common_src) -# build thneed model -if use_thneed and arch == "larch64": - fn = File("models/supercombo").abspath - compiler = lenv.Program('thneed/compile', ["thneed/compile.cc"]+common_model, LIBS=libs) - cmd = f"cd {Dir('.').abspath} && {compiler[0].abspath} --in {fn}.dlc --out {fn}.thneed --binary --optimize" - - lib_paths = ':'.join(Dir(p).abspath for p in lenv["LIBPATH"]) - kernel_path = os.path.join(Dir('.').abspath, "thneed", "kernels") - cenv = Environment(ENV={'LD_LIBRARY_PATH': f"{lib_paths}:{lenv['ENV']['LD_LIBRARY_PATH']}", 'KERNEL_PATH': kernel_path}) - - kernels = [os.path.join(kernel_path, x) for x in os.listdir(kernel_path) if x.endswith(".cl")] - cenv.Command(fn + ".thneed", [fn + ".dlc", kernels, compiler], cmd) - lenv.Program('_dmonitoringmodeld', [ "dmonitoringmodeld.cc", "models/dmonitoring.cc", ]+common_model, LIBS=libs) -lenv.Program('_modeld', [ +# build thneed model +if use_thneed and arch == "larch64" or GetOption('pc_thneed'): + fn = File("models/supercombo").abspath + + if GetOption('pc_thneed'): + cmd = f"cd {Dir('#').abspath}/tinygrad_repo && NATIVE_EXPLOG=1 OPTWG=1 UNSAFE_FLOAT4=1 DEBUGCL=1 python3 openpilot/compile.py {fn}.onnx {fn}.thneed" + else: + cmd = f"cd {Dir('#').abspath}/tinygrad_repo && FLOAT16=1 PYOPENCL_NO_CACHE=1 MATMUL=1 NATIVE_EXPLOG=1 OPTWG=1 UNSAFE_FLOAT4=1 DEBUGCL=1 python3 openpilot/compile.py {fn}.onnx {fn}.thneed" + + # is there a better way then listing all of tinygrad? + lenv.Command(fn + ".thneed", [fn + ".onnx", + "#tinygrad_repo/openpilot/compile.py", + "#tinygrad_repo/accel/opencl/conv.cl", + "#tinygrad_repo/accel/opencl/matmul.cl", + "#tinygrad_repo/accel/opencl/ops_opencl.py", + "#tinygrad_repo/accel/opencl/preprocessing.py", + "#tinygrad_repo/extra/onnx.py", + "#tinygrad_repo/extra/utils.py", + "#tinygrad_repo/tinygrad/llops/ops_gpu.py", + "#tinygrad_repo/tinygrad/llops/ops_opencl.py", + "#tinygrad_repo/tinygrad/helpers.py", + "#tinygrad_repo/tinygrad/mlops.py", + "#tinygrad_repo/tinygrad/ops.py", + "#tinygrad_repo/tinygrad/shapetracker.py", + "#tinygrad_repo/tinygrad/tensor.py", + "#tinygrad_repo/tinygrad/nn/__init__.py" + ], cmd) + +llenv = lenv.Clone() +if GetOption('pc_thneed'): + pc_thneed_src = [ + "thneed/thneed_common.cc", + "thneed/thneed_pc.cc", + "thneed/serialize.cc", + "runners/thneedmodel.cc", + ] + llenv['CFLAGS'].append("-DUSE_THNEED") + llenv['CXXFLAGS'].append("-DUSE_THNEED") + common_model += llenv.Object(pc_thneed_src) + libs += ['dl'] + +llenv.Program('_modeld', [ "modeld.cc", "models/driving.cc", ]+common_model, LIBS=libs + transformations) diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index 9bf7e6218..8d02eb6b2 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -38,7 +38,7 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context) { #else s->m = std::make_unique("models/supercombo.dlc", #endif - &s->output[0], NET_OUTPUT_SIZE, USE_GPU_RUNTIME, true); + &s->output[0], NET_OUTPUT_SIZE, USE_GPU_RUNTIME, true, false, context); #ifdef TEMPORAL s->m->addRecurrent(&s->output[OUTPUT_SIZE], TEMPORAL_SIZE); @@ -97,6 +97,7 @@ ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf, void model_free(ModelState* s) { delete s->frame; + delete s->wide_frame; } void fill_lead(cereal::ModelDataV2::LeadDataV3::Builder lead, const ModelOutputLeads &leads, int t_idx, float prob_t) { @@ -202,6 +203,7 @@ void fill_plan(cereal::ModelDataV2::Builder &framed, const ModelOutputPlanPredic std::array pos_x_std, pos_y_std, pos_z_std; std::array vel_x, vel_y, vel_z; std::array rot_x, rot_y, rot_z; + std::array acc_x, acc_y, acc_z; std::array rot_rate_x, rot_rate_y, rot_rate_z; for(int i=0; i output = {}; std::unique_ptr m; #ifdef DESIRE diff --git a/selfdrive/modeld/models/supercombo.dlc b/selfdrive/modeld/models/supercombo.dlc deleted file mode 100644 index fe3ad5102..000000000 --- a/selfdrive/modeld/models/supercombo.dlc +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3c5c8d71a8a1434ef79073362e608b9fe02f22ce7478f11bc71c6806c1e00091 -size 94302331 diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 39e874364..7b11edbe0 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:15d9eb01edd98998abceaa092d33fab149ff4a8942646b20a7c1403f999f4eca -size 95165081 +oid sha256:50c7fc8565ac69a4b9a0de122e961326820e78bf13659255a89d0ed04be030d5 +size 95167481 diff --git a/selfdrive/modeld/runners/onnxmodel.cc b/selfdrive/modeld/runners/onnxmodel.cc index 1f9f551ab..447d90fd7 100644 --- a/selfdrive/modeld/runners/onnxmodel.cc +++ b/selfdrive/modeld/runners/onnxmodel.cc @@ -14,7 +14,7 @@ #include "common/swaglog.h" #include "common/util.h" -ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime, bool _use_extra, bool _use_tf8) { +ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime, bool _use_extra, bool _use_tf8, cl_context context) { LOGD("loading model %s", path); output = _output; diff --git a/selfdrive/modeld/runners/onnxmodel.h b/selfdrive/modeld/runners/onnxmodel.h index 4ac599e2a..d5b7bfecf 100644 --- a/selfdrive/modeld/runners/onnxmodel.h +++ b/selfdrive/modeld/runners/onnxmodel.h @@ -6,7 +6,7 @@ class ONNXModel : public RunModel { public: - ONNXModel(const char *path, float *output, size_t output_size, int runtime, bool use_extra = false, bool _use_tf8 = false); + ONNXModel(const char *path, float *output, size_t output_size, int runtime, bool use_extra = false, bool _use_tf8 = false, cl_context context = NULL); ~ONNXModel(); void addRecurrent(float *state, int state_size); void addDesire(float *state, int state_size); diff --git a/selfdrive/modeld/runners/runmodel.h b/selfdrive/modeld/runners/runmodel.h index 02b8c4b20..c60781140 100644 --- a/selfdrive/modeld/runners/runmodel.h +++ b/selfdrive/modeld/runners/runmodel.h @@ -1,4 +1,5 @@ #pragma once +#include "common/clutil.h" class RunModel { public: virtual ~RunModel() {} diff --git a/selfdrive/modeld/runners/snpemodel.cc b/selfdrive/modeld/runners/snpemodel.cc index 4d6917e89..ff4adcd8d 100644 --- a/selfdrive/modeld/runners/snpemodel.cc +++ b/selfdrive/modeld/runners/snpemodel.cc @@ -14,7 +14,7 @@ void PrintErrorStringAndExit() { std::exit(EXIT_FAILURE); } -SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra, bool luse_tf8) { +SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra, bool luse_tf8, cl_context context) { output = loutput; output_size = loutput_size; use_extra = luse_extra; @@ -186,75 +186,14 @@ std::unique_ptr SNPEModel::addExtra(float *state, in } void SNPEModel::execute() { -#ifdef USE_THNEED - if (Runtime == zdl::DlSystem::Runtime_t::GPU) { - if (!thneed_recorded) { - bool ret = inputBuffer->setBufferAddress(input); - assert(ret == true); - if (use_extra) { - assert(extra != NULL); - bool extra_ret = extraBuffer->setBufferAddress(extra); - assert(extra_ret == true); - } - if (!snpe->execute(inputMap, outputMap)) { - PrintErrorStringAndExit(); - } - memset(recurrent, 0, recurrent_size*sizeof(float)); - thneed->record = true; - if (!snpe->execute(inputMap, outputMap)) { - PrintErrorStringAndExit(); - } - thneed->stop(); - printf("thneed cached\n"); - - // doing self test - float *outputs_golden = (float *)malloc(output_size*sizeof(float)); - memcpy(outputs_golden, output, output_size*sizeof(float)); - memset(output, 0, output_size*sizeof(float)); - memset(recurrent, 0, recurrent_size*sizeof(float)); - uint64_t start_time = nanos_since_boot(); - if (extra != NULL) { - float *inputs[5] = {recurrent, trafficConvention, desire, extra, input}; - thneed->execute(inputs, output); - } else { - float *inputs[4] = {recurrent, trafficConvention, desire, input}; - thneed->execute(inputs, output); - } - uint64_t elapsed_time = nanos_since_boot() - start_time; - printf("ran model in %.2f ms\n", float(elapsed_time)/1e6); - - if (memcmp(output, outputs_golden, output_size*sizeof(float)) == 0) { - printf("thneed selftest passed\n"); - } else { - for (int i = 0; i < output_size; i++) { - printf("mismatch %3d: %f %f\n", i, output[i], outputs_golden[i]); - } - assert(false); - } - free(outputs_golden); - thneed_recorded = true; - } else { - if (use_extra) { - float *inputs[5] = {recurrent, trafficConvention, desire, extra, input}; - thneed->execute(inputs, output); - } else { - float *inputs[4] = {recurrent, trafficConvention, desire, input}; - thneed->execute(inputs, output); - } - } - } else { -#endif - bool ret = inputBuffer->setBufferAddress(input); - assert(ret == true); - if (use_extra) { - bool extra_ret = extraBuffer->setBufferAddress(extra); - assert(extra_ret == true); - } - if (!snpe->execute(inputMap, outputMap)) { - PrintErrorStringAndExit(); - } -#ifdef USE_THNEED + bool ret = inputBuffer->setBufferAddress(input); + assert(ret == true); + if (use_extra) { + bool extra_ret = extraBuffer->setBufferAddress(extra); + assert(extra_ret == true); + } + if (!snpe->execute(inputMap, outputMap)) { + PrintErrorStringAndExit(); } -#endif } diff --git a/selfdrive/modeld/runners/snpemodel.h b/selfdrive/modeld/runners/snpemodel.h index ed9d58d1e..08ae16c2b 100644 --- a/selfdrive/modeld/runners/snpemodel.h +++ b/selfdrive/modeld/runners/snpemodel.h @@ -23,7 +23,7 @@ class SNPEModel : public RunModel { public: - SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false, bool use_tf8 = false); + SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false, bool use_tf8 = false, cl_context context = NULL); void addRecurrent(float *state, int state_size); void addTrafficConvention(float *state, int state_size); void addCalib(float *state, int state_size); diff --git a/selfdrive/modeld/runners/thneedmodel.cc b/selfdrive/modeld/runners/thneedmodel.cc index dbe80a946..67db01bb9 100644 --- a/selfdrive/modeld/runners/thneedmodel.cc +++ b/selfdrive/modeld/runners/thneedmodel.cc @@ -2,11 +2,10 @@ #include -ThneedModel::ThneedModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra) { - thneed = new Thneed(true); +ThneedModel::ThneedModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra, bool luse_tf8, cl_context context) { + thneed = new Thneed(true, context); thneed->load(path); thneed->clexec(); - thneed->find_inputs_outputs(); recorded = false; output = loutput; diff --git a/selfdrive/modeld/runners/thneedmodel.h b/selfdrive/modeld/runners/thneedmodel.h index fe0f9ae44..f3f34dc7f 100644 --- a/selfdrive/modeld/runners/thneedmodel.h +++ b/selfdrive/modeld/runners/thneedmodel.h @@ -5,7 +5,7 @@ class ThneedModel : public RunModel { public: - ThneedModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false); + ThneedModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false, bool use_tf8 = false, cl_context context = NULL); void addRecurrent(float *state, int state_size); void addTrafficConvention(float *state, int state_size); void addDesire(float *state, int state_size); diff --git a/selfdrive/modeld/thneed/compile.cc b/selfdrive/modeld/thneed/compile.cc deleted file mode 100644 index f76c63b2b..000000000 --- a/selfdrive/modeld/thneed/compile.cc +++ /dev/null @@ -1,81 +0,0 @@ -#include -#include - -#include "selfdrive/modeld/runners/snpemodel.h" -#include "selfdrive/modeld/thneed/thneed.h" -#include "system/hardware/hw.h" - -#define TEMPORAL_SIZE 512 -#define DESIRE_LEN 8 -#define TRAFFIC_CONVENTION_LEN 2 - -// TODO: This should probably use SNPE directly. -int main(int argc, char* argv[]) { - bool run_optimizer = false, save_binaries = false; - const char *input_file = NULL, *output_file = NULL; - static struct option long_options[] = { - {"in", required_argument, 0, 'i' }, - {"out", required_argument, 0, 'o' }, - {"binary", no_argument, 0, 'b' }, - {"optimize", no_argument, 0, 'f' }, - {0, 0, 0, 0 } - }; - int long_index = 0, opt = 0; - while ((opt = getopt_long_only(argc, argv,"", long_options, &long_index)) != -1) { - switch (opt) { - case 'i': input_file = optarg; break; - case 'o': output_file = optarg; break; - case 'b': save_binaries = true; break; - case 'f': run_optimizer = true; break; - } - } - - // no input? - if (!input_file) { - printf("usage: -i -o --binary --optimize\n"); - return -1; - } - - #define OUTPUT_SIZE 0x10000 - - float *output = (float*)calloc(OUTPUT_SIZE, sizeof(float)); - SNPEModel mdl(input_file, output, 0, USE_GPU_RUNTIME, true); - mdl.thneed->run_optimizer = run_optimizer; - - float state[TEMPORAL_SIZE] = {0}; - float desire[DESIRE_LEN] = {0}; - float traffic_convention[TRAFFIC_CONVENTION_LEN] = {0}; - float *input = (float*)calloc(0x1000000, sizeof(float)); - float *extra = (float*)calloc(0x1000000, sizeof(float)); - - mdl.addRecurrent(state, TEMPORAL_SIZE); - mdl.addDesire(desire, DESIRE_LEN); - mdl.addTrafficConvention(traffic_convention, TRAFFIC_CONVENTION_LEN); - mdl.addImage(input, 0); - mdl.addExtra(extra, 0); - - // first run - printf("************** execute 1 **************\n"); - memset(output, 0, OUTPUT_SIZE * sizeof(float)); - mdl.execute(); - - // don't save? - if (!output_file) { - printf("no output file, exiting\n"); - return 0; - } - - // save model - printf("saving %s with binary %d\n", output_file, save_binaries); - mdl.thneed->save(output_file, save_binaries); - - // test model - auto thneed = new Thneed(true); - thneed->record = false; - thneed->load(output_file); - thneed->clexec(); - thneed->find_inputs_outputs(); - - return 0; -} - diff --git a/selfdrive/modeld/thneed/kernels/convolution_.cl b/selfdrive/modeld/thneed/kernels/convolution_.cl deleted file mode 100644 index 1b9d74b83..000000000 --- a/selfdrive/modeld/thneed/kernels/convolution_.cl +++ /dev/null @@ -1,272 +0,0 @@ - read_only image2d_t input, -#ifndef DEPTHWISE - short startPackedInputChannel, - short numPackedInputChannelsForGroup, short totalNumPackedInputChannels, - // typo required for API compatibility - short packedOuputChannelOffset, short totalNumPackedOutputChannels, -#else - short totalNumPackedChannels, -#endif - read_only image2d_t weights, __constant float *biases, - short filterSizeX, short filterSizeY, - write_only image2d_t output, - short paddingX, short paddingY, short strideX, short strideY, -#ifdef SUPPORT_DILATION - short dilationX, short dilationY, -#endif - short neuron, float a, float b, float min_clamp, float max_clamp, -#ifndef DEPTHWISE - // note: these are not supported - __constant float *parameters, __constant float *batchNormBiases, -#endif - short numOutputColumns -#ifdef SUPPORT_ACCUMULATION - , short doAccumulate, read_only image2d_t accumulator -#endif - ) { - -#ifndef NUM_OUTPUTS - #define NUM_OUTPUTS 4 -#endif - - // init - const sampler_t smp = CLK_NORMALIZED_COORDS_FALSE | CLK_ADDRESS_CLAMP | CLK_FILTER_NEAREST; - short packedOutputChannel = get_global_id(0); - short startOutputColumn = mul24((short)get_global_id(1), NUM_OUTPUTS); - short outputRow = get_global_id(2); - -#ifdef DEPTHWISE - short totalNumPackedInputChannels = totalNumPackedChannels; - short totalNumPackedOutputChannels = totalNumPackedChannels; - short startPackedInputChannel = packedOutputChannel; -#endif - - short startX = mad24(mad24(startOutputColumn, strideX, -paddingX), totalNumPackedInputChannels, startPackedInputChannel); - short strideWithChannels = mul24(strideX, totalNumPackedInputChannels); - - float4 outputValues[NUM_OUTPUTS]; - for (short i = 0; i < NUM_OUTPUTS; ++i) { - outputValues[i] = (float4)(0, 0, 0, 0); - } - - int2 inputLocation; - inputLocation.y = mad24(outputRow, strideY, -paddingY); - - int2 weightLocation; - weightLocation.x = 0; - weightLocation.y = packedOutputChannel; - -#ifdef DEPTHWISE - -#ifdef SUPPORT_DILATION - - // depthwise convolution - for (short rfRow = 0; rfRow < filterSizeY; ++rfRow) { - for (short rfColumn = 0; rfColumn < filterSizeX; ++rfColumn) { - short dilatedStepX = mul24(totalNumPackedChannels, dilationX); - inputLocation.x = mad24(rfColumn, dilatedStepX, startX); - float4 inputValues[4]; - for (short i = 0; i < 4; ++i) { - inputValues[i] = read_imagef(input, smp, inputLocation); - inputLocation.x += strideWithChannels; - } - float4 weightValues = read_imagef(weights, smp, weightLocation); - ++weightLocation.x; - outputValues[0] += inputValues[0] * weightValues; - outputValues[1] += inputValues[1] * weightValues; - outputValues[2] += inputValues[2] * weightValues; - outputValues[3] += inputValues[3] * weightValues; - } - inputLocation.y += dilationY; - } - -#else - - // depthwise unstrided convolution - for (short rfRow = 0; rfRow < filterSizeY; ++rfRow) { - float4 inputValues[4]; - inputLocation.x = startX; - for (short i = 1; i < 4; ++i) { - inputValues[i] = read_imagef(input, smp, inputLocation); - inputLocation.x += totalNumPackedOutputChannels; - } - for (short rfColumn = 0; rfColumn < filterSizeX; ++rfColumn) { - inputValues[0] = inputValues[1]; - inputValues[1] = inputValues[2]; - inputValues[2] = inputValues[3]; - inputValues[3] = read_imagef(input, smp, inputLocation); - inputLocation.x += totalNumPackedChannels; - float4 weightValues = read_imagef(weights, smp, weightLocation); - ++weightLocation.x; - outputValues[0] += inputValues[0] * weightValues; - outputValues[1] += inputValues[1] * weightValues; - outputValues[2] += inputValues[2] * weightValues; - outputValues[3] += inputValues[3] * weightValues; - } - ++inputLocation.y; - } - -#endif - -#elif defined(ONLY_1X1_CONV) - - // 1x1 convolution - short endPackedInputChannel = startPackedInputChannel + numPackedInputChannelsForGroup; - for (short packedInputChannel = startPackedInputChannel; packedInputChannel < endPackedInputChannel; ++packedInputChannel) { - float4 weightValues[4]; - for (short outChIdx = 0; outChIdx < 4; ++outChIdx) { - weightValues[outChIdx] = read_imagef(weights, smp, weightLocation); - ++weightLocation.x; - } - - inputLocation.x = startX + packedInputChannel; - float4 inputValues[NUM_OUTPUTS]; - for (short i = 0; i < NUM_OUTPUTS; ++i) { - inputValues[i] = read_imagef(input, smp, inputLocation); - inputLocation.x += strideWithChannels; - } - - for (short i = 0; i < NUM_OUTPUTS; ++i) { - float4 curOutputValues = outputValues[i]; - curOutputValues.x += inputValues[i].x * weightValues[0].x; - curOutputValues.x += inputValues[i].y * weightValues[0].y; - curOutputValues.x += inputValues[i].z * weightValues[0].z; - curOutputValues.x += inputValues[i].w * weightValues[0].w; - curOutputValues.y += inputValues[i].x * weightValues[1].x; - curOutputValues.y += inputValues[i].y * weightValues[1].y; - curOutputValues.y += inputValues[i].z * weightValues[1].z; - curOutputValues.y += inputValues[i].w * weightValues[1].w; - curOutputValues.z += inputValues[i].x * weightValues[2].x; - curOutputValues.z += inputValues[i].y * weightValues[2].y; - curOutputValues.z += inputValues[i].z * weightValues[2].z; - curOutputValues.z += inputValues[i].w * weightValues[2].w; - curOutputValues.w += inputValues[i].x * weightValues[3].x; - curOutputValues.w += inputValues[i].y * weightValues[3].y; - curOutputValues.w += inputValues[i].z * weightValues[3].z; - curOutputValues.w += inputValues[i].w * weightValues[3].w; - outputValues[i] = curOutputValues; - } - } - packedOutputChannel += packedOuputChannelOffset; - -#else - - // normal convolution - for (short rfRow = 0; rfRow < filterSizeY; ++rfRow) { - for (short packedInputChannel = 0; packedInputChannel < numPackedInputChannelsForGroup; ++packedInputChannel) { - short startXForChannel = startX + packedInputChannel; - for (short rfColumn = 0; rfColumn < filterSizeX; ++rfColumn) { - - float4 weightValues[4]; - for (short outChIdx = 0; outChIdx < 4; ++outChIdx) { - weightValues[outChIdx] = read_imagef(weights, smp, weightLocation); - ++weightLocation.x; - } - -#ifdef SUPPORT_DILATION - short dilatedStepX = mul24(totalNumPackedInputChannels, dilationX); - inputLocation.x = mad24(rfColumn, dilatedStepX, startXForChannel); -#else - inputLocation.x = mad24(rfColumn, totalNumPackedInputChannels, startXForChannel); -#endif - float4 inputValues[NUM_OUTPUTS]; - for (short i = 0; i < NUM_OUTPUTS; ++i) { - inputValues[i] = read_imagef(input, smp, inputLocation); - inputLocation.x += strideWithChannels; - } - for (short i = 0; i < NUM_OUTPUTS; ++i) { - float4 curOutputValues = outputValues[i]; - curOutputValues.x += inputValues[i].x * weightValues[0].x; - curOutputValues.x += inputValues[i].y * weightValues[0].y; - curOutputValues.x += inputValues[i].z * weightValues[0].z; - curOutputValues.x += inputValues[i].w * weightValues[0].w; - curOutputValues.y += inputValues[i].x * weightValues[1].x; - curOutputValues.y += inputValues[i].y * weightValues[1].y; - curOutputValues.y += inputValues[i].z * weightValues[1].z; - curOutputValues.y += inputValues[i].w * weightValues[1].w; - curOutputValues.z += inputValues[i].x * weightValues[2].x; - curOutputValues.z += inputValues[i].y * weightValues[2].y; - curOutputValues.z += inputValues[i].z * weightValues[2].z; - curOutputValues.z += inputValues[i].w * weightValues[2].w; - curOutputValues.w += inputValues[i].x * weightValues[3].x; - curOutputValues.w += inputValues[i].y * weightValues[3].y; - curOutputValues.w += inputValues[i].z * weightValues[3].z; - curOutputValues.w += inputValues[i].w * weightValues[3].w; - outputValues[i] = curOutputValues; - } - } - } -#ifdef SUPPORT_DILATION - inputLocation.y += dilationY; -#else - ++inputLocation.y; -#endif - } - packedOutputChannel += packedOuputChannelOffset; -#endif - - // bias - short outputChannel = mul24(packedOutputChannel, 4); - float4 biasValues = vload4(0, biases + outputChannel); - for (short i = 0; i < NUM_OUTPUTS; ++i) { - outputValues[i] += biasValues; - } - -#ifdef SUPPORT_ACCUMULATION - // accumulate - if (doAccumulate) { - int2 outputLocation; - short outputColumn = startOutputColumn; - outputLocation.y = outputRow; - for (short i = 0; i < NUM_OUTPUTS; ++i) { - outputLocation.x = mad24(outputColumn, totalNumPackedOutputChannels, packedOutputChannel); - if (outputColumn < numOutputColumns) { - outputValues[i] += read_imagef(accumulator, smp, outputLocation); - } - ++outputColumn; - } - } -#endif - - // activation - switch (neuron) { - case 1: - for (short i = 0; i < NUM_OUTPUTS; ++i) { - outputValues[i] = max(outputValues[i], 0.0f); - } - break; - case 2: - for (short i = 0; i < NUM_OUTPUTS; ++i) { - outputValues[i] = a * tanh(b * outputValues[i]); - } - break; - case 3: - for (short i = 0; i < NUM_OUTPUTS; ++i) { - outputValues[i] = native_recip(1.0f + native_exp(-a * outputValues[i] + b)); - } - break; - case 4: - for (short i = 0; i < NUM_OUTPUTS; ++i) { - outputValues[i] = max(outputValues[i], min_clamp); - outputValues[i] = min(outputValues[i], max_clamp); - } - break; - case 5: - for (short i = 0; i < NUM_OUTPUTS; ++i) { - outputValues[i] = max(outputValues[i], 0.0f) + a * (native_exp(min(outputValues[i], 0.0f)) - 1.0f); - } - break; - } - - // output - int2 outputLocation; - short outputColumn = startOutputColumn; - outputLocation.y = outputRow; - for (short i = 0; i < NUM_OUTPUTS; ++i) { - outputLocation.x = mad24(outputColumn, totalNumPackedOutputChannels, packedOutputChannel); - if (outputColumn < numOutputColumns) { - write_imagef(output, outputLocation, outputValues[i]); - } - ++outputColumn; - } -} diff --git a/selfdrive/modeld/thneed/kernels/convolution_horizontal_reduced_reads.cl b/selfdrive/modeld/thneed/kernels/convolution_horizontal_reduced_reads.cl deleted file mode 100644 index fcea88ce9..000000000 --- a/selfdrive/modeld/thneed/kernels/convolution_horizontal_reduced_reads.cl +++ /dev/null @@ -1,3 +0,0 @@ -#define SUPPORT_DILATION - -__kernel void convolution_horizontal_reduced_reads( diff --git a/selfdrive/modeld/thneed/kernels/convolution_horizontal_reduced_reads_1x1.cl b/selfdrive/modeld/thneed/kernels/convolution_horizontal_reduced_reads_1x1.cl deleted file mode 100644 index 0d15d8058..000000000 --- a/selfdrive/modeld/thneed/kernels/convolution_horizontal_reduced_reads_1x1.cl +++ /dev/null @@ -1,4 +0,0 @@ -#define ONLY_1X1_CONV -#define SUPPORT_ACCUMULATION - -__kernel void convolution_horizontal_reduced_reads_1x1( diff --git a/selfdrive/modeld/thneed/kernels/convolution_horizontal_reduced_reads_5_outputs.cl b/selfdrive/modeld/thneed/kernels/convolution_horizontal_reduced_reads_5_outputs.cl deleted file mode 100644 index 69421fc2a..000000000 --- a/selfdrive/modeld/thneed/kernels/convolution_horizontal_reduced_reads_5_outputs.cl +++ /dev/null @@ -1,3 +0,0 @@ -#define NUM_OUTPUTS 5 - -__kernel void convolution_horizontal_reduced_reads_5_outputs( diff --git a/selfdrive/modeld/thneed/kernels/convolution_horizontal_reduced_reads_depthwise.cl b/selfdrive/modeld/thneed/kernels/convolution_horizontal_reduced_reads_depthwise.cl deleted file mode 100644 index 50e39941d..000000000 --- a/selfdrive/modeld/thneed/kernels/convolution_horizontal_reduced_reads_depthwise.cl +++ /dev/null @@ -1,4 +0,0 @@ -#define DEPTHWISE -#define SUPPORT_DILATION - -__kernel void convolution_horizontal_reduced_reads_depthwise( diff --git a/selfdrive/modeld/thneed/kernels/convolution_horizontal_reduced_reads_depthwise_stride_1.cl b/selfdrive/modeld/thneed/kernels/convolution_horizontal_reduced_reads_depthwise_stride_1.cl deleted file mode 100644 index b347cb6c7..000000000 --- a/selfdrive/modeld/thneed/kernels/convolution_horizontal_reduced_reads_depthwise_stride_1.cl +++ /dev/null @@ -1,3 +0,0 @@ -#define DEPTHWISE - -__kernel void convolution_horizontal_reduced_reads_depthwise_stride_1( diff --git a/selfdrive/modeld/thneed/optimizer.cc b/selfdrive/modeld/thneed/optimizer.cc deleted file mode 100644 index 39737d3d7..000000000 --- a/selfdrive/modeld/thneed/optimizer.cc +++ /dev/null @@ -1,261 +0,0 @@ -#include -#include -#include -#include -#include "thneed.h" - -#include "common/util.h" -#include "common/clutil.h" - -extern map g_program_source; - -/*static int is_same_size_image(cl_mem a, cl_mem b) { - size_t a_width, a_height, a_depth, a_array_size, a_row_pitch, a_slice_pitch; - clGetImageInfo(a, CL_IMAGE_WIDTH, sizeof(a_width), &a_width, NULL); - clGetImageInfo(a, CL_IMAGE_HEIGHT, sizeof(a_height), &a_height, NULL); - clGetImageInfo(a, CL_IMAGE_DEPTH, sizeof(a_depth), &a_depth, NULL); - clGetImageInfo(a, CL_IMAGE_ARRAY_SIZE, sizeof(a_array_size), &a_array_size, NULL); - clGetImageInfo(a, CL_IMAGE_ROW_PITCH, sizeof(a_row_pitch), &a_row_pitch, NULL); - clGetImageInfo(a, CL_IMAGE_SLICE_PITCH, sizeof(a_slice_pitch), &a_slice_pitch, NULL); - - size_t b_width, b_height, b_depth, b_array_size, b_row_pitch, b_slice_pitch; - clGetImageInfo(b, CL_IMAGE_WIDTH, sizeof(b_width), &b_width, NULL); - clGetImageInfo(b, CL_IMAGE_HEIGHT, sizeof(b_height), &b_height, NULL); - clGetImageInfo(b, CL_IMAGE_DEPTH, sizeof(b_depth), &b_depth, NULL); - clGetImageInfo(b, CL_IMAGE_ARRAY_SIZE, sizeof(b_array_size), &b_array_size, NULL); - clGetImageInfo(b, CL_IMAGE_ROW_PITCH, sizeof(b_row_pitch), &b_row_pitch, NULL); - clGetImageInfo(b, CL_IMAGE_SLICE_PITCH, sizeof(b_slice_pitch), &b_slice_pitch, NULL); - - return (a_width == b_width) && (a_height == b_height) && - (a_depth == b_depth) && (a_array_size == b_array_size) && - (a_row_pitch == b_row_pitch) && (a_slice_pitch == b_slice_pitch); -}*/ - -static cl_mem make_image_like(cl_context context, cl_mem val) { - cl_image_format format; - size_t width, height, row_pitch; - clGetImageInfo(val, CL_IMAGE_FORMAT, sizeof(format), &format, NULL); - assert(format.image_channel_order == CL_RGBA); - assert(format.image_channel_data_type == CL_HALF_FLOAT); - clGetImageInfo(val, CL_IMAGE_WIDTH, sizeof(width), &width, NULL); - clGetImageInfo(val, CL_IMAGE_HEIGHT, sizeof(height), &height, NULL); - clGetImageInfo(val, CL_IMAGE_ROW_PITCH, sizeof(row_pitch), &row_pitch, NULL); - - cl_image_desc desc = {0}; - desc.image_type = CL_MEM_OBJECT_IMAGE2D; - desc.image_width = width; - desc.image_height = height; - desc.image_row_pitch = row_pitch; - - cl_mem buf = clCreateBuffer(context, CL_MEM_READ_WRITE, row_pitch*height, NULL, NULL); - assert(buf != NULL); - desc.buffer = buf; - - cl_int err; - cl_mem tmp = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &err); - //printf("got %d for image %zux%zu %zu\n", err, width, height, row_pitch); - assert(tmp != NULL); - - return tmp; -} - -// convolution_horizontal_reduced_reads_1x1 is 66% of the model runtime -// make that faster and the model gets faster - -// this cuts ~2 ms off the model runtime right now -int Thneed::optimize() { - const char *kernel_path = getenv("KERNEL_PATH"); - if (!kernel_path) { kernel_path = "/data/openpilot/selfdrive/modeld/thneed/kernels"; printf("no KERNEL_PATH set, defaulting to %s\n", kernel_path); } - - string convolution_; - { - char fn[0x100]; - snprintf(fn, sizeof(fn), "%s/%s.cl", kernel_path, "convolution_"); - convolution_ = util::read_file(fn); - } - - // load custom kernels - map g_programs; - for (auto &k : kq) { - // replace program? - if (g_programs.find(k->name) == g_programs.end()) { - char fn[0x100]; - snprintf(fn, sizeof(fn), "%s/%s.cl", kernel_path, k->name.c_str()); - if (util::file_exists(fn)) { - string kernel_src = util::read_file(fn); - if (k->name.rfind("convolution_", 0) == 0) { - kernel_src += convolution_; - } - printf("building kernel %s with len %lu\n", k->name.c_str(), kernel_src.length()); - k->program = cl_program_from_source(context, device_id, kernel_src); - - // save in cache - g_programs[k->name] = k->program; - g_program_source[k->program] = kernel_src; - } else { - g_programs[k->name] = NULL; - } - } else { - // cached replacement - if (g_programs[k->name] != NULL) { - k->program = g_programs[k->name]; - } - } - - // hack in accumulator to convolution_horizontal_reduced_reads_1x1 - if (k->name == "convolution_horizontal_reduced_reads_1x1") { - k->arg_names.push_back("doAccumulate"); - short doAccumulate = 0; - k->args.push_back(string((char *)&doAccumulate, sizeof(doAccumulate))); - k->args_size.push_back(2); - k->arg_names.push_back("accumulator"); - k->args.push_back(k->args[k->get_arg_num("output")]); - k->args_size.push_back(8); - k->num_args += 2; - } - - // assert that parameters + batchNormBiases are not used - // since they aren't supported in custom replacement kernels - if (k->name == "convolution_horizontal_reduced_reads_1x1" || - k->name == "convolution_horizontal_reduced_reads" || - k->name == "convolution_horizontal_reduced_reads_5_outputs") { - string p1 = k->args[k->get_arg_num("parameters")]; - string p2 = k->args[k->get_arg_num("batchNormBiases")]; - assert(p1.length() == 8 && *((uint64_t*)p1.data()) == 0); - assert(p2.length() == 8 && *((uint64_t*)p2.data()) == 0); - } - } - - // optimizer - size_t start_size; - do { - start_size = kq.size(); - - // get optimizations - map replacements; - for (int i = 0; i < kq.size(); i++) { - // fusing elementwise_sum + activate_image will save 3 enqueues - - // delete useless copy layers - // saves ~0.7 ms - /*if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") { - string in = kq[i]->args[kq[i]->get_arg_num("input")]; - string out = kq[i]->args[kq[i]->get_arg_num("output")]; - if (is_same_size_image(*(cl_mem*)in.data(), *(cl_mem*)out.data())) { - cl_mem tmp = make_image_like(context, *(cl_mem *)in.data()); - replacements[in] = string((char *)&tmp, sizeof(tmp)); - replacements[out] = string((char *)&tmp, sizeof(tmp)); - - kq.erase(kq.begin()+i); --i; - } - }*/ - - // NOTE: if activations/accumulation are done in the wrong order, this will be wrong - - // fuse activations into convs and fc_Wtx - // saves ~1.5 ms - // NOTE: this changes the outputs because of rounding, should be better now! - if (i != 0 && kq[i]->name == "activate_image") { - if (kq[i-1]->name == "convolution_horizontal_reduced_reads_1x1" || - kq[i-1]->name == "convolution_horizontal_reduced_reads_5_outputs" || - kq[i-1]->name == "convolution_horizontal_reduced_reads" || - kq[i-1]->name == "convolution_horizontal_reduced_reads_depthwise" || - kq[i-1]->name == "convolution_horizontal_reduced_reads_depthwise_stride_1" || - kq[i-1]->name == "fc_Wtx") { - string lastout = kq[i-1]->args[kq[i-1]->get_arg_num("output")]; - string in = kq[i]->args[kq[i]->get_arg_num("input")]; - string out = kq[i]->args[kq[i]->get_arg_num("output")]; - - if (lastout == in) { - short neuron = *(int*)kq[i]->args[kq[i]->get_arg_num("neuron")].data(); - assert(neuron <= 5); - - // ELU isn't supported in fc_Wtx - assert(!(kq[i-1]->name == "fc_Wtx" && neuron == 5)); - - kq[i-1]->args[kq[i-1]->get_arg_num("neuron")] = string((char *)&neuron, sizeof(neuron)); - - cl_mem tmp = make_image_like(context, *(cl_mem *)lastout.data()); - replacements[in] = string((char *)&tmp, sizeof(tmp)); - replacements[out] = string((char *)&tmp, sizeof(tmp)); - - kq.erase(kq.begin()+i); --i; - } - } - } - - // fuse accumulation into convs and fc_Wtx - if (i != 0 && kq[i]->name == "elementwise_sum") { - if (kq[i-1]->name == "convolution_horizontal_reduced_reads_1x1" || - kq[i-1]->name == "fc_Wtx") { - string lastout = kq[i-1]->args[kq[i-1]->get_arg_num("output")]; - string a = kq[i]->args[kq[i]->get_arg_num("a")]; - string b = kq[i]->args[kq[i]->get_arg_num("b")]; - string out = kq[i]->args[kq[i]->get_arg_num("output")]; - - if (lastout == a) { - kq[i-1]->args[kq[i-1]->get_arg_num("accumulator")] = b; - } else if (lastout == b) { - kq[i-1]->args[kq[i-1]->get_arg_num("accumulator")] = a; - } else { - continue; - } - - cl_mem tmp = make_image_like(context, *(cl_mem *)lastout.data()); - replacements[lastout] = string((char *)&tmp, sizeof(tmp)); - replacements[out] = string((char *)&tmp, sizeof(tmp)); - - short doAccumulate = 1; - kq[i-1]->args[kq[i-1]->get_arg_num("doAccumulate")] = string((char *)&doAccumulate, sizeof(doAccumulate)); - - kq.erase(kq.begin()+i); --i; - } - } - } - - // remap inputs and outputs, and clear the kernels - for (int i = 0; i < kq.size(); i++) { - kq[i]->kernel = NULL; - for (int j = 0; j < kq[i]->num_args; j++) { - if (replacements.find(kq[i]->args[j]) != replacements.end()) { - kq[i]->args[j] = replacements[kq[i]->args[j]]; - } - } - } - - printf("optimize %lu -> %lu\n", start_size, kq.size()); - } while (kq.size() != start_size); - - size_t work_group_size = 0; - clGetDeviceInfo(device_id, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL); - printf("max work group size %lu\n", work_group_size); - - // local work group optimizer - for (auto &k : kq) { - // only do it for convs, since others might share memory - if (k->name.rfind("convolution_", 0) == 0) { - int best = -1; - if (k->local_work_size[0] * k->local_work_size[1] * k->local_work_size[2] < work_group_size/2) { - uint64_t base_time = k->benchmark(); - uint64_t best_time = base_time; - for (int i = 0; i < 3; i++) { - k->local_work_size[i] *= 2; - uint64_t this_time = k->benchmark(); - if (this_time < best_time) { - best = i; - best_time = this_time; - } - k->local_work_size[i] /= 2; - } - if (best != -1) { - k->local_work_size[best] *= 2; - //printf("%s %.2f ms doubled %d to %.2f ms\n", k->name.c_str(), base_time/1e6, best, best_time/1e6); - } - } - - } - } - - return 0; -} - diff --git a/selfdrive/modeld/thneed/serialize.cc b/selfdrive/modeld/thneed/serialize.cc index 136576fe1..f789e5bf5 100644 --- a/selfdrive/modeld/thneed/serialize.cc +++ b/selfdrive/modeld/thneed/serialize.cc @@ -14,9 +14,9 @@ void Thneed::load(const char *filename) { string buf = util::read_file(filename); int jsz = *(int *)buf.data(); - string err; + string jsonerr; string jj(buf.data() + sizeof(int), jsz); - Json jdat = Json::parse(jj, err); + Json jdat = Json::parse(jj, jsonerr); map real_mem; real_mem[NULL] = NULL; @@ -33,11 +33,14 @@ void Thneed::load(const char *filename) { assert(mobj["needs_load"].bool_value() == false); } else { if (mobj["needs_load"].bool_value()) { - //printf("loading %p %d @ 0x%X\n", clbuf, sz, ptr); clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, &buf[ptr], NULL); + if (debug >= 1) printf("loading %p %d @ 0x%X\n", clbuf, sz, ptr); ptr += sz; } else { - clbuf = clCreateBuffer(context, CL_MEM_READ_WRITE, sz, NULL, NULL); + // TODO: is there a faster way to init zeroed out buffers? + void *host_zeros = calloc(sz, 1); + clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, host_zeros, NULL); + free(host_zeros); } } assert(clbuf != NULL); @@ -48,13 +51,33 @@ void Thneed::load(const char *filename) { desc.image_width = mobj["width"].int_value(); desc.image_height = mobj["height"].int_value(); desc.image_row_pitch = mobj["row_pitch"].int_value(); + assert(sz == desc.image_height*desc.image_row_pitch); +#ifdef QCOM2 desc.buffer = clbuf; - - cl_image_format format; +#else + // TODO: we are creating unused buffers on PC + clReleaseMemObject(clbuf); +#endif + cl_image_format format = {0}; format.image_channel_order = CL_RGBA; - format.image_channel_data_type = CL_HALF_FLOAT; + format.image_channel_data_type = mobj["float32"].bool_value() ? CL_FLOAT : CL_HALF_FLOAT; + + cl_int errcode; - clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, NULL); +#ifndef QCOM2 + if (mobj["needs_load"].bool_value()) { + clbuf = clCreateImage(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, &format, &desc, &buf[ptr-sz], &errcode); + } else { + clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode); + } +#else + clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode); +#endif + if (clbuf == NULL) { + printf("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode), + desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer + ); + } assert(clbuf != NULL); } @@ -67,6 +90,30 @@ void Thneed::load(const char *filename) { g_programs[name] = cl_program_from_source(context, device_id, source.string_value()); } + for (auto &obj : jdat["inputs"].array_items()) { + auto mobj = obj.object_items(); + int sz = mobj["size"].int_value(); + cl_mem aa = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())]; + input_clmem.push_back(aa); + input_sizes.push_back(sz); + printf("Thneed::load: adding input %s with size %d\n", mobj["name"].string_value().data(), sz); + + cl_int cl_err; + void *ret = clEnqueueMapBuffer(command_queue, aa, CL_TRUE, CL_MAP_WRITE, 0, sz, 0, NULL, NULL, &cl_err); + if (cl_err != CL_SUCCESS) printf("clError: %s map %p %d\n", cl_get_error_string(cl_err), aa, sz); + assert(cl_err == CL_SUCCESS); + inputs.push_back(ret); + } + + for (auto &obj : jdat["outputs"].array_items()) { + auto mobj = obj.object_items(); + int sz = mobj["size"].int_value(); + printf("Thneed::save: adding output with size %d\n", sz); + // TODO: support multiple outputs + output = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())]; + assert(output != NULL); + } + for (auto &obj : jdat["binaries"].array_items()) { string name = obj["name"].string_value(); size_t length = obj["length"].int_value(); @@ -105,154 +152,3 @@ void Thneed::load(const char *filename) { clFinish(command_queue); } - -void Thneed::save(const char *filename, bool save_binaries) { - printf("Thneed::save: saving to %s\n", filename); - - // get kernels - std::vector kernels; - std::set saved_objects; - std::vector objects; - std::map programs; - std::map binaries; - - for (auto &k : kq) { - kernels.push_back(k->to_json()); - - // check args for objects - int i = 0; - for (auto &a : k->args) { - if (a.size() == 8) { - if (saved_objects.find(a) == saved_objects.end()) { - saved_objects.insert(a); - cl_mem val = *(cl_mem*)(a.data()); - if (val != NULL) { - bool needs_load = k->arg_names[i] == "weights" || k->arg_names[i] == "biases"; - - auto jj = Json::object({ - {"id", a}, - {"arg_type", k->arg_types[i]}, - }); - - if (k->arg_types[i] == "image2d_t" || k->arg_types[i] == "image1d_t") { - cl_mem buf; - clGetImageInfo(val, CL_IMAGE_BUFFER, sizeof(buf), &buf, NULL); - string aa = string((char *)&buf, sizeof(buf)); - jj["buffer_id"] = aa; - - size_t width, height, row_pitch; - clGetImageInfo(val, CL_IMAGE_WIDTH, sizeof(width), &width, NULL); - clGetImageInfo(val, CL_IMAGE_HEIGHT, sizeof(height), &height, NULL); - clGetImageInfo(val, CL_IMAGE_ROW_PITCH, sizeof(row_pitch), &row_pitch, NULL); - jj["width"] = (int)width; - jj["height"] = (int)height; - jj["row_pitch"] = (int)row_pitch; - jj["size"] = (int)(height * row_pitch); - jj["needs_load"] = false; - - if (saved_objects.find(aa) == saved_objects.end()) { - saved_objects.insert(aa); - size_t sz; - clGetMemObjectInfo(buf, CL_MEM_SIZE, sizeof(sz), &sz, NULL); - // save the buffer - objects.push_back(Json::object({ - {"id", aa}, - {"arg_type", ""}, - {"needs_load", needs_load}, - {"size", (int)sz} - })); - if (needs_load) assert(sz == height * row_pitch); - } - } else { - size_t sz = 0; - clGetMemObjectInfo(val, CL_MEM_SIZE, sizeof(sz), &sz, NULL); - jj["size"] = (int)sz; - jj["needs_load"] = needs_load; - } - - objects.push_back(jj); - } - } - } - i++; - } - - if (save_binaries) { - int err; - size_t binary_size = 0; - err = clGetProgramInfo(k->program, CL_PROGRAM_BINARY_SIZES, sizeof(binary_size), &binary_size, NULL); - assert(err == 0); - assert(binary_size > 0); - string sv(binary_size, '\x00'); - - uint8_t* bufs[1] = { (uint8_t*)sv.data(), }; - err = clGetProgramInfo(k->program, CL_PROGRAM_BINARIES, sizeof(bufs), &bufs, NULL); - assert(err == 0); - - binaries[k->name] = sv; - } else { - programs[k->name] = g_program_source[k->program]; - } - } - - vector saved_buffers; - for (auto &obj : objects) { - auto mobj = obj.object_items(); - cl_mem val = *(cl_mem*)(mobj["id"].string_value().data()); - int sz = mobj["size"].int_value(); - if (mobj["needs_load"].bool_value()) { - char *buf = (char *)malloc(sz); - if (mobj["arg_type"] == "image2d_t" || mobj["arg_type"] == "image1d_t") { - assert(false); - } else { - // buffers allocated with CL_MEM_HOST_WRITE_ONLY, hence this hack - //hexdump((uint32_t*)val, 0x100); - - // the worst hack in thneed, the flags are at 0x14 - ((uint32_t*)val)[0x14] &= ~CL_MEM_HOST_WRITE_ONLY; - cl_int ret = clEnqueueReadBuffer(command_queue, val, CL_TRUE, 0, sz, buf, 0, NULL, NULL); - assert(ret == CL_SUCCESS); - } - //printf("saving buffer: %d %p %s\n", sz, buf, mobj["arg_type"].string_value().c_str()); - saved_buffers.push_back(string(buf, sz)); - free(buf); - } - } - - std::vector jbinaries; - for (auto &obj : binaries) { - jbinaries.push_back(Json::object({{"name", obj.first}, {"length", (int)obj.second.size()}})); - saved_buffers.push_back(obj.second); - } - - Json jdat = Json::object({ - {"kernels", kernels}, - {"objects", objects}, - {"programs", programs}, - {"binaries", jbinaries}, - }); - - string str = jdat.dump(); - int jsz = str.length(); - - FILE *f = fopen(filename, "wb"); - fwrite(&jsz, 1, sizeof(jsz), f); - fwrite(str.data(), 1, jsz, f); - for (auto &s : saved_buffers) { - fwrite(s.data(), 1, s.length(), f); - } - fclose(f); -} - -Json CLQueuedKernel::to_json() const { - return Json::object { - { "name", name }, - { "work_dim", (int)work_dim }, - { "global_work_size", Json::array { (int)global_work_size[0], (int)global_work_size[1], (int)global_work_size[2] } }, - { "local_work_size", Json::array { (int)local_work_size[0], (int)local_work_size[1], (int)local_work_size[2] } }, - { "num_args", (int)num_args }, - { "args", args }, - { "args_size", args_size }, - }; -} - diff --git a/selfdrive/modeld/thneed/thneed.cc b/selfdrive/modeld/thneed/thneed.cc deleted file mode 100644 index d673c4f56..000000000 --- a/selfdrive/modeld/thneed/thneed.cc +++ /dev/null @@ -1,604 +0,0 @@ -#include "selfdrive/modeld/thneed/thneed.h" - -#include -#include - -#include -#include -#include -#include -#include - -#include "common/clutil.h" -#include "common/timing.h" - -Thneed *g_thneed = NULL; -int g_fd = -1; -map, string> g_args; -map, int> g_args_size; -map g_program_source; - -void hexdump(uint8_t *d, int len) { - assert((len%4) == 0); - printf(" dumping %p len 0x%x\n", d, len); - for (int i = 0; i < len/4; i++) { - if (i != 0 && (i%0x10) == 0) printf("\n"); - printf("%8x ", d[i]); - } - printf("\n"); -} - -// *********** ioctl interceptor *********** - -extern "C" { - -int (*my_ioctl)(int filedes, unsigned long request, void *argp) = NULL; -#undef ioctl -int ioctl(int filedes, unsigned long request, void *argp) { - request &= 0xFFFFFFFF; // needed on QCOM2 - if (my_ioctl == NULL) my_ioctl = reinterpret_cast(dlsym(RTLD_NEXT, "ioctl")); - Thneed *thneed = g_thneed; - - // save the fd - if (request == IOCTL_KGSL_GPUOBJ_ALLOC) g_fd = filedes; - - // note that this runs always, even without a thneed object - if (request == IOCTL_KGSL_DRAWCTXT_CREATE) { - struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp; - create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK; - create->flags |= 1 << KGSL_CONTEXT_PRIORITY_SHIFT; // priority from 1-15, 1 is max priority - printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags); - } - - if (thneed != NULL) { - if (request == IOCTL_KGSL_GPU_COMMAND) { - struct kgsl_gpu_command *cmd = (struct kgsl_gpu_command *)argp; - if (thneed->record) { - thneed->timestamp = cmd->timestamp; - thneed->context_id = cmd->context_id; - thneed->cmds.push_back(unique_ptr(new CachedCommand(thneed, cmd))); - } - if (thneed->debug >= 1) { - printf("IOCTL_KGSL_GPU_COMMAND(%2zu): flags: 0x%lx context_id: %u timestamp: %u numcmds: %d numobjs: %d\n", - thneed->cmds.size(), - cmd->flags, - cmd->context_id, cmd->timestamp, cmd->numcmds, cmd->numobjs); - } - } else if (request == IOCTL_KGSL_GPUOBJ_SYNC) { - struct kgsl_gpuobj_sync *cmd = (struct kgsl_gpuobj_sync *)argp; - struct kgsl_gpuobj_sync_obj *objs = (struct kgsl_gpuobj_sync_obj *)(cmd->objs); - - if (thneed->debug >= 2) { - printf("IOCTL_KGSL_GPUOBJ_SYNC count:%d ", cmd->count); - for (int i = 0; i < cmd->count; i++) { - printf(" -- offset:0x%lx len:0x%lx id:%d op:%d ", objs[i].offset, objs[i].length, objs[i].id, objs[i].op); - } - printf("\n"); - } - - if (thneed->record) { - thneed->cmds.push_back(unique_ptr(new - CachedSync(thneed, string((char *)objs, sizeof(struct kgsl_gpuobj_sync_obj)*cmd->count)))); - } - } else if (request == IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID) { - struct kgsl_device_waittimestamp_ctxtid *cmd = (struct kgsl_device_waittimestamp_ctxtid *)argp; - if (thneed->debug >= 1) { - printf("IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID: context_id: %d timestamp: %d timeout: %d\n", - cmd->context_id, cmd->timestamp, cmd->timeout); - } - } else if (request == IOCTL_KGSL_SETPROPERTY) { - if (thneed->debug >= 1) { - struct kgsl_device_getproperty *prop = (struct kgsl_device_getproperty *)argp; - printf("IOCTL_KGSL_SETPROPERTY: 0x%x sizebytes:%zu\n", prop->type, prop->sizebytes); - if (thneed->debug >= 2) { - hexdump((uint8_t *)prop->value, prop->sizebytes); - if (prop->type == KGSL_PROP_PWR_CONSTRAINT) { - struct kgsl_device_constraint *constraint = (struct kgsl_device_constraint *)prop->value; - hexdump((uint8_t *)constraint->data, constraint->size); - } - } - } - } else if (request == IOCTL_KGSL_DRAWCTXT_CREATE || request == IOCTL_KGSL_DRAWCTXT_DESTROY) { - // this happens - } else if (request == IOCTL_KGSL_GPUOBJ_ALLOC || request == IOCTL_KGSL_GPUOBJ_FREE) { - // this happens - } else { - if (thneed->debug >= 1) { - printf("other ioctl %lx\n", request); - } - } - } - - int ret = my_ioctl(filedes, request, argp); - if (ret != 0) printf("ioctl returned %d with errno %d\n", ret, errno); - return ret; -} - -} - -// *********** GPUMalloc *********** - -GPUMalloc::GPUMalloc(int size, int fd) { - struct kgsl_gpuobj_alloc alloc; - memset(&alloc, 0, sizeof(alloc)); - alloc.size = size; - alloc.flags = 0x10000a00; - ioctl(fd, IOCTL_KGSL_GPUOBJ_ALLOC, &alloc); - void *addr = mmap64(NULL, alloc.mmapsize, 0x3, 0x1, fd, alloc.id*0x1000); - assert(addr != MAP_FAILED); - - base = (uint64_t)addr; - remaining = size; -} - -GPUMalloc::~GPUMalloc() { - // TODO: free the GPU malloced area -} - -void *GPUMalloc::alloc(int size) { - void *ret = (void*)base; - size = (size+0xff) & (~0xFF); - assert(size <= remaining); - remaining -= size; - base += size; - return ret; -} - -// *********** CachedSync, at the ioctl layer *********** - -void CachedSync::exec() { - struct kgsl_gpuobj_sync cmd; - - cmd.objs = (uint64_t)data.data(); - cmd.obj_len = data.length(); - cmd.count = data.length() / sizeof(struct kgsl_gpuobj_sync_obj); - - int ret = ioctl(thneed->fd, IOCTL_KGSL_GPUOBJ_SYNC, &cmd); - assert(ret == 0); -} - -// *********** CachedCommand, at the ioctl layer *********** - -CachedCommand::CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd) { - thneed = lthneed; - assert(cmd->numsyncs == 0); - - memcpy(&cache, cmd, sizeof(cache)); - - if (cmd->numcmds > 0) { - cmds = make_unique(cmd->numcmds); - memcpy(cmds.get(), (void *)cmd->cmdlist, sizeof(struct kgsl_command_object)*cmd->numcmds); - cache.cmdlist = (uint64_t)cmds.get(); - for (int i = 0; i < cmd->numcmds; i++) { - void *nn = thneed->ram->alloc(cmds[i].size); - memcpy(nn, (void*)cmds[i].gpuaddr, cmds[i].size); - cmds[i].gpuaddr = (uint64_t)nn; - } - } - - if (cmd->numobjs > 0) { - objs = make_unique(cmd->numobjs); - memcpy(objs.get(), (void *)cmd->objlist, sizeof(struct kgsl_command_object)*cmd->numobjs); - cache.objlist = (uint64_t)objs.get(); - for (int i = 0; i < cmd->numobjs; i++) { - void *nn = thneed->ram->alloc(objs[i].size); - memset(nn, 0, objs[i].size); - objs[i].gpuaddr = (uint64_t)nn; - } - } - - kq = thneed->ckq; - thneed->ckq.clear(); -} - -void CachedCommand::exec() { - cache.timestamp = ++thneed->timestamp; - int ret = ioctl(thneed->fd, IOCTL_KGSL_GPU_COMMAND, &cache); - - if (thneed->debug >= 1) printf("CachedCommand::exec got %d\n", ret); - - if (thneed->debug >= 2) { - for (auto &it : kq) { - it->debug_print(false); - } - } - - assert(ret == 0); -} - -// *********** Thneed *********** - -Thneed::Thneed(bool do_clinit) { - if (do_clinit) clinit(); - assert(g_fd != -1); - fd = g_fd; - ram = make_unique(0x80000, fd); - timestamp = -1; - g_thneed = this; - char *thneed_debug_env = getenv("THNEED_DEBUG"); - debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0; -} - -void Thneed::stop() { - find_inputs_outputs(); - printf("Thneed::stop: recorded %lu commands\n", cmds.size()); - record = false; -} - -void Thneed::find_inputs_outputs() { - cl_int err; - if (inputs.size() > 0) return; - - // save the global inputs/outputs - for (auto &k : kq) { - for (int i = 0; i < k->num_args; i++) { - if (k->name == "zero_pad_image_float" && k->arg_names[i] == "input") { - cl_mem aa = *(cl_mem*)(k->args[i].data()); - input_clmem.push_back(aa); - - size_t sz; - clGetMemObjectInfo(aa, CL_MEM_SIZE, sizeof(sz), &sz, NULL); - input_sizes.push_back(sz); - - void *ret = clEnqueueMapBuffer(command_queue, aa, CL_TRUE, CL_MAP_WRITE, 0, sz, 0, NULL, NULL, &err); - assert(err == CL_SUCCESS); - inputs.push_back(ret); - } - - if (k->name == "image2d_to_buffer_float" && k->arg_names[i] == "output") { - output = *(cl_mem*)(k->args[i].data()); - } - } - } -} - -void Thneed::copy_inputs(float **finputs) { - //cl_int ret; - for (int idx = 0; idx < inputs.size(); ++idx) { - if (debug >= 1) printf("copying %lu -- %p -> %p\n", input_sizes[idx], finputs[idx], inputs[idx]); - if (finputs[idx] != NULL) memcpy(inputs[idx], finputs[idx], input_sizes[idx]); - } -} - -void Thneed::copy_output(float *foutput) { - if (output != NULL) { - size_t sz; - clGetMemObjectInfo(output, CL_MEM_SIZE, sizeof(sz), &sz, NULL); - if (debug >= 1) printf("copying %lu for output %p -> %p\n", sz, output, foutput); - clEnqueueReadBuffer(command_queue, output, CL_TRUE, 0, sz, foutput, 0, NULL, NULL); - } else { - printf("CAUTION: model output is NULL, does it have no outputs?\n"); - } -} - -void Thneed::wait() { - struct kgsl_device_waittimestamp_ctxtid wait; - wait.context_id = context_id; - wait.timestamp = timestamp; - wait.timeout = -1; - - uint64_t tb = nanos_since_boot(); - int wret = ioctl(fd, IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID, &wait); - uint64_t te = nanos_since_boot(); - - if (debug >= 1) printf("wait %d after %lu us\n", wret, (te-tb)/1000); -} - -void Thneed::execute(float **finputs, float *foutput, bool slow) { - uint64_t tb, te; - if (debug >= 1) tb = nanos_since_boot(); - - // ****** copy inputs - copy_inputs(finputs); - - // ****** set power constraint - int ret; - struct kgsl_device_constraint_pwrlevel pwrlevel; - pwrlevel.level = KGSL_CONSTRAINT_PWR_MAX; - - struct kgsl_device_constraint constraint; - constraint.type = KGSL_CONSTRAINT_PWRLEVEL; - constraint.context_id = context_id; - constraint.data = (void*)&pwrlevel; - constraint.size = sizeof(pwrlevel); - - struct kgsl_device_getproperty prop; - prop.type = KGSL_PROP_PWR_CONSTRAINT; - prop.value = (void*)&constraint; - prop.sizebytes = sizeof(constraint); - ret = ioctl(fd, IOCTL_KGSL_SETPROPERTY, &prop); - assert(ret == 0); - - // ****** run commands - int i = 0; - for (auto &it : cmds) { - ++i; - if (debug >= 1) printf("run %2d @ %7lu us: ", i, (nanos_since_boot()-tb)/1000); - it->exec(); - if ((i == cmds.size()) || slow) wait(); - } - - // ****** copy outputs - copy_output(foutput); - - // ****** unset power constraint - constraint.type = KGSL_CONSTRAINT_NONE; - constraint.data = NULL; - constraint.size = 0; - - ret = ioctl(fd, IOCTL_KGSL_SETPROPERTY, &prop); - assert(ret == 0); - - if (debug >= 1) { - te = nanos_since_boot(); - printf("model exec in %lu us\n", (te-tb)/1000); - } -} - -void Thneed::clinit() { - device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT); - context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); - //cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, CL_QUEUE_PROFILING_ENABLE, 0}; - cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, 0, 0}; - command_queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err)); - printf("Thneed::clinit done\n"); -} - -cl_int Thneed::clexec() { - printf("Thneed::clexec: running %lu queued kernels\n", kq.size()); - for (auto &k : kq) { - if (record) ckq.push_back(k); - cl_int ret = k->exec(); - assert(ret == CL_SUCCESS); - } - return clFinish(command_queue); -} - -// *********** OpenCL interceptor *********** - -cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value) { - g_args_size[make_pair(kernel, arg_index)] = arg_size; - if (arg_value != NULL) { - g_args[make_pair(kernel, arg_index)] = string((char*)arg_value, arg_size); - } else { - g_args[make_pair(kernel, arg_index)] = string(""); - } - cl_int ret = clSetKernelArg(kernel, arg_index, arg_size, arg_value); - return ret; -} - -cl_int thneed_clEnqueueNDRangeKernel(cl_command_queue command_queue, - cl_kernel kernel, - cl_uint work_dim, - const size_t *global_work_offset, - const size_t *global_work_size, - const size_t *local_work_size, - cl_uint num_events_in_wait_list, - const cl_event *event_wait_list, - cl_event *event) { - - Thneed *thneed = g_thneed; - - // SNPE doesn't use these - assert(num_events_in_wait_list == 0); - assert(global_work_offset == NULL); - assert(event_wait_list == NULL); - - cl_int ret = 0; - if (thneed != NULL && thneed->record) { - if (thneed->context == NULL) { - thneed->command_queue = command_queue; - clGetKernelInfo(kernel, CL_KERNEL_CONTEXT, sizeof(thneed->context), &thneed->context, NULL); - clGetContextInfo(thneed->context, CL_CONTEXT_DEVICES, sizeof(thneed->device_id), &thneed->device_id, NULL); - } - - // if we are recording, we don't actually enqueue the kernel - thneed->kq.push_back(unique_ptr(new CLQueuedKernel(thneed, kernel, work_dim, global_work_size, local_work_size))); - *event = NULL; - } else { - ret = clEnqueueNDRangeKernel(command_queue, kernel, work_dim, - global_work_offset, global_work_size, local_work_size, - num_events_in_wait_list, event_wait_list, event); - } - - return ret; -} - -cl_int thneed_clFinish(cl_command_queue command_queue) { - Thneed *thneed = g_thneed; - - if (thneed != NULL && thneed->record) { - if (thneed->run_optimizer) thneed->optimize(); - return thneed->clexec(); - } else { - return clFinish(command_queue); - } -} - -cl_program thneed_clCreateProgramWithSource(cl_context context, cl_uint count, const char **strings, const size_t *lengths, cl_int *errcode_ret) { - assert(count == 1); - cl_program ret = clCreateProgramWithSource(context, count, strings, lengths, errcode_ret); - g_program_source[ret] = strings[0]; - return ret; -} - -void *dlsym(void *handle, const char *symbol) { -#ifdef QCOM2 - void *(*my_dlsym)(void *handle, const char *symbol) = (void *(*)(void *handle, const char *symbol))((uintptr_t)dlopen + DLSYM_OFFSET); -#else - #error "Unsupported platform for thneed" -#endif - if (memcmp("REAL_", symbol, 5) == 0) { - return my_dlsym(handle, symbol+5); - } else if (strcmp("clFinish", symbol) == 0) { - return (void*)thneed_clFinish; - } else if (strcmp("clEnqueueNDRangeKernel", symbol) == 0) { - return (void*)thneed_clEnqueueNDRangeKernel; - } else if (strcmp("clSetKernelArg", symbol) == 0) { - return (void*)thneed_clSetKernelArg; - } else if (strcmp("clCreateProgramWithSource", symbol) == 0) { - return (void*)thneed_clCreateProgramWithSource; - } else { - return my_dlsym(handle, symbol); - } -} - -// *********** CLQueuedKernel *********** - -CLQueuedKernel::CLQueuedKernel(Thneed *lthneed, - cl_kernel _kernel, - cl_uint _work_dim, - const size_t *_global_work_size, - const size_t *_local_work_size) { - thneed = lthneed; - kernel = _kernel; - work_dim = _work_dim; - assert(work_dim <= 3); - for (int i = 0; i < work_dim; i++) { - global_work_size[i] = _global_work_size[i]; - local_work_size[i] = _local_work_size[i]; - } - - char _name[0x100]; - clGetKernelInfo(kernel, CL_KERNEL_FUNCTION_NAME, sizeof(_name), _name, NULL); - name = string(_name); - clGetKernelInfo(kernel, CL_KERNEL_NUM_ARGS, sizeof(num_args), &num_args, NULL); - - // get args - for (int i = 0; i < num_args; i++) { - char arg_name[0x100]; - clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL); - arg_names.push_back(string(arg_name)); - clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL); - arg_types.push_back(string(arg_name)); - - args.push_back(g_args[make_pair(kernel, i)]); - args_size.push_back(g_args_size[make_pair(kernel, i)]); - } - - // get program - clGetKernelInfo(kernel, CL_KERNEL_PROGRAM, sizeof(program), &program, NULL); -} - -int CLQueuedKernel::get_arg_num(const char *search_arg_name) { - for (int i = 0; i < num_args; i++) { - if (arg_names[i] == search_arg_name) return i; - } - printf("failed to find %s in %s\n", search_arg_name, name.c_str()); - assert(false); -} - -cl_int CLQueuedKernel::exec() { - if (kernel == NULL) { - kernel = clCreateKernel(program, name.c_str(), NULL); - arg_names.clear(); - arg_types.clear(); - - for (int j = 0; j < num_args; j++) { - char arg_name[0x100]; - clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL); - arg_names.push_back(string(arg_name)); - clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL); - arg_types.push_back(string(arg_name)); - - cl_int ret; - if (args[j].size() != 0) { - assert(args[j].size() == args_size[j]); - ret = thneed_clSetKernelArg(kernel, j, args[j].size(), args[j].data()); - } else { - ret = thneed_clSetKernelArg(kernel, j, args_size[j], NULL); - } - assert(ret == CL_SUCCESS); - } - } - - if (thneed->debug >= 1) { - debug_print(thneed->debug >= 2); - } - - return clEnqueueNDRangeKernel(thneed->command_queue, - kernel, work_dim, NULL, global_work_size, local_work_size, 0, NULL, NULL); -} - -uint64_t CLQueuedKernel::benchmark() { - uint64_t ret = 0; - int old_record = thneed->record; - thneed->record = 0; - clFinish(thneed->command_queue); - // TODO: benchmarking at a lower level will make this more accurate - for (int i = 0; i < 10; i++) { - uint64_t sb = nanos_since_boot(); - exec(); - clFinish(thneed->command_queue); - uint64_t et = nanos_since_boot() - sb; - if (ret == 0 || et < ret) ret = et; - } - thneed->record = old_record; - return ret; -} - -void CLQueuedKernel::debug_print(bool verbose) { - printf("%p %56s -- ", kernel, name.c_str()); - for (int i = 0; i < work_dim; i++) { - printf("%4zu ", global_work_size[i]); - } - printf(" -- "); - for (int i = 0; i < work_dim; i++) { - printf("%4zu ", local_work_size[i]); - } - printf("\n"); - - if (verbose) { - for (int i = 0; i < num_args; i++) { - string arg = args[i]; - printf(" %s %s", arg_types[i].c_str(), arg_names[i].c_str()); - void *arg_value = (void*)arg.data(); - int arg_size = arg.size(); - if (arg_size == 0) { - printf(" (size) %d", args_size[i]); - } else if (arg_size == 1) { - printf(" = %d", *((char*)arg_value)); - } else if (arg_size == 2) { - printf(" = %d", *((short*)arg_value)); - } else if (arg_size == 4) { - if (arg_types[i] == "float") { - printf(" = %f", *((float*)arg_value)); - } else { - printf(" = %d", *((int*)arg_value)); - } - } else if (arg_size == 8) { - cl_mem val = (cl_mem)(*((uintptr_t*)arg_value)); - printf(" = %p", val); - if (val != NULL) { - if (arg_types[i] == "image2d_t" || arg_types[i] == "image1d_t") { - cl_image_format format; - size_t width, height, depth, array_size, row_pitch, slice_pitch; - cl_mem buf; - clGetImageInfo(val, CL_IMAGE_FORMAT, sizeof(format), &format, NULL); - assert(format.image_channel_order == CL_RGBA); - assert(format.image_channel_data_type == CL_HALF_FLOAT); - clGetImageInfo(val, CL_IMAGE_WIDTH, sizeof(width), &width, NULL); - clGetImageInfo(val, CL_IMAGE_HEIGHT, sizeof(height), &height, NULL); - clGetImageInfo(val, CL_IMAGE_ROW_PITCH, sizeof(row_pitch), &row_pitch, NULL); - clGetImageInfo(val, CL_IMAGE_DEPTH, sizeof(depth), &depth, NULL); - clGetImageInfo(val, CL_IMAGE_ARRAY_SIZE, sizeof(array_size), &array_size, NULL); - clGetImageInfo(val, CL_IMAGE_SLICE_PITCH, sizeof(slice_pitch), &slice_pitch, NULL); - assert(depth == 0); - assert(array_size == 0); - assert(slice_pitch == 0); - - clGetImageInfo(val, CL_IMAGE_BUFFER, sizeof(buf), &buf, NULL); - size_t sz; - clGetMemObjectInfo(buf, CL_MEM_SIZE, sizeof(sz), &sz, NULL); - printf(" image %zu x %zu rp %zu @ %p buffer %zu", width, height, row_pitch, buf, sz); - } else { - size_t sz; - clGetMemObjectInfo(val, CL_MEM_SIZE, sizeof(sz), &sz, NULL); - printf(" buffer %zu", sz); - } - } - } - printf("\n"); - } - } -} diff --git a/selfdrive/modeld/thneed/thneed.h b/selfdrive/modeld/thneed/thneed.h index 0ccea59a3..65475ccf7 100644 --- a/selfdrive/modeld/thneed/thneed.h +++ b/selfdrive/modeld/thneed/thneed.h @@ -16,6 +16,8 @@ using namespace std; +cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value); + namespace json11 { class Json; } @@ -40,7 +42,6 @@ class CLQueuedKernel { const size_t *_global_work_size, const size_t *_local_work_size); cl_int exec(); - uint64_t benchmark(); void debug_print(bool verbose); int get_arg_num(const char *search_arg_name); cl_program program; @@ -89,12 +90,10 @@ class CachedCommand: public CachedIoctl { class Thneed { public: - Thneed(bool do_clinit=false); + Thneed(bool do_clinit=false, cl_context _context = NULL); void stop(); void execute(float **finputs, float *foutput, bool slow=false); void wait(); - int optimize(); - bool run_optimizer = false; vector input_clmem; vector inputs; @@ -110,13 +109,15 @@ class Thneed { bool record = false; int debug; int timestamp; + +#ifdef QCOM2 unique_ptr ram; vector > cmds; int fd; +#endif // all CL kernels - void find_inputs_outputs(); - void copy_inputs(float **finputs); + void copy_inputs(float **finputs, bool internal=false); void copy_output(float *foutput); cl_int clexec(); vector > kq; @@ -124,9 +125,8 @@ class Thneed { // pending CL kernels vector > ckq; - // loading and saving + // loading void load(const char *filename); - void save(const char *filename, bool save_binaries=false); private: void clinit(); }; diff --git a/selfdrive/modeld/thneed/thneed_common.cc b/selfdrive/modeld/thneed/thneed_common.cc new file mode 100644 index 000000000..21170b13a --- /dev/null +++ b/selfdrive/modeld/thneed/thneed_common.cc @@ -0,0 +1,216 @@ +#include "selfdrive/modeld/thneed/thneed.h" + +#include +#include +#include + +#include "common/clutil.h" +#include "common/timing.h" + +map, string> g_args; +map, int> g_args_size; +map g_program_source; + +void Thneed::stop() { + printf("Thneed::stop: recorded %lu commands\n", cmds.size()); + record = false; +} + +void Thneed::clinit() { + device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT); + if (context == NULL) context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); + //cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, CL_QUEUE_PROFILING_ENABLE, 0}; + cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, 0, 0}; + command_queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err)); + printf("Thneed::clinit done\n"); +} + +cl_int Thneed::clexec() { + if (debug >= 1) printf("Thneed::clexec: running %lu queued kernels\n", kq.size()); + for (auto &k : kq) { + if (record) ckq.push_back(k); + cl_int ret = k->exec(); + assert(ret == CL_SUCCESS); + } + return clFinish(command_queue); +} + +void Thneed::copy_inputs(float **finputs, bool internal) { + for (int idx = 0; idx < inputs.size(); ++idx) { + if (debug >= 1) printf("copying %lu -- %p -> %p (cl %p)\n", input_sizes[idx], finputs[idx], inputs[idx], input_clmem[idx]); + + if (internal) { + // if it's internal, using memcpy is fine since the buffer sync is cached in the ioctl layer + if (finputs[idx] != NULL) memcpy(inputs[idx], finputs[idx], input_sizes[idx]); + } else { + if (finputs[idx] != NULL) CL_CHECK(clEnqueueWriteBuffer(command_queue, input_clmem[idx], CL_TRUE, 0, input_sizes[idx], finputs[idx], 0, NULL, NULL)); + } + } +} + +void Thneed::copy_output(float *foutput) { + if (output != NULL) { + size_t sz; + clGetMemObjectInfo(output, CL_MEM_SIZE, sizeof(sz), &sz, NULL); + if (debug >= 1) printf("copying %lu for output %p -> %p\n", sz, output, foutput); + CL_CHECK(clEnqueueReadBuffer(command_queue, output, CL_TRUE, 0, sz, foutput, 0, NULL, NULL)); + } else { + printf("CAUTION: model output is NULL, does it have no outputs?\n"); + } +} + +// *********** CLQueuedKernel *********** + +CLQueuedKernel::CLQueuedKernel(Thneed *lthneed, + cl_kernel _kernel, + cl_uint _work_dim, + const size_t *_global_work_size, + const size_t *_local_work_size) { + thneed = lthneed; + kernel = _kernel; + work_dim = _work_dim; + assert(work_dim <= 3); + for (int i = 0; i < work_dim; i++) { + global_work_size[i] = _global_work_size[i]; + local_work_size[i] = _local_work_size[i]; + } + + char _name[0x100]; + clGetKernelInfo(kernel, CL_KERNEL_FUNCTION_NAME, sizeof(_name), _name, NULL); + name = string(_name); + clGetKernelInfo(kernel, CL_KERNEL_NUM_ARGS, sizeof(num_args), &num_args, NULL); + + // get args + for (int i = 0; i < num_args; i++) { + char arg_name[0x100] = {0}; + clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL); + arg_names.push_back(string(arg_name)); + clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL); + arg_types.push_back(string(arg_name)); + + args.push_back(g_args[make_pair(kernel, i)]); + args_size.push_back(g_args_size[make_pair(kernel, i)]); + } + + // get program + clGetKernelInfo(kernel, CL_KERNEL_PROGRAM, sizeof(program), &program, NULL); +} + +int CLQueuedKernel::get_arg_num(const char *search_arg_name) { + for (int i = 0; i < num_args; i++) { + if (arg_names[i] == search_arg_name) return i; + } + printf("failed to find %s in %s\n", search_arg_name, name.c_str()); + assert(false); +} + +cl_int CLQueuedKernel::exec() { + if (kernel == NULL) { + kernel = clCreateKernel(program, name.c_str(), NULL); + arg_names.clear(); + arg_types.clear(); + + for (int j = 0; j < num_args; j++) { + char arg_name[0x100] = {0}; + clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL); + arg_names.push_back(string(arg_name)); + clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL); + arg_types.push_back(string(arg_name)); + + cl_int ret; + if (args[j].size() != 0) { + assert(args[j].size() == args_size[j]); + ret = thneed_clSetKernelArg(kernel, j, args[j].size(), args[j].data()); + } else { + ret = thneed_clSetKernelArg(kernel, j, args_size[j], NULL); + } + assert(ret == CL_SUCCESS); + } + } + + if (thneed->debug >= 1) { + debug_print(thneed->debug >= 2); + } + + return clEnqueueNDRangeKernel(thneed->command_queue, + kernel, work_dim, NULL, global_work_size, local_work_size, 0, NULL, NULL); +} + +void CLQueuedKernel::debug_print(bool verbose) { + printf("%p %56s -- ", kernel, name.c_str()); + for (int i = 0; i < work_dim; i++) { + printf("%4zu ", global_work_size[i]); + } + printf(" -- "); + for (int i = 0; i < work_dim; i++) { + printf("%4zu ", local_work_size[i]); + } + printf("\n"); + + if (verbose) { + for (int i = 0; i < num_args; i++) { + string arg = args[i]; + printf(" %s %s", arg_types[i].c_str(), arg_names[i].c_str()); + void *arg_value = (void*)arg.data(); + int arg_size = arg.size(); + if (arg_size == 0) { + printf(" (size) %d", args_size[i]); + } else if (arg_size == 1) { + printf(" = %d", *((char*)arg_value)); + } else if (arg_size == 2) { + printf(" = %d", *((short*)arg_value)); + } else if (arg_size == 4) { + if (arg_types[i] == "float") { + printf(" = %f", *((float*)arg_value)); + } else { + printf(" = %d", *((int*)arg_value)); + } + } else if (arg_size == 8) { + cl_mem val = (cl_mem)(*((uintptr_t*)arg_value)); + printf(" = %p", val); + if (val != NULL) { + cl_mem_object_type obj_type; + clGetMemObjectInfo(val, CL_MEM_TYPE, sizeof(obj_type), &obj_type, NULL); + if (arg_types[i] == "image2d_t" || arg_types[i] == "image1d_t" || obj_type == CL_MEM_OBJECT_IMAGE2D) { + cl_image_format format; + size_t width, height, depth, array_size, row_pitch, slice_pitch; + cl_mem buf; + clGetImageInfo(val, CL_IMAGE_FORMAT, sizeof(format), &format, NULL); + assert(format.image_channel_order == CL_RGBA); + assert(format.image_channel_data_type == CL_HALF_FLOAT || format.image_channel_data_type == CL_FLOAT); + clGetImageInfo(val, CL_IMAGE_WIDTH, sizeof(width), &width, NULL); + clGetImageInfo(val, CL_IMAGE_HEIGHT, sizeof(height), &height, NULL); + clGetImageInfo(val, CL_IMAGE_ROW_PITCH, sizeof(row_pitch), &row_pitch, NULL); + clGetImageInfo(val, CL_IMAGE_DEPTH, sizeof(depth), &depth, NULL); + clGetImageInfo(val, CL_IMAGE_ARRAY_SIZE, sizeof(array_size), &array_size, NULL); + clGetImageInfo(val, CL_IMAGE_SLICE_PITCH, sizeof(slice_pitch), &slice_pitch, NULL); + assert(depth == 0); + assert(array_size == 0); + assert(slice_pitch == 0); + + clGetImageInfo(val, CL_IMAGE_BUFFER, sizeof(buf), &buf, NULL); + size_t sz = 0; + if (buf != NULL) clGetMemObjectInfo(buf, CL_MEM_SIZE, sizeof(sz), &sz, NULL); + printf(" image %zu x %zu rp %zu @ %p buffer %zu", width, height, row_pitch, buf, sz); + } else { + size_t sz; + clGetMemObjectInfo(val, CL_MEM_SIZE, sizeof(sz), &sz, NULL); + printf(" buffer %zu", sz); + } + } + } + printf("\n"); + } + } +} + +cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value) { + g_args_size[make_pair(kernel, arg_index)] = arg_size; + if (arg_value != NULL) { + g_args[make_pair(kernel, arg_index)] = string((char*)arg_value, arg_size); + } else { + g_args[make_pair(kernel, arg_index)] = string(""); + } + cl_int ret = clSetKernelArg(kernel, arg_index, arg_size, arg_value); + return ret; +} diff --git a/selfdrive/modeld/thneed/thneed_pc.cc b/selfdrive/modeld/thneed/thneed_pc.cc new file mode 100644 index 000000000..8d0037628 --- /dev/null +++ b/selfdrive/modeld/thneed/thneed_pc.cc @@ -0,0 +1,32 @@ +#include "selfdrive/modeld/thneed/thneed.h" + +#include + +#include "common/clutil.h" +#include "common/timing.h" + +Thneed::Thneed(bool do_clinit, cl_context _context) { + context = _context; + if (do_clinit) clinit(); + char *thneed_debug_env = getenv("THNEED_DEBUG"); + debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0; +} + +void Thneed::execute(float **finputs, float *foutput, bool slow) { + uint64_t tb, te; + if (debug >= 1) tb = nanos_since_boot(); + + // ****** copy inputs + copy_inputs(finputs); + + // ****** run commands + clexec(); + + // ****** copy outputs + copy_output(foutput); + + if (debug >= 1) { + te = nanos_since_boot(); + printf("model exec in %lu us\n", (te-tb)/1000); + } +} diff --git a/selfdrive/modeld/thneed/thneed_qcom2.cc b/selfdrive/modeld/thneed/thneed_qcom2.cc new file mode 100644 index 000000000..a29a82c8c --- /dev/null +++ b/selfdrive/modeld/thneed/thneed_qcom2.cc @@ -0,0 +1,283 @@ +#include "selfdrive/modeld/thneed/thneed.h" + +#include +#include + +#include +#include +#include +#include +#include + +#include "common/clutil.h" +#include "common/timing.h" + +Thneed *g_thneed = NULL; +int g_fd = -1; + +void hexdump(uint8_t *d, int len) { + assert((len%4) == 0); + printf(" dumping %p len 0x%x\n", d, len); + for (int i = 0; i < len/4; i++) { + if (i != 0 && (i%0x10) == 0) printf("\n"); + printf("%8x ", d[i]); + } + printf("\n"); +} + +// *********** ioctl interceptor *********** + +extern "C" { + +int (*my_ioctl)(int filedes, unsigned long request, void *argp) = NULL; +#undef ioctl +int ioctl(int filedes, unsigned long request, void *argp) { + request &= 0xFFFFFFFF; // needed on QCOM2 + if (my_ioctl == NULL) my_ioctl = reinterpret_cast(dlsym(RTLD_NEXT, "ioctl")); + Thneed *thneed = g_thneed; + + // save the fd + if (request == IOCTL_KGSL_GPUOBJ_ALLOC) g_fd = filedes; + + // note that this runs always, even without a thneed object + if (request == IOCTL_KGSL_DRAWCTXT_CREATE) { + struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp; + create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK; + create->flags |= 1 << KGSL_CONTEXT_PRIORITY_SHIFT; // priority from 1-15, 1 is max priority + printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags); + } + + if (thneed != NULL) { + if (request == IOCTL_KGSL_GPU_COMMAND) { + struct kgsl_gpu_command *cmd = (struct kgsl_gpu_command *)argp; + if (thneed->record) { + thneed->timestamp = cmd->timestamp; + thneed->context_id = cmd->context_id; + thneed->cmds.push_back(unique_ptr(new CachedCommand(thneed, cmd))); + } + if (thneed->debug >= 1) { + printf("IOCTL_KGSL_GPU_COMMAND(%2zu): flags: 0x%lx context_id: %u timestamp: %u numcmds: %d numobjs: %d\n", + thneed->cmds.size(), + cmd->flags, + cmd->context_id, cmd->timestamp, cmd->numcmds, cmd->numobjs); + } + } else if (request == IOCTL_KGSL_GPUOBJ_SYNC) { + struct kgsl_gpuobj_sync *cmd = (struct kgsl_gpuobj_sync *)argp; + struct kgsl_gpuobj_sync_obj *objs = (struct kgsl_gpuobj_sync_obj *)(cmd->objs); + + if (thneed->debug >= 2) { + printf("IOCTL_KGSL_GPUOBJ_SYNC count:%d ", cmd->count); + for (int i = 0; i < cmd->count; i++) { + printf(" -- offset:0x%lx len:0x%lx id:%d op:%d ", objs[i].offset, objs[i].length, objs[i].id, objs[i].op); + } + printf("\n"); + } + + if (thneed->record) { + thneed->cmds.push_back(unique_ptr(new + CachedSync(thneed, string((char *)objs, sizeof(struct kgsl_gpuobj_sync_obj)*cmd->count)))); + } + } else if (request == IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID) { + struct kgsl_device_waittimestamp_ctxtid *cmd = (struct kgsl_device_waittimestamp_ctxtid *)argp; + if (thneed->debug >= 1) { + printf("IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID: context_id: %d timestamp: %d timeout: %d\n", + cmd->context_id, cmd->timestamp, cmd->timeout); + } + } else if (request == IOCTL_KGSL_SETPROPERTY) { + if (thneed->debug >= 1) { + struct kgsl_device_getproperty *prop = (struct kgsl_device_getproperty *)argp; + printf("IOCTL_KGSL_SETPROPERTY: 0x%x sizebytes:%zu\n", prop->type, prop->sizebytes); + if (thneed->debug >= 2) { + hexdump((uint8_t *)prop->value, prop->sizebytes); + if (prop->type == KGSL_PROP_PWR_CONSTRAINT) { + struct kgsl_device_constraint *constraint = (struct kgsl_device_constraint *)prop->value; + hexdump((uint8_t *)constraint->data, constraint->size); + } + } + } + } else if (request == IOCTL_KGSL_DRAWCTXT_CREATE || request == IOCTL_KGSL_DRAWCTXT_DESTROY) { + // this happens + } else if (request == IOCTL_KGSL_GPUOBJ_ALLOC || request == IOCTL_KGSL_GPUOBJ_FREE) { + // this happens + } else { + if (thneed->debug >= 1) { + printf("other ioctl %lx\n", request); + } + } + } + + int ret = my_ioctl(filedes, request, argp); + if (ret != 0) printf("ioctl returned %d with errno %d\n", ret, errno); + return ret; +} + +} + +// *********** GPUMalloc *********** + +GPUMalloc::GPUMalloc(int size, int fd) { + struct kgsl_gpuobj_alloc alloc; + memset(&alloc, 0, sizeof(alloc)); + alloc.size = size; + alloc.flags = 0x10000a00; + ioctl(fd, IOCTL_KGSL_GPUOBJ_ALLOC, &alloc); + void *addr = mmap64(NULL, alloc.mmapsize, 0x3, 0x1, fd, alloc.id*0x1000); + assert(addr != MAP_FAILED); + + base = (uint64_t)addr; + remaining = size; +} + +GPUMalloc::~GPUMalloc() { + // TODO: free the GPU malloced area +} + +void *GPUMalloc::alloc(int size) { + void *ret = (void*)base; + size = (size+0xff) & (~0xFF); + assert(size <= remaining); + remaining -= size; + base += size; + return ret; +} + +// *********** CachedSync, at the ioctl layer *********** + +void CachedSync::exec() { + struct kgsl_gpuobj_sync cmd; + + cmd.objs = (uint64_t)data.data(); + cmd.obj_len = data.length(); + cmd.count = data.length() / sizeof(struct kgsl_gpuobj_sync_obj); + + int ret = ioctl(thneed->fd, IOCTL_KGSL_GPUOBJ_SYNC, &cmd); + assert(ret == 0); +} + +// *********** CachedCommand, at the ioctl layer *********** + +CachedCommand::CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd) { + thneed = lthneed; + assert(cmd->numsyncs == 0); + + memcpy(&cache, cmd, sizeof(cache)); + + if (cmd->numcmds > 0) { + cmds = make_unique(cmd->numcmds); + memcpy(cmds.get(), (void *)cmd->cmdlist, sizeof(struct kgsl_command_object)*cmd->numcmds); + cache.cmdlist = (uint64_t)cmds.get(); + for (int i = 0; i < cmd->numcmds; i++) { + void *nn = thneed->ram->alloc(cmds[i].size); + memcpy(nn, (void*)cmds[i].gpuaddr, cmds[i].size); + cmds[i].gpuaddr = (uint64_t)nn; + } + } + + if (cmd->numobjs > 0) { + objs = make_unique(cmd->numobjs); + memcpy(objs.get(), (void *)cmd->objlist, sizeof(struct kgsl_command_object)*cmd->numobjs); + cache.objlist = (uint64_t)objs.get(); + for (int i = 0; i < cmd->numobjs; i++) { + void *nn = thneed->ram->alloc(objs[i].size); + memset(nn, 0, objs[i].size); + objs[i].gpuaddr = (uint64_t)nn; + } + } + + kq = thneed->ckq; + thneed->ckq.clear(); +} + +void CachedCommand::exec() { + cache.timestamp = ++thneed->timestamp; + int ret = ioctl(thneed->fd, IOCTL_KGSL_GPU_COMMAND, &cache); + + if (thneed->debug >= 1) printf("CachedCommand::exec got %d\n", ret); + + if (thneed->debug >= 2) { + for (auto &it : kq) { + it->debug_print(false); + } + } + + assert(ret == 0); +} + +// *********** Thneed *********** + +Thneed::Thneed(bool do_clinit, cl_context _context) { + // TODO: QCOM2 actually requires a different context + //context = _context; + if (do_clinit) clinit(); + assert(g_fd != -1); + fd = g_fd; + ram = make_unique(0x80000, fd); + timestamp = -1; + g_thneed = this; + char *thneed_debug_env = getenv("THNEED_DEBUG"); + debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0; +} + +void Thneed::wait() { + struct kgsl_device_waittimestamp_ctxtid wait; + wait.context_id = context_id; + wait.timestamp = timestamp; + wait.timeout = -1; + + uint64_t tb = nanos_since_boot(); + int wret = ioctl(fd, IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID, &wait); + uint64_t te = nanos_since_boot(); + + if (debug >= 1) printf("wait %d after %lu us\n", wret, (te-tb)/1000); +} + +void Thneed::execute(float **finputs, float *foutput, bool slow) { + uint64_t tb, te; + if (debug >= 1) tb = nanos_since_boot(); + + // ****** copy inputs + copy_inputs(finputs, true); + + // ****** set power constraint + int ret; + struct kgsl_device_constraint_pwrlevel pwrlevel; + pwrlevel.level = KGSL_CONSTRAINT_PWR_MAX; + + struct kgsl_device_constraint constraint; + constraint.type = KGSL_CONSTRAINT_PWRLEVEL; + constraint.context_id = context_id; + constraint.data = (void*)&pwrlevel; + constraint.size = sizeof(pwrlevel); + + struct kgsl_device_getproperty prop; + prop.type = KGSL_PROP_PWR_CONSTRAINT; + prop.value = (void*)&constraint; + prop.sizebytes = sizeof(constraint); + ret = ioctl(fd, IOCTL_KGSL_SETPROPERTY, &prop); + assert(ret == 0); + + // ****** run commands + int i = 0; + for (auto &it : cmds) { + ++i; + if (debug >= 1) printf("run %2d @ %7lu us: ", i, (nanos_since_boot()-tb)/1000); + it->exec(); + if ((i == cmds.size()) || slow) wait(); + } + + // ****** copy outputs + copy_output(foutput); + + // ****** unset power constraint + constraint.type = KGSL_CONSTRAINT_NONE; + constraint.data = NULL; + constraint.size = 0; + + ret = ioctl(fd, IOCTL_KGSL_SETPROPERTY, &prop); + assert(ret == 0); + + if (debug >= 1) { + te = nanos_since_boot(); + printf("model exec in %lu us\n", (te-tb)/1000); + } +} diff --git a/selfdrive/modeld/thneed/weights_fixup.py b/selfdrive/modeld/thneed/weights_fixup.py deleted file mode 100755 index 539b1b5d3..000000000 --- a/selfdrive/modeld/thneed/weights_fixup.py +++ /dev/null @@ -1,146 +0,0 @@ -#!/usr/bin/env python3 -import os -import struct -import zipfile -import numpy as np -from tqdm import tqdm - -from common.basedir import BASEDIR -from selfdrive.modeld.thneed.lib import load_thneed, save_thneed - -# this is junk code, but it doesn't have deps -def load_dlc_weights(fn): - archive = zipfile.ZipFile(fn, 'r') - dlc_params = archive.read("model.params") - - def extract(rdat): - idx = rdat.find(b"\x00\x00\x00\x09\x04\x00\x00\x00") - rdat = rdat[idx+8:] - ll = struct.unpack("I", rdat[0:4])[0] - buf = np.frombuffer(rdat[4:4+ll*4], dtype=np.float32) - rdat = rdat[4+ll*4:] - dims = struct.unpack("I", rdat[0:4])[0] - buf = buf.reshape(struct.unpack("I"*dims, rdat[4:4+dims*4])) - if len(buf.shape) == 4: - buf = np.transpose(buf, (3,2,0,1)) - return buf - - def parse(tdat): - ll = struct.unpack("I", tdat[0:4])[0] + 4 - return (None, [extract(tdat[0:]), extract(tdat[ll:])]) - - ptr = 0x20 - def r4(): - nonlocal ptr - ret = struct.unpack("I", dlc_params[ptr:ptr+4])[0] - ptr += 4 - return ret - ranges = [] - cnt = r4() - for _ in range(cnt): - o = r4() + ptr - # the header is 0xC - plen, is_4, is_2 = struct.unpack("III", dlc_params[o:o+0xC]) - assert is_4 == 4 and is_2 == 2 - ranges.append((o+0xC, o+plen+0xC)) - ranges = sorted(ranges, reverse=True) - - return [parse(dlc_params[s:e]) for s,e in ranges] - -# this won't run on device without onnx -def load_onnx_weights(fn): - import onnx - from onnx import numpy_helper - - model = onnx.load(fn) - graph = model.graph # pylint: disable=maybe-no-member - init = {x.name:x for x in graph.initializer} - - onnx_layers = [] - for node in graph.node: - #print(node.name, node.op_type, node.input, node.output) - vals = [] - for inp in node.input: - if inp in init: - vals.append(numpy_helper.to_array(init[inp])) - if len(vals) > 0: - onnx_layers.append((node.name, vals)) - return onnx_layers - -def weights_fixup(target, source_thneed, dlc): - #onnx_layers = load_onnx_weights(os.path.join(BASEDIR, "models/supercombo.onnx")) - onnx_layers = load_dlc_weights(dlc) - jdat = load_thneed(source_thneed) - - bufs = {} - for o in jdat['objects']: - bufs[o['id']] = o - - thneed_layers = [] - for k in jdat['kernels']: - #print(k['name']) - vals = [] - for a in k['args']: - if a in bufs: - o = bufs[a] - if o['needs_load'] or ('buffer_id' in o and bufs[o['buffer_id']]['needs_load']): - #print(" ", o['arg_type']) - vals.append(o) - if len(vals) > 0: - thneed_layers.append((k['name'], vals)) - - assert len(thneed_layers) == len(onnx_layers) - - # fix up weights - for tl, ol in tqdm(zip(thneed_layers, onnx_layers), total=len(thneed_layers)): - #print(tl[0], ol[0]) - assert len(tl[1]) == len(ol[1]) - for o, onnx_weight in zip(tl[1], ol[1]): - if o['arg_type'] == "image2d_t": - obuf = bufs[o['buffer_id']] - saved_weights = np.frombuffer(obuf['data'], dtype=np.float16).reshape(o['height'], o['row_pitch']//2) - - if len(onnx_weight.shape) == 4: - # convolution - oc,ic,ch,cw = onnx_weight.shape - - if 'depthwise' in tl[0]: - assert ic == 1 - weights = np.transpose(onnx_weight.reshape(oc//4,4,ch,cw), (0,2,3,1)).reshape(o['height'], o['width']*4) - else: - weights = np.transpose(onnx_weight.reshape(oc//4,4,ic//4,4,ch,cw), (0,4,2,5,1,3)).reshape(o['height'], o['width']*4) - else: - # fc_Wtx - weights = onnx_weight - - new_weights = np.zeros((o['height'], o['row_pitch']//2), dtype=np.float32) - new_weights[:, :weights.shape[1]] = weights - - # weights shouldn't be too far off - err = np.mean((saved_weights.astype(np.float32) - new_weights)**2) - assert err < 1e-3 - rerr = np.mean(np.abs((saved_weights.astype(np.float32) - new_weights)/(new_weights+1e-12))) - assert rerr < 0.5 - - # fix should improve things - fixed_err = np.mean((new_weights.astype(np.float16).astype(np.float32) - new_weights)**2) - assert (err/fixed_err) >= 1 - - #print(" ", o['size'], onnx_weight.shape, o['row_pitch'], o['width'], o['height'], "err %.2fx better" % (err/fixed_err)) - - obuf['data'] = new_weights.astype(np.float16).tobytes() - - elif o['arg_type'] == "float*": - # unconverted floats are correct - new_weights = np.zeros(o['size']//4, dtype=np.float32) - new_weights[:onnx_weight.shape[0]] = onnx_weight - assert new_weights.tobytes() == o['data'] - #print(" ", o['size'], onnx_weight.shape) - - save_thneed(jdat, target) - -if __name__ == "__main__": - model_dir = os.path.join(BASEDIR, "selfdrive/modeld/models/") - weights_fixup(os.path.join(model_dir, "supercombo_fixed.thneed"), - os.path.join(model_dir, "supercombo.thneed"), - os.path.join(model_dir, "supercombo.dlc")) diff --git a/selfdrive/modeld/transforms/transform.cc b/selfdrive/modeld/transforms/transform.cc index cabc58a46..f34131414 100644 --- a/selfdrive/modeld/transforms/transform.cc +++ b/selfdrive/modeld/transforms/transform.cc @@ -32,7 +32,7 @@ void transform_queue(Transform* s, const int zero = 0; // sampled using pixel center origin - // (because thats how fastcv and opencv does it) + // (because that's how fastcv and opencv does it) mat3 projection_y = projection; diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py index 89a1c9bdf..72874b211 100755 --- a/selfdrive/navd/navd.py +++ b/selfdrive/navd/navd.py @@ -135,7 +135,7 @@ class RouteEngine: url = self.mapbox_host + f'/directions/v5/mapbox/driving-traffic/{self.last_position.longitude},{self.last_position.latitude};{destination.longitude},{destination.latitude}' try: - resp = requests.get(url, params=params) + resp = requests.get(url, params=params, timeout=10) resp.raise_for_status() r = resp.json() @@ -194,10 +194,10 @@ class RouteEngine: parse_banner_instructions(msg.navInstruction, step['bannerInstructions'], distance_to_maneuver_along_geometry) # Compute total remaining time and distance - remaning = 1.0 - along_geometry / max(step['distance'], 1) - total_distance = step['distance'] * remaning - total_time = step['duration'] * remaning - total_time_typical = step['duration_typical'] * remaning + remaining = 1.0 - along_geometry / max(step['distance'], 1) + total_distance = step['distance'] * remaining + total_time = step['duration'] * remaining + total_time_typical = step['duration_typical'] * remaining # Add up totals for future steps for i in range(self.step_idx + 1, len(self.route)): @@ -236,7 +236,7 @@ class RouteEngine: self.recompute_countdown = 0 else: cloudlog.warning("Destination reached") - Params().delete("NavDestination") + Params().remove("NavDestination") # Clear route if driving away from destination dist = self.nav_destination.distance_to(self.last_position) diff --git a/selfdrive/sensord/test/__init__.py b/selfdrive/sensord/__init__.py similarity index 100% rename from selfdrive/sensord/test/__init__.py rename to selfdrive/sensord/__init__.py diff --git a/selfdrive/sensord/pigeond.py b/selfdrive/sensord/pigeond.py new file mode 100755 index 000000000..e38e2d4c3 --- /dev/null +++ b/selfdrive/sensord/pigeond.py @@ -0,0 +1,256 @@ +#!/usr/bin/env python3 +import sys +import time +import signal +import serial +import struct +import requests +import urllib.parse +from datetime import datetime +from typing import List, Optional + +from cereal import messaging +from common.params import Params +from system.swaglog import cloudlog +from selfdrive.hardware import TICI +from common.gpio import gpio_init, gpio_set +from selfdrive.hardware.tici.pins import GPIO + +UBLOX_TTY = "/dev/ttyHS0" + +UBLOX_ACK = b"\xb5\x62\x05\x01\x02\x00" +UBLOX_NACK = b"\xb5\x62\x05\x00\x02\x00" +UBLOX_SOS_ACK = b"\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x01\x00\x00\x00" +UBLOX_SOS_NACK = b"\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x00\x00\x00\x00" +UBLOX_BACKUP_RESTORE_MSG = b"\xb5\x62\x09\x14\x08\x00\x03" +UBLOX_ASSIST_ACK = b"\xb5\x62\x13\x60\x08\x00" + +def set_power(enabled: bool) -> None: + gpio_init(GPIO.UBLOX_SAFEBOOT_N, True) + gpio_init(GPIO.UBLOX_PWR_EN, True) + gpio_init(GPIO.UBLOX_RST_N, True) + + gpio_set(GPIO.UBLOX_SAFEBOOT_N, True) + gpio_set(GPIO.UBLOX_PWR_EN, enabled) + gpio_set(GPIO.UBLOX_RST_N, enabled) + + +def add_ubx_checksum(msg: bytes) -> bytes: + A = B = 0 + for b in msg[2:]: + A = (A + b) % 256 + B = (B + A) % 256 + return msg + bytes([A, B]) + +def get_assistnow_messages(token: bytes) -> List[bytes]: + # make request + # TODO: implement adding the last known location + r = requests.get("https://online-live2.services.u-blox.com/GetOnlineData.ashx", params=urllib.parse.urlencode({ + 'token': token, + 'gnss': 'gps,glo', + 'datatype': 'eph,alm,aux', + }, safe=':,'), timeout=5) + assert r.status_code == 200, "Got invalid status code" + dat = r.content + + # split up messages + msgs = [] + while len(dat) > 0: + assert dat[:2] == b"\xB5\x62" + msg_len = 6 + (dat[5] << 8 | dat[4]) + 2 + msgs.append(dat[:msg_len]) + dat = dat[msg_len:] + return msgs + + +class TTYPigeon(): + def __init__(self): + self.tty = serial.VTIMESerial(UBLOX_TTY, baudrate=9600, timeout=0) + + def send(self, dat: bytes) -> None: + self.tty.write(dat) + + def receive(self) -> bytes: + dat = b'' + while len(dat) < 0x1000: + d = self.tty.read(0x40) + dat += d + if len(d) == 0: + break + return dat + + def set_baud(self, baud: int) -> None: + self.tty.baudrate = baud + + def wait_for_ack(self, ack: bytes = UBLOX_ACK, nack: bytes = UBLOX_NACK, timeout: float = 0.5) -> bool: + dat = b'' + st = time.monotonic() + while True: + dat += self.receive() + if ack in dat: + cloudlog.debug("Received ACK from ublox") + return True + elif nack in dat: + cloudlog.error("Received NACK from ublox") + return False + elif time.monotonic() - st > timeout: + cloudlog.error("No response from ublox") + raise TimeoutError('No response from ublox') + time.sleep(0.001) + + def send_with_ack(self, dat: bytes, ack: bytes = UBLOX_ACK, nack: bytes = UBLOX_NACK) -> None: + self.send(dat) + self.wait_for_ack(ack, nack) + + def wait_for_backup_restore_status(self, timeout: float = 1.) -> int: + dat = b'' + st = time.monotonic() + while True: + dat += self.receive() + position = dat.find(UBLOX_BACKUP_RESTORE_MSG) + if position >= 0 and len(dat) >= position + 11: + return dat[position + 10] + elif time.monotonic() - st > timeout: + cloudlog.error("No backup restore response from ublox") + raise TimeoutError('No response from ublox') + time.sleep(0.001) + + +def initialize_pigeon(pigeon: TTYPigeon) -> None: + # try initializing a few times + for _ in range(10): + try: + pigeon.set_baud(9600) + + # up baud rate + pigeon.send(b"\x24\x50\x55\x42\x58\x2C\x34\x31\x2C\x31\x2C\x30\x30\x30\x37\x2C\x30\x30\x30\x33\x2C\x34\x36\x30\x38\x30\x30\x2C\x30\x2A\x31\x35\x0D\x0A") + time.sleep(0.1) + pigeon.set_baud(460800) + + # other configuration messages + pigeon.send_with_ack(b"\xB5\x62\x06\x00\x14\x00\x03\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01\x00\x00\x00\x00\x00\x1E\x7F") + pigeon.send_with_ack(b"\xB5\x62\x06\x00\x14\x00\x00\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x19\x35") + pigeon.send_with_ack(b"\xB5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x01\x00\x01\x00\x00\x00\x00\x00\xF4\x80") + pigeon.send_with_ack(b"\xB5\x62\x06\x00\x14\x00\x04\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1D\x85") + pigeon.send_with_ack(b"\xB5\x62\x06\x00\x00\x00\x06\x18") + pigeon.send_with_ack(b"\xB5\x62\x06\x00\x01\x00\x01\x08\x22") + pigeon.send_with_ack(b"\xB5\x62\x06\x00\x01\x00\x03\x0A\x24") + pigeon.send_with_ack(b"\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10") + pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63") + pigeon.send_with_ack(b"\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37") + pigeon.send_with_ack(b"\xB5\x62\x06\x39\x08\x00\xFF\xAD\x62\xAD\x1E\x63\x00\x00\x83\x0C") + pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24") + pigeon.send_with_ack(b"\xB5\x62\x06\x24\x00\x00\x2A\x84") + pigeon.send_with_ack(b"\xB5\x62\x06\x23\x00\x00\x29\x81") + pigeon.send_with_ack(b"\xB5\x62\x06\x1E\x00\x00\x24\x72") + pigeon.send_with_ack(b"\xB5\x62\x06\x39\x00\x00\x3F\xC3") + pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x01\x07\x01\x13\x51") + pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70") + pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C") + pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70") + pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74") + cloudlog.debug("pigeon configured") + + # try restoring almanac backup + pigeon.send(b"\xB5\x62\x09\x14\x00\x00\x1D\x60") + restore_status = pigeon.wait_for_backup_restore_status() + if restore_status == 2: + cloudlog.warning("almanac backup restored") + elif restore_status == 3: + cloudlog.warning("no almanac backup found") + else: + cloudlog.error(f"failed to restore almanac backup, status: {restore_status}") + + # sending time to ublox + t_now = datetime.utcnow() + if t_now >= datetime(2021, 6, 1): + cloudlog.warning("Sending current time to ublox") + + # UBX-MGA-INI-TIME_UTC + msg = add_ubx_checksum(b"\xB5\x62\x13\x40\x18\x00" + struct.pack(" 0: + if dat[0] == 0x00: + cloudlog.warning("received invalid data from ublox, re-initing!") + initialize_pigeon(pigeon) + continue + + # send out to socket + msg = messaging.new_message('ubloxRaw', len(dat)) + msg.ubloxRaw = dat[:] + pm.send('ubloxRaw', msg) + +if __name__ == "__main__": + main() diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.cc b/selfdrive/sensord/sensors/lsm6ds3_accel.cc index bcac7de9f..d923986db 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_accel.cc +++ b/selfdrive/sensord/sensors/lsm6ds3_accel.cc @@ -27,7 +27,7 @@ int LSM6DS3_Accel::init() { source = cereal::SensorEventData::SensorSource::LSM6DS3TRC; } - // TODO: set scale and bandwith. Default is +- 2G, 50 Hz + // TODO: set scale and bandwidth. Default is +- 2G, 50 Hz ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, LSM6DS3_ACCEL_ODR_104HZ); if (ret < 0) { goto fail; diff --git a/selfdrive/sensord/tests/__init__.py b/selfdrive/sensord/tests/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/selfdrive/sensord/tests/test_pigeond.py b/selfdrive/sensord/tests/test_pigeond.py new file mode 100755 index 000000000..d15b731d0 --- /dev/null +++ b/selfdrive/sensord/tests/test_pigeond.py @@ -0,0 +1,63 @@ +#!/usr/bin/env python3 +import time +import unittest + +import cereal.messaging as messaging +from cereal.services import service_list +from common.gpio import gpio_read +from selfdrive.test.helpers import with_processes +from selfdrive.manager.process_config import managed_processes +from system.hardware import TICI +from system.hardware.tici.pins import GPIO + + +# TODO: test TTFF when we have good A-GNSS +class TestPigeond(unittest.TestCase): + @classmethod + def setUpClass(cls): + if not TICI: + raise unittest.SkipTest + + def tearDown(self): + managed_processes['pigeond'].stop() + + @with_processes(['pigeond']) + def test_frequency(self): + sm = messaging.SubMaster(['ubloxRaw']) + + # setup time + time.sleep(2) + sm.update() + + for _ in range(int(10 * service_list['ubloxRaw'].frequency)): + sm.update() + assert sm.all_checks() + + def test_startup_time(self): + for _ in range(5): + sm = messaging.SubMaster(['ubloxRaw']) + managed_processes['pigeond'].start() + + start_time = time.monotonic() + for __ in range(10): + sm.update(1 * 1000) + if sm.updated['ubloxRaw']: + break + assert sm.rcv_frame['ubloxRaw'] > 0, "pigeond didn't start outputting messages in time" + + et = time.monotonic() - start_time + assert et < 5, f"pigeond took {et:.1f}s to start" + managed_processes['pigeond'].stop() + + def test_turns_off_ublox(self): + for s in (0.1, 0.5, 1, 5): + managed_processes['pigeond'].start() + time.sleep(s) + managed_processes['pigeond'].stop() + + assert gpio_read(GPIO.UBLOX_RST_N) == 0 + assert gpio_read(GPIO.UBLOX_PWR_EN) == 0 + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/sensord/test/test_sensord.py b/selfdrive/sensord/tests/test_sensord.py similarity index 100% rename from selfdrive/sensord/test/test_sensord.py rename to selfdrive/sensord/tests/test_sensord.py diff --git a/selfdrive/sensord/tests/ttff_test.py b/selfdrive/sensord/tests/ttff_test.py new file mode 100755 index 000000000..e2cbc6d14 --- /dev/null +++ b/selfdrive/sensord/tests/ttff_test.py @@ -0,0 +1,48 @@ +#!/usr/bin/env python3 + +import time +import atexit + +from cereal import messaging +from selfdrive.manager.process_config import managed_processes + +TIMEOUT = 10*60 + +def kill(): + for proc in ['ubloxd', 'pigeond']: + managed_processes[proc].stop(retry=True, block=True) + +if __name__ == "__main__": + # start ubloxd + managed_processes['ubloxd'].start() + atexit.register(kill) + + sm = messaging.SubMaster(['ubloxGnss']) + + times = [] + for i in range(20): + # start pigeond + st = time.monotonic() + managed_processes['pigeond'].start() + + # wait for a >4 satellite fix + while True: + sm.update(0) + msg = sm['ubloxGnss'] + if msg.which() == 'measurementReport' and sm.updated["ubloxGnss"]: + report = msg.measurementReport + if report.numMeas > 4: + times.append(time.monotonic() - st) + print(f"\033[94m{i}: Got a fix in {round(times[-1], 2)} seconds\033[0m") + break + + if time.monotonic() - st > TIMEOUT: + raise TimeoutError("\033[91mFailed to get a fix in {TIMEOUT} seconds!\033[0m") + + time.sleep(0.1) + + # stop pigeond + managed_processes['pigeond'].stop(retry=True, block=True) + time.sleep(20) + + print(f"\033[92mAverage TTFF: {round(sum(times) / len(times), 2)}s\033[0m") diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py index 0d605a5fc..dad5d8984 100644 --- a/selfdrive/test/longitudinal_maneuvers/maneuver.py +++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py @@ -27,7 +27,7 @@ class Maneuver(): speed=self.speed, distance_lead=self.distance_lead, only_lead2=self.only_lead2, - only_radar=self.only_radar + only_radar=self.only_radar, ) valid = True @@ -54,7 +54,7 @@ class Maneuver(): valid = False if self.ensure_start and log['v_rel'] > 0 and log['speeds'][-1] <= 0.1: - print('Planner not starting!') + print('LongitudinalPlanner not starting!') valid = False print("maneuver end", valid) diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index 3bd50ebcf..21af1cd3b 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -6,7 +6,8 @@ from cereal import log import cereal.messaging as messaging from common.realtime import Ratekeeper, DT_MDL from selfdrive.controls.lib.longcontrol import LongCtrlState -from selfdrive.controls.lib.longitudinal_planner import Planner +from selfdrive.modeld.constants import T_IDXS +from selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner class Plant(): @@ -43,7 +44,8 @@ class Plant(): from selfdrive.car.honda.values import CAR from selfdrive.car.honda.interface import CarInterface - self.planner = Planner(CarInterface.get_params(CAR.CIVIC), init_v=self.speed) + + self.planner = LongitudinalPlanner(CarInterface.get_params(CAR.CIVIC), init_v=self.speed) def current_time(self): return float(self.rk.frame) / self.rate @@ -54,6 +56,7 @@ class Plant(): radar = messaging.new_message('radarState') control = messaging.new_message('controlsState') car_state = messaging.new_message('carState') + model = messaging.new_message('modelV2') a_lead = (v_lead - self.v_lead_prev)/self.ts self.v_lead_prev = v_lead @@ -87,6 +90,21 @@ class Plant(): radar.radarState.leadOne = lead radar.radarState.leadTwo = lead + # Simulate model predicting slightly faster speed + # this is to ensure lead policy is effective when model + # does not predict slowdown in e2e mode + position = log.ModelDataV2.XYZTData.new_message() + position.x = [float(x) for x in (self.speed + 0.5) * np.array(T_IDXS)] + model.modelV2.position = position + velocity = log.ModelDataV2.XYZTData.new_message() + velocity.x = [float(x) for x in (self.speed + 0.5) * np.ones_like(T_IDXS)] + model.modelV2.velocity = velocity + acceleration = log.ModelDataV2.XYZTData.new_message() + acceleration.x = [float(x) for x in np.zeros_like(T_IDXS)] + model.modelV2.acceleration = acceleration + + + control.controlsState.longControlState = LongCtrlState.pid control.controlsState.vCruise = float(v_cruise * 3.6) car_state.carState.vEgo = float(self.speed) @@ -95,7 +113,8 @@ class Plant(): # ******** get controlsState messages for plotting *** sm = {'radarState': radar.radarState, 'carState': car_state.carState, - 'controlsState': control.controlsState} + 'controlsState': control.controlsState, + 'modelV2': model.modelV2} self.planner.update(sm) self.speed = self.planner.v_desired_filter.x self.acceleration = self.planner.a_desired diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py index ec698d88f..c7c291587 100755 --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -140,16 +140,23 @@ class LongitudinalControl(unittest.TestCase): def run_maneuver_worker(k): def run(self): + params = Params() + man = maneuvers[k] - print(man.title) + params.put_bool("EndToEndLong", True) + print(man.title, ' in e2e mode') + valid, _ = man.evaluate() + self.assertTrue(valid, msg=man.title) + params.put_bool("EndToEndLong", False) + print(man.title, ' in acc mode') valid, _ = man.evaluate() self.assertTrue(valid, msg=man.title) return run - for k in range(len(maneuvers)): setattr(LongitudinalControl, f"test_longitudinal_maneuvers_{k+1}", run_maneuver_worker(k)) + if __name__ == "__main__": unittest.main(failfast=True) diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 12f3583ee..ccd89bea9 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -173,10 +173,10 @@ if __name__ == "__main__": 'driverStateV2.modelExecutionTime', 'driverStateV2.dspExecutionTime' ] - # TODO this tolerence is absurdly large + # TODO this tolerance is absurdly large tolerance = 5e-1 if PC else None results: Any = {TEST_ROUTE: {}} - log_paths: Any = {TEST_ROUTE: {'ref': BASE_URL + log_fn, 'new': log_fn}} + log_paths: Any = {TEST_ROUTE: {"models": {'ref': BASE_URL + log_fn, 'new': log_fn}}} results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore) diff1, diff2, failed = format_diff(results, log_paths, ref_commit) diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index e5bbfa74c..958d3da14 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -507241e0a41ee757cca4eb6ff12cff3f02c0b98a +c40319a454840d8a2196ec1227d27b536ee14375 diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 32a3c2f3b..b4e3f6265 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -385,7 +385,7 @@ def replay_process(cfg, lr, fingerprint=None): return cpp_replay_process(cfg, lr, fingerprint) -def setup_env(simulation=False, CP=None, cfg=None): +def setup_env(simulation=False, CP=None, cfg=None, controlsState=None): params = Params() params.clear_all() params.put_bool("OpenpilotEnabledToggle", True) @@ -414,6 +414,12 @@ def setup_env(simulation=False, CP=None, cfg=None): elif "SIMULATION" in os.environ: del os.environ["SIMULATION"] + # Initialize controlsd with a controlsState packet + if controlsState is not None: + params.put("ReplayControlsState", controlsState.as_builder().to_bytes()) + else: + params.remove("ReplayControlsState") + # Regen or python process if CP is not None: if CP.alternativeExperience == ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS: @@ -440,13 +446,25 @@ def python_replay_process(cfg, lr, fingerprint=None): all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime) pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())] + controlsState = None + initialized = False + for msg in lr: + if msg.which() == 'controlsState': + controlsState = msg.controlsState + if initialized: + break + elif msg.which() == 'carEvents': + initialized = car.CarEvent.EventName.controlsInitializing not in [e.name for e in msg.carEvents] + + assert controlsState is not None and initialized, "controlsState never initialized" + if fingerprint is not None: os.environ['SKIP_FW_QUERY'] = "1" os.environ['FINGERPRINT'] = fingerprint - setup_env(cfg=cfg) + setup_env(cfg=cfg, controlsState=controlsState) else: CP = [m for m in lr if m.which() == 'carParams'][0].carParams - setup_env(CP=CP, cfg=cfg) + setup_env(CP=CP, cfg=cfg, controlsState=controlsState) assert(type(managed_processes[cfg.proc_name]) is PythonProcess) managed_processes[cfg.proc_name].prepare() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 8aa80d6b7..0e2a5d84e 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -118d78e2040103c00b4bfcc875fcdcd6a15e2211 +209423f468194c77443110078639ff67a8b99073 diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index 39f75ce42..4e1cbfd30 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -201,14 +201,15 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False): params = Params() os.environ["LOG_ROOT"] = outdir - for msg in lr: - if msg.which() == 'carParams': - setup_env(CP=msg.carParams) - elif msg.which() == 'liveCalibration': - params.put("CalibrationParams", msg.as_builder().to_bytes()) + # Get and setup initial state + CP = [m for m in lr if m.which() == 'carParams'][0].carParams + controlsState = [m for m in lr if m.which() == 'controlsState'][0].controlsState + liveCalibration = [m for m in lr if m.which() == 'liveCalibration'][0] - vs, cam_procs = replay_cameras(lr, frs, disable_tqdm=disable_tqdm) + setup_env(CP=CP, controlsState=controlsState) + params.put("CalibrationParams", liveCalibration.as_builder().to_bytes()) + vs, cam_procs = replay_cameras(lr, frs, disable_tqdm=disable_tqdm) fake_daemons = { 'sensord': [ multiprocessing.Process(target=replay_sensor_events, args=('sensorEvents', lr)), diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 9e6fee0de..e8c2e1dc9 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -18,7 +18,7 @@ from tools.lib.logreader import LogReader original_segments = [ ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA - ("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--0"), # HYUNDAI.KIA_EV6 + ("HYUNDAI", "d824e27e8c60172c|2022-08-19--17-58-07--2"), # HYUNDAI.KIA_EV6 ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS (INDI) ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 (LQR) ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2 @@ -32,14 +32,15 @@ original_segments = [ ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.GOLF ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--2"), # MAZDA.CX9_2021 - # Enable when port is tested and dascamOnly is no longer set + # Enable when port is tested and dashcamOnly is no longer set #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"), # TESLA.AP2_MODELS + #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"), # VOLKSWAGEN.PASSAT_NMS ] segments = [ ("BODY", "regen660D86654BA|2022-07-06--14-27-15--0"), ("HYUNDAI", "regen114E5FF24D8|2022-07-14--17-08-47--0"), - ("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--0"), + ("HYUNDAI", "d824e27e8c60172c|2022-08-19--17-58-07--2"), ("TOYOTA", "regenBA97410FBEC|2022-07-06--14-26-49--0"), ("TOYOTA2", "regenDEDB1D9C991|2022-07-06--14-54-08--0"), ("TOYOTA3", "regenDDC1FE60734|2022-07-06--14-32-06--0"), @@ -48,7 +49,7 @@ segments = [ ("CHRYSLER", "regen38346FB33D0|2022-07-14--18-05-26--0"), ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--3"), ("SUBARU", "regen54A1E2BE5AA|2022-07-14--18-07-50--0"), - ("GM", "regen01D09D915B5|2022-07-06--14-36-20--0"), + ("GM", "regen76027B408B7|2022-08-16--19-56-58--0"), ("NISSAN", "regenCA0B0DC946E|2022-07-14--18-10-17--0"), ("VOLKSWAGEN", "regen007098CA0EF|2022-07-06--15-01-26--0"), ("MAZDA", "regen61BA413D53B|2022-07-06--14-39-42--0"), @@ -117,19 +118,19 @@ def format_diff(results, log_paths, ref_commit): for proc, diff in list(result.items()): # long diff diff2 += f"*** process: {proc} ***\n" - diff2 += f"\tref: {log_paths[segment]['ref']}\n\n" - diff2 += f"\tnew: {log_paths[segment]['new']}\n\n" + diff2 += f"\tref: {log_paths[segment][proc]['ref']}\n" + diff2 += f"\tnew: {log_paths[segment][proc]['new']}\n\n" # short diff diff1 += f" {proc}\n" if isinstance(diff, str): - diff1 += f" ref: {log_paths[segment]['ref']}\n" - diff1 += f" new: {log_paths[segment]['new']}\n\n" + diff1 += f" ref: {log_paths[segment][proc]['ref']}\n" + diff1 += f" new: {log_paths[segment][proc]['new']}\n\n" diff1 += f" {diff}\n" failed = True elif len(diff): - diff1 += f" ref: {log_paths[segment]['ref']}\n" - diff1 += f" new: {log_paths[segment]['new']}\n\n" + diff1 += f" ref: {log_paths[segment][proc]['ref']}\n" + diff1 += f" new: {log_paths[segment][proc]['new']}\n\n" cnt: Dict[str, int] = {} for d in diff: @@ -196,8 +197,7 @@ if __name__ == "__main__": untested = (set(interface_names) - set(excluded_interfaces)) - {c.lower() for c in tested_cars} assert len(untested) == 0, f"Cars missing routes: {str(untested)}" - - log_paths: DefaultDict[str, Dict[str, str]] = defaultdict(dict) + log_paths: DefaultDict[str, Dict[str, Dict[str, str]]] = defaultdict(lambda: defaultdict(dict)) with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool: if not args.upload_only: download_segments = [seg for car, seg in segments if car in tested_cars] @@ -225,8 +225,8 @@ if __name__ == "__main__": dat = None if args.upload_only else log_data[segment] pool_args.append((segment, cfg, args, cur_log_fn, ref_log_path, dat)) - log_paths[segment]['ref'] = ref_log_path - log_paths[segment]['new'] = cur_log_fn + log_paths[segment][cfg.proc_name + cfg.subtest_name]['ref'] = ref_log_path + log_paths[segment][cfg.proc_name + cfg.subtest_name]['new'] = cur_log_fn results: Any = defaultdict(dict) p2 = pool.map(run_test_process, pool_args) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 31651706c..c5fc0395d 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -23,7 +23,7 @@ from tools.lib.logreader import LogReader PROCS = { "selfdrive.controls.controlsd": 35.0, "./loggerd": 10.0, - "./encoderd": 12.5, + "./encoderd": 17.0, "./camerad": 14.5, "./locationd": 9.1, "selfdrive.controls.plannerd": 11.7, @@ -37,7 +37,7 @@ PROCS = { "selfdrive.thermald.thermald": 3.87, "selfdrive.locationd.calibrationd": 2.0, "./_soundd": 1.0, - "selfdrive.monitoring.dmonitoringd": 1.90, + "selfdrive.monitoring.dmonitoringd": 4.0, "./proclogd": 1.54, "system.logmessaged": 0.2, "./clocksd": 0.02, diff --git a/selfdrive/test/test_updated.py b/selfdrive/test/test_updated.py index 4c0ed2fdd..aab8b256a 100755 --- a/selfdrive/test/test_updated.py +++ b/selfdrive/test/test_updated.py @@ -113,7 +113,7 @@ class TestUpdated(unittest.TestCase): def _wait_for_update(self, timeout=30, clear_param=False): if clear_param: - self.params.delete("LastUpdateTime") + self.params.remove("LastUpdateTime") self._update_now() t = self._read_param("LastUpdateTime", timeout=timeout) @@ -166,7 +166,7 @@ class TestUpdated(unittest.TestCase): last_update_time = datetime.datetime.fromisoformat(t) td = datetime.datetime.utcnow() - last_update_time self.assertLess(td.total_seconds(), 10) - self.params.delete("LastUpdateTime") + self.params.remove("LastUpdateTime") # wait a bit for the rest of the params to be written time.sleep(0.1) @@ -232,7 +232,7 @@ class TestUpdated(unittest.TestCase): # run for a cycle with no update self._wait_for_update(clear_param=True) - self.params.delete("LastUpdateTime") + self.params.remove("LastUpdateTime") first_mtime = os.path.getmtime(overlay_init_fn) # touch a file in the basedir diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index 9f009d326..783456908 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -108,32 +108,19 @@ class PowerMonitoring: def get_car_battery_capacity(self) -> int: return int(self.car_battery_capacity_uWh) - # See if we need to disable charging - def should_disable_charging(self, ignition: bool, in_car: bool, offroad_timestamp: Optional[float]) -> bool: - if offroad_timestamp is None: - return False - - now = sec_since_boot() - disable_charging = False - disable_charging |= (now - offroad_timestamp) > MAX_TIME_OFFROAD_S - disable_charging |= (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3)) and (self.car_voltage_instant_mV > (VBATT_INSTANT_PAUSE_CHARGING * 1e3)) - disable_charging |= (self.car_battery_capacity_uWh <= 0) - disable_charging &= not ignition - disable_charging &= (not self.params.get_bool("DisablePowerDown")) - disable_charging &= in_car - disable_charging |= self.params.get_bool("ForcePowerDown") - return disable_charging - # See if we need to shutdown - def should_shutdown(self, peripheralState, ignition, in_car, offroad_timestamp, started_seen): + def should_shutdown(self, ignition: bool, in_car: bool, offroad_timestamp: Optional[float], started_seen: bool): if offroad_timestamp is None: return False now = sec_since_boot() - panda_charging = (peripheralState.usbPowerMode != log.PeripheralState.UsbPowerMode.client) - should_shutdown = False - # Wait until we have shut down charging before powering down - should_shutdown |= (not panda_charging and self.should_disable_charging(ignition, in_car, offroad_timestamp)) + should_shutdown |= (now - offroad_timestamp) > MAX_TIME_OFFROAD_S + should_shutdown |= (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3)) and (self.car_voltage_instant_mV > (VBATT_INSTANT_PAUSE_CHARGING * 1e3)) + should_shutdown |= (self.car_battery_capacity_uWh <= 0) + should_shutdown &= not ignition + should_shutdown &= (not self.params.get_bool("DisablePowerDown")) + should_shutdown &= in_car + should_shutdown |= self.params.get_bool("ForcePowerDown") should_shutdown &= started_seen or (now > MIN_ON_TIME_S) return should_shutdown diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py index efe607155..5d7463d45 100755 --- a/selfdrive/thermald/tests/test_power_monitoring.py +++ b/selfdrive/thermald/tests/test_power_monitoring.py @@ -31,8 +31,8 @@ def pm_patch(name, value, constant=False): class TestPowerMonitoring(unittest.TestCase): def setUp(self): # Clear stored capacity before each test - params.delete("CarBatteryCapacity") - params.delete("DisablePowerDown") + params.remove("CarBatteryCapacity") + params.remove("DisablePowerDown") def mock_peripheralState(self, hw_type, car_voltage=12): ps = messaging.new_message('peripheralState').peripheralState @@ -129,8 +129,8 @@ class TestPowerMonitoring(unittest.TestCase): while ssb <= start_time + MOCKED_MAX_OFFROAD_TIME: pm.calculate(peripheralState, ignition) if (ssb - start_time) % 1000 == 0 and ssb < start_time + MOCKED_MAX_OFFROAD_TIME: - self.assertFalse(pm.should_disable_charging(ignition, True, start_time)) - self.assertTrue(pm.should_disable_charging(ignition, True, start_time)) + self.assertFalse(pm.should_shutdown(ignition, True, start_time, False)) + self.assertTrue(pm.should_shutdown(ignition, True, start_time, False)) # Test to check policy of stopping charging when the car voltage is too low @parameterized.expand(ALL_PANDA_TYPES) @@ -145,8 +145,8 @@ class TestPowerMonitoring(unittest.TestCase): for i in range(TEST_TIME): pm.calculate(peripheralState, ignition) if i % 10 == 0: - self.assertEqual(pm.should_disable_charging(ignition, True, ssb), (pm.car_voltage_mV < VBATT_PAUSE_CHARGING*1e3)) - self.assertTrue(pm.should_disable_charging(ignition, True, ssb)) + self.assertEqual(pm.should_shutdown(ignition, True, ssb, True), (pm.car_voltage_mV < VBATT_PAUSE_CHARGING*1e3)) + self.assertTrue(pm.should_shutdown(ignition, True, ssb, True)) # Test to check policy of not stopping charging when DisablePowerDown is set def test_disable_power_down(self): @@ -161,8 +161,8 @@ class TestPowerMonitoring(unittest.TestCase): for i in range(TEST_TIME): pm.calculate(peripheralState, ignition) if i % 10 == 0: - self.assertFalse(pm.should_disable_charging(ignition, True, ssb)) - self.assertFalse(pm.should_disable_charging(ignition, True, ssb)) + self.assertFalse(pm.should_shutdown(ignition, True, ssb, False)) + self.assertFalse(pm.should_shutdown(ignition, True, ssb, False)) # Test to check policy of not stopping charging when ignition def test_ignition(self): @@ -176,8 +176,8 @@ class TestPowerMonitoring(unittest.TestCase): for i in range(TEST_TIME): pm.calculate(peripheralState, ignition) if i % 10 == 0: - self.assertFalse(pm.should_disable_charging(ignition, True, ssb)) - self.assertFalse(pm.should_disable_charging(ignition, True, ssb)) + self.assertFalse(pm.should_shutdown(ignition, True, ssb, False)) + self.assertFalse(pm.should_shutdown(ignition, True, ssb, False)) # Test to check policy of not stopping charging when harness is not connected def test_harness_connection(self): @@ -192,8 +192,8 @@ class TestPowerMonitoring(unittest.TestCase): for i in range(TEST_TIME): pm.calculate(peripheralState, ignition) if i % 10 == 0: - self.assertFalse(pm.should_disable_charging(ignition, False,ssb)) - self.assertFalse(pm.should_disable_charging(ignition, False, ssb)) + self.assertFalse(pm.should_shutdown(ignition, False, ssb, False)) + self.assertFalse(pm.should_shutdown(ignition, False, ssb, False)) if __name__ == "__main__": unittest.main() diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index c765af664..5c2fbd682 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -177,7 +177,6 @@ def thermald_thread(end_event, hw_queue): modem_temps=[], ) - current_filter = FirstOrderFilter(0., CURRENT_TAU, DT_TRML) temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML) should_start_prev = False in_car = False @@ -239,8 +238,6 @@ def thermald_thread(end_event, hw_queue): msg.deviceState.modemTempC = last_hw_state.modem_temps msg.deviceState.screenBrightnessPercent = HARDWARE.get_screen_brightness() - msg.deviceState.usbOnline = HARDWARE.get_usb_present() - current_filter.update(msg.deviceState.batteryCurrent / 1e6) max_comp_temp = temp_filter.update( max(max(msg.deviceState.cpuTempC), msg.deviceState.memoryTempC, max(msg.deviceState.gpuTempC)) @@ -350,15 +347,11 @@ def thermald_thread(end_event, hw_queue): statlog.sample("som_power_draw", som_power_draw) msg.deviceState.somPowerDrawW = som_power_draw - # Check if we need to disable charging (handled by boardd) - msg.deviceState.chargingDisabled = power_monitor.should_disable_charging(onroad_conditions["ignition"], in_car, off_ts) - # Check if we need to shut down - if power_monitor.should_shutdown(peripheralState, 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}") params.put_bool("DoShutdown", True) - msg.deviceState.chargingError = current_filter.x > 0. and msg.deviceState.batteryPercent < 90 # if current is positive, then battery is being discharged msg.deviceState.started = started_ts is not None msg.deviceState.startedMonoTime = int(1e9*(started_ts or 0)) diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore index 5f8a96edf..e5b27adce 100644 --- a/selfdrive/ui/.gitignore +++ b/selfdrive/ui/.gitignore @@ -4,8 +4,6 @@ moc_* _mui watch3 installer/installers/* -replay/replay -replay/tests/test_replay qt/text qt/spinner qt/setup/setup diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 9e89576a5..c62a6b19d 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -78,7 +78,7 @@ if GetOption('extras'): if GetOption('extras'): - # buidl updater UI + # build updater UI qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs) # build mui diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc index ee98c4d3d..db33e1cd6 100644 --- a/selfdrive/ui/installer/installer.cc +++ b/selfdrive/ui/installer/installer.cc @@ -107,7 +107,7 @@ void Installer::doInstall() { qDebug() << "Waiting for valid time"; } - // cleanup previous install attemps + // cleanup previous install attempts run("rm -rf " TMP_INSTALL_PATH " " INSTALL_PATH); // do the install diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index f81c3dd8f..046814d51 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -361,7 +361,7 @@ void MapWindow::offroadTransition(bool offroad) { } MapInstructions::MapInstructions(QWidget * parent) : QWidget(parent) { - is_rhd = Params().getBool("IsRHD"); + is_rhd = Params().getBool("IsRhdDetected"); QHBoxLayout *main_layout = new QHBoxLayout(this); main_layout->setContentsMargins(11, 50, 11, 11); { diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 5e0e87e64..d44f4c75f 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -59,6 +59,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { tr("When enabled, pressing the accelerator pedal will disengage openpilot."), "../assets/offroad/icon_disengage_on_accelerator.svg", }, + { + "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 { "NavSettingTime24h", diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 4414e602e..3920453a4 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -459,19 +459,41 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) { // paint path QLinearGradient bg(0, height(), 0, height() / 4); - const auto &orientation = (*s->sm)["modelV2"].getModelV2().getOrientation(); - float orientation_future = 0; - if (orientation.getZ().size() > 16) { - orientation_future = std::abs(orientation.getZ()[16]); // 2.5 seconds + float start_hue, end_hue; + if (scene.end_to_end_long) { + const auto &acceleration = (*s->sm)["modelV2"].getModelV2().getAcceleration(); + float acceleration_future = 0; + if (acceleration.getZ().size() > 16) { + acceleration_future = acceleration.getX()[16]; // 2.5 seconds + } + start_hue = 60; + // speed up: 120, slow down: 0 + end_hue = fmax(fmin(start_hue + acceleration_future * 30, 120), 0); + + // FIXME: painter.drawPolygon can be slow if hue is not rounded + end_hue = int(end_hue * 100 + 0.5) / 100; + + bg.setColorAt(0.0, QColor::fromHslF(start_hue / 360., 0.97, 0.56, 0.4)); + bg.setColorAt(0.5, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.35)); + bg.setColorAt(1.0, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.0)); + } else { + const auto &orientation = (*s->sm)["modelV2"].getModelV2().getOrientation(); + float orientation_future = 0; + if (orientation.getZ().size() > 16) { + orientation_future = std::abs(orientation.getZ()[16]); // 2.5 seconds + } + start_hue = 148; + // straight: 112, in turns: 70 + end_hue = fmax(70, 112 - (orientation_future * 420)); + + // FIXME: painter.drawPolygon can be slow if hue is not rounded + end_hue = int(end_hue * 100 + 0.5) / 100; + + bg.setColorAt(0.0, QColor::fromHslF(start_hue / 360., 0.94, 0.51, 0.4)); + bg.setColorAt(0.5, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.35)); + bg.setColorAt(1.0, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.0)); } - // straight: 112, in turns: 70 - float curve_hue = fmax(70, 112 - (orientation_future * 420)); - // FIXME: painter.drawPolygon can be slow if hue is not rounded - curve_hue = int(curve_hue * 100 + 0.5) / 100; - - bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4)); - bg.setColorAt(0.75 / 1.5, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.35)); - bg.setColorAt(1.0, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.0)); + painter.setBrush(bg); painter.drawPolygon(scene.track_vertices); diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc index accab67bf..a84542d29 100644 --- a/selfdrive/ui/qt/sidebar.cc +++ b/selfdrive/ui/qt/sidebar.cc @@ -33,7 +33,7 @@ void Sidebar::drawMetric(QPainter &p, const QPair &label, QCol } Sidebar::Sidebar(QWidget *parent) : QFrame(parent) { - home_img = loadPixmap("../assets/images/button_home.png", {180, 180}); + home_img = loadPixmap("../assets/images/button_home.png", home_btn.size()); settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio); connect(this, &Sidebar::valueChanged, [=] { update(); }); @@ -43,9 +43,16 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent) { setFixedWidth(300); QObject::connect(uiState(), &UIState::uiUpdate, this, &Sidebar::updateState); + + pm = std::make_unique>({"userFlag"}); } void Sidebar::mouseReleaseEvent(QMouseEvent *event) { + if (home_btn.contains(event->pos())) { + MessageBuilder msg; + msg.initEvent().initUserFlag(); + pm->send("userFlag", msg); + } if (settings_btn.contains(event->pos())) { emit openSettings(); } @@ -99,7 +106,7 @@ void Sidebar::paintEvent(QPaintEvent *event) { p.setOpacity(0.65); p.drawPixmap(settings_btn.x(), settings_btn.y(), settings_img); p.setOpacity(1.0); - p.drawPixmap(60, 1080 - 180 - 40, home_img); + p.drawPixmap(home_btn.x(), home_btn.y(), home_img); // network int x = 58; diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h index 4c6d8f47e..621a21444 100644 --- a/selfdrive/ui/qt/sidebar.h +++ b/selfdrive/ui/qt/sidebar.h @@ -3,7 +3,6 @@ #include #include -#include "common/params.h" #include "selfdrive/ui/ui.h" typedef QPair, QColor> ItemStatus; @@ -43,13 +42,16 @@ protected: {cereal::DeviceState::NetworkType::CELL5_G, tr("5G")} }; + const QRect home_btn = QRect(60, 860, 180, 180); const QRect settings_btn = QRect(50, 35, 200, 117); const QColor good_color = QColor(255, 255, 255); const QColor warning_color = QColor(218, 202, 37); const QColor danger_color = QColor(201, 34, 49); - Params params; ItemStatus connect_status, panda_status, temp_status; QString net_type; int net_strength = 0; + +private: + std::unique_ptr pm; }; diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index 4be88aaf1..c5697c104 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -162,7 +162,7 @@ QPixmap loadPixmap(const QString &fileName, const QSize &size, Qt::AspectRatioMo } } -QRect getTextRect(QPainter &p, int flags, QString text) { +QRect getTextRect(QPainter &p, int flags, const QString &text) { QFontMetrics fm(p.font()); QRect init_rect = fm.boundingRect(text); return fm.boundingRect(init_rect, flags, text); diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h index f0e57526c..209f05196 100644 --- a/selfdrive/ui/qt/util.h +++ b/selfdrive/ui/qt/util.h @@ -24,6 +24,6 @@ void initApp(int argc, char *argv[]); QWidget* topWidget (QWidget* widget); QPixmap loadPixmap(const QString &fileName, const QSize &size = {}, Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio); -QRect getTextRect(QPainter &p, int flags, QString text); +QRect getTextRect(QPainter &p, int flags, const QString &text); void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom); QColor interpColor(float xv, std::vector xp, std::vector fp); diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index 7da4ec0d6..d8609f110 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 import json import os +import re import shutil import unittest import xml.etree.ElementTree as ET @@ -8,6 +9,7 @@ import xml.etree.ElementTree as ET from selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations TMP_TRANSLATIONS_DIR = os.path.join(TRANSLATIONS_DIR, "tmp") +LOCATION_TAG = "" not in cur_translations, + self.assertTrue("" not in cur_translations, f"{file} ({name}) translation file has unfinished translations. Finish translations or mark them as completed in Qt Linguist") def test_vanished_translations(self): for name, file in self.translation_files.items(): with self.subTest(name=name, file=file): cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file) - self.assertTrue(b"" not in cur_translations, + self.assertTrue("" not in cur_translations, f"{file} ({name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them") def test_plural_translations(self): + """ + Tests: + - that any numerus (plural) translations marked "finished" have all plural forms non-empty + - that the correct format specifier is used (%n) + """ for name, file in self.translation_files.items(): with self.subTest(name=name, file=file): tr_xml = ET.parse(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")) @@ -74,13 +83,15 @@ class TestTranslations(unittest.TestCase): for message in context.iterfind("message"): if message.get("numerus") == "yes": translation = message.find("translation") - numerusform = translation.findall("numerusform") + numerusform = [t.text for t in translation.findall("numerusform")] # Do not assert finished translations if translation.get("type") == "unfinished": continue - self.assertNotIn(None, [x.text for x in numerusform], "Ensure all plural translation forms are completed.") + self.assertNotIn(None, numerusform, "Ensure all plural translation forms are completed.") + self.assertTrue(all([re.search("%[0-9]+", t) is None for t in numerusform]), + "Plural translations must use %n, not %1, %2, etc.: {}".format(numerusform)) if __name__ == "__main__": diff --git a/selfdrive/ui/translations/README.md b/selfdrive/ui/translations/README.md index 349b4847a..91a6c3ca2 100644 --- a/selfdrive/ui/translations/README.md +++ b/selfdrive/ui/translations/README.md @@ -1,16 +1,19 @@ # Multilanguage -[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_en.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_en.ts) -[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_pt.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_pt.ts) -[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_zh-CHT.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_zh-CHT.ts) -[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_zh-CHS.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_zh-CHS.ts) -[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_ko.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_ko.ts) -[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_ja.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_ja.ts) +[![languages](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge.svg)](#) ## Contributing Before getting started, make sure you have set up the openpilot Ubuntu development environment by reading the [tools README.md](/tools/README.md). +### Policy + +Most of the languages supported by openpilot come from and are maintained by the community via pull requests. A pull request likely to be merged is one that [fixes a translation or adds missing translations.](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/README.md#improving-an-existing-language) + +We also generally merge pull requests adding support for a new language if there are community members willing to maintain it. Maintaining a language is ensuring quality and completion of translations before each openpilot release. + +comma may remove or hide language support from releases depending on translation quality and completeness. + ### Adding a New Language openpilot provides a few tools to help contributors manage their translations and to ensure quality. To get started: @@ -39,7 +42,7 @@ Any time you edit source code in the UI, you need to update the translations to ### Testing -openpilot has a few unit tests to make sure all translations are up to date and that all strings are wrapped in a translation marker. They are run in CI, but you can also run them locally. +openpilot has a few unit tests to make sure all translations are up-to-date and that all strings are wrapped in a translation marker. They are run in CI, but you can also run them locally. Tests translation files up to date: diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py index d9e2d443b..32904f242 100755 --- a/selfdrive/ui/translations/create_badges.py +++ b/selfdrive/ui/translations/create_badges.py @@ -8,20 +8,17 @@ from selfdrive.ui.update_translations import LANGUAGES_FILE, TRANSLATIONS_DIR TRANSLATION_TAG = "'] + for idx, (name, file) in enumerate(translation_files.items()): with open(os.path.join(TRANSLATIONS_DIR, f"{file}.ts"), "r") as tr_f: tr_file = tr_f.read() - print(f"[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/{TRANSLATION_BADGE.format(file)})]({TRANSLATION_LINK.format(file)}.ts)") - total_translations = 0 unfinished_translations = 0 for line in tr_file.splitlines(): @@ -33,8 +30,18 @@ if __name__ == "__main__": percent_finished = int(100 - (unfinished_translations / total_translations * 100.)) color = "green" if percent_finished == 100 else "orange" if percent_finished >= 70 else "red" - r = requests.get(f"https://img.shields.io/badge/LANGUAGE {name}-{percent_finished}%25 complete-{color}") + r = requests.get(f"https://img.shields.io/badge/LANGUAGE {name}-{percent_finished}%25 complete-{color}", timeout=10) assert r.status_code == 200, "Error downloading badge" + content_svg = r.content.decode("utf-8") + + # make tag ids in each badge unique + for tag in ("r", "s"): + content_svg = content_svg.replace(f'id="{tag}"', f'id="{tag}{idx}"') + content_svg = content_svg.replace(f'"url(#{tag})"', f'"url(#{tag}{idx})"') + + badge_svg.extend([f'', content_svg, ""]) + + badge_svg.append("") - with open(os.path.join(BASEDIR, TRANSLATION_BADGE.format(file)), "wb") as badge_f: - badge_f.write(r.content) + with open(os.path.join(BASEDIR, "translation_badge.svg"), "w") as badge_f: + badge_f.write("\n".join(badge_svg)) diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json index 2559b2d26..072d320c1 100644 --- a/selfdrive/ui/translations/languages.json +++ b/selfdrive/ui/translations/languages.json @@ -1,6 +1,6 @@ { "English": "main_en", - "Português": "main_pt", + "Português": "main_pt-BR", "中文（繁體）": "main_zh-CHT", "中文（简体）": "main_zh-CHS", "한국어": "main_ko", diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts new file mode 100644 index 000000000..284208720 --- /dev/null +++ b/selfdrive/ui/translations/main_ar.ts @@ -0,0 +1,1323 @@ + + + + + AbstractAlert + + + Close + أغلق + + + + Snooze Update + تأخير التحديث + + + + Reboot and Update + إعادة التشغيل والتحديث + + + + AdvancedNetworking + + + Back + خلف + + + + Enable Tethering + تمكين الربط + + + + Tethering Password + كلمة مرور للربط + + + + + EDIT + تعديل + + + + Enter new tethering password + أدخل كلمة مرور جديدة للربط + + + + IP Address + عنوان IP + + + + Enable Roaming + تمكين التجوال + + + + APN Setting + إعداد APN + + + + Enter APN + أدخل APN + + + + leave blank for automatic configuration + اتركه فارغا للتكوين التلقائي + + + + ConfirmationDialog + + + + Ok + موافق + + + + Cancel + إلغاء + + + + DeclinePage + + + You must accept the Terms and Conditions in order to use openpilot. + يجب عليك قبول الشروط والأحكام من أجل استخدام openpilot. + + + + Back + خلف + + + + Decline, uninstall %1 + رفض ، قم بإلغاء تثبيت %1 + + + + DevicePanel + + + Dongle ID + معرف دونجل + + + + N/A + غير متاح + + + + Serial + التسلسلي + + + + Driver Camera + كاميرا السائق + + + + PREVIEW + لمح + + + + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) + قم بمعاينة الكاميرا المواجهة للسائق للتأكد من أن نظام مراقبة السائق يتمتع برؤية جيدة. (يجب أن تكون السيارة معطلة) + + + + Reset Calibration + إعادة ضبط المعايرة + + + + RESET + إعادة تعيين + + + + Are you sure you want to reset calibration? + هل أنت متأكد أنك تريد إعادة ضبط المعايرة؟ + + + + Review Training Guide + مراجعة دليل التدريب + + + + REVIEW + مراجعة + + + + Review the rules, features, and limitations of openpilot + راجع القواعد والميزات والقيود الخاصة بـ openpilot + + + + Are you sure you want to review the training guide? + هل أنت متأكد أنك تريد مراجعة دليل التدريب؟ + + + + Regulatory + تنظيمية + + + + VIEW + عرض + + + + Change Language + تغيير اللغة + + + + CHANGE + تغيير + + + + Select a language + اختر لغة + + + + Reboot + اعادة التشغيل + + + + Power Off + أطفاء + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. + يتطلب openpilot أن يتم تركيب الجهاز في حدود 4 درجات يسارًا أو يمينًا و 5 درجات لأعلى أو 8 درجات لأسفل. يقوم برنامج openpilot بالمعايرة بشكل مستمر ، ونادراً ما تكون إعادة الضبط مطلوبة. + + + + Your device is pointed %1° %2 and %3° %4. + جهازك يشير %1° %2 و %3° %4. + + + + down + لأسفل + + + + up + إلى أعلى + + + + left + إلى اليسار + + + + right + إلى اليمين + + + + Are you sure you want to reboot? + هل أنت متأكد أنك تريد إعادة التشغيل؟ + + + + Disengage to Reboot + فك الارتباط لإعادة التشغيل + + + + Are you sure you want to power off? + هل أنت متأكد أنك تريد إيقاف التشغيل؟ + + + + Disengage to Power Off + فك الارتباط لإيقاف التشغيل + + + + DriveStats + + + Drives + أرقام القيادة + + + + Hours + ساعات + + + + ALL TIME + في كل وقت + + + + PAST WEEK + الأسبوع الماضي + + + + KM + كم + + + + Miles + اميال + + + + DriverViewScene + + + camera starting + بدء تشغيل الكاميرا + + + + InputDialog + + + Cancel + إلغاء + + + + Need at least %n character(s)! + + تحتاج على الأقل %n حرف! + تحتاج على الأقل %n حرف! + تحتاج على الأقل %n احرف! + تحتاج على الأقل %n احرف! + تحتاج على الأقل %n احرف! + تحتاج على الأقل %n احرف! + + + + + Installer + + + Installing... + جارٍ التثبيت ... + + + + Receiving objects: + استقبال الكائنات: + + + + Resolving deltas: + حل دلتا: + + + + Updating files: + جارٍ تحديث الملفات: + + + + MapETA + + + eta + eta + + + + min + دق + + + + hr + سع + + + + km + كم + + + + mi + مل + + + + MapInstructions + + + km + كم + + + + m + م + + + + mi + مل + + + + ft + قد + + + + MapPanel + + + Current Destination + الوجهة الحالية + + + + CLEAR + مسح + + + + Recent Destinations + الوجهات الأخيرة + + + + Try the Navigation Beta + جرب التنقل التجريبي + + + + Get turn-by-turn directions displayed and more with a comma +prime subscription. Sign up now: https://connect.comma.ai + احصل على الاتجاهات خطوة بخطوة معروضة والمزيد باستخدام comma +الاشتراك الرئيسي. اشترك الآن: https://connect.comma.ai + + + + No home +location set + لم يتم تعيين +موقع المنزل + + + + No work +location set + لم يتم تعيين +موقع العمل + + + + no recent destinations + لا توجد وجهات حديثة + + + + MapWindow + + + Map Loading + تحميل الخريطة + + + + Waiting for GPS + في انتظار GPS + + + + MultiOptionDialog + + + Select + اختر + + + + Cancel + إلغاء + + + + Networking + + + Advanced + متقدم + + + + Enter password + أدخل كلمة المرور + + + + + for "%1" + ل "%1" + + + + Wrong password + كلمة مرور خاطئة + + + + NvgWindow + + + km/h + km/h + + + + mph + mph + + + + + MAX + الأعلى + + + + + SPEED + سرعة + + + + + LIMIT + حد + + + + OffroadHome + + + UPDATE + تحديث + + + + ALERTS + تنبيهات + + + + ALERT + تنبيه + + + + PairingPopup + + + Pair your device to your comma account + قم بإقران جهازك بحساب comma الخاص بك + + + + Go to https://connect.comma.ai on your phone + اذهب إلى https://connect.comma.ai من هاتفك + + + + Click "add new device" and scan the QR code on the right + انقر على "إضافة جهاز جديد" وامسح رمز الاستجابة السريعة على اليمين + + + + Bookmark connect.comma.ai to your home screen to use it like an app + ضع إشارة مرجعية على connect.comma.ai على شاشتك الرئيسية لاستخدامه مثل أي تطبيق + + + + PrimeAdWidget + + + Upgrade Now + قم بالترقية الآن + + + + Become a comma prime member at connect.comma.ai + كن عضوًا comme prime في connect.comma.ai + + + + PRIME FEATURES: + ميزات PRIME: + + + + Remote access + الوصول عن بعد + + + + 1 year of storage + سنة واحدة من التخزين + + + + Developer perks + امتيازات المطور + + + + PrimeUserWidget + + + ✓ SUBSCRIBED + ✓ مشترك + + + + comma prime + comma prime + + + + CONNECT.COMMA.AI + CONNECT.COMMA.AI + + + + COMMA POINTS + COMMA POINTS + + + + QObject + + + Reboot + اعادة التشغيل + + + + Exit + أغلق + + + + dashcam + dashcam + + + + openpilot + openpilot + + + + %n minute(s) ago + + منذ %n دقيقة + منذ %n دقيقة + منذ %n دقائق + منذ %n دقائق + منذ %n دقائق + منذ %n دقائق + + + + + %n hour(s) ago + + منذ %n ساعة + منذ %n ساعة + منذ %n ساعات + منذ %n ساعات + منذ %n ساعات + منذ %n ساعات + + + + + %n day(s) ago + + منذ %n يوم + منذ %n يوم + منذ %n ايام + منذ %n ايام + منذ %n ايام + منذ %n ايام + + + + + Reset + + + Reset failed. Reboot to try again. + فشل إعادة التعيين. أعد التشغيل للمحاولة مرة أخرى. + + + + Are you sure you want to reset your device? + هل أنت متأكد أنك تريد إعادة ضبط جهازك؟ + + + + Resetting device... + جارٍ إعادة ضبط الجهاز ... + + + + System Reset + إعادة تعيين النظام + + + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + تم تشغيل إعادة تعيين النظام. اضغط على تأكيد لمسح كل المحتوى والإعدادات. اضغط على إلغاء لاستئناف التمهيد. + + + + Cancel + إلغاء + + + + Reboot + اعادة التشغيل + + + + Confirm + تأكيد + + + + Unable to mount data partition. Press confirm to reset your device. + تعذر تحميل قسم البيانات. اضغط على تأكيد لإعادة ضبط جهازك. + + + + RichTextDialog + + + Ok + موافق + + + + SettingsWindow + + + × + x + + + + Device + جهاز + + + + + Network + شبكة الاتصال + + + + Toggles + التبديل + + + + Software + برمجة + + + + Navigation + ملاحة + + + + Setup + + + WARNING: Low Voltage + تحذير: الجهد المنخفض + + + + Power your device in a car with a harness or proceed at your own risk. + قم بتشغيل جهازك في سيارة باستخدام أداة تثبيت أو المضي قدمًا على مسؤوليتك الخاصة. + + + + Power off + اطفئ الجهاز + + + + + + Continue + أكمل + + + + Getting Started + ابدء + + + + Before we get on the road, let’s finish installation and cover some details. + قبل أن ننطلق على الطريق ، دعنا ننتهي من التثبيت ونغطي بعض التفاصيل. + + + + Connect to Wi-Fi + اتصل بشبكة Wi-Fi + + + + + Back + خلف + + + + Continue without Wi-Fi + استمر بدون Wi-Fi + + + + Waiting for internet + في انتظار الاتصال بالإنترنت + + + + Choose Software to Install + اختر البرنامج المراد تثبيته + + + + Dashcam + Dashcam + + + + Custom Software + برامج مخصصة + + + + Enter URL + إدخال عنوان الموقع + + + + for Custom Software + للبرامج المخصصة + + + + Downloading... + جارى التحميل... + + + + Download Failed + فشل التنزيل + + + + Ensure the entered URL is valid, and the device’s internet connection is good. + تأكد من أن عنوان موقع الويب الذي تم إدخاله صالح ، وأن اتصال الجهاز بالإنترنت جيد. + + + + Reboot device + إعادة تشغيل الجهاز + + + + Start over + ابدأ من جديد + + + + SetupWidget + + + Finish Setup + إنهاء الإعداد + + + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + قم بإقران جهازك بفاصلة connect (connect.comma.ai) واطلب عرض comma prime الخاص بك. + + + + Pair device + إقران الجهاز + + + + Sidebar + + + + CONNECT + الاتصال + + + + OFFLINE + غير متصل + + + + + ONLINE + متصل + + + + ERROR + خطأ + + + + + + TEMP + درجة الحرارة + + + + HIGH + عالي + + + + GOOD + جيد + + + + OK + موافق + + + + VEHICLE + مركبة + + + + NO + لا + + + + PANDA + PANDA + + + + GPS + GPS + + + + SEARCH + بحث + + + + -- + -- + + + + Wi-Fi + Wi-Fi + + + + ETH + ETH + + + + 2G + 2G + + + + 3G + 3G + + + + LTE + LTE + + + + 5G + 5G + + + + SoftwarePanel + + + Git Branch + Git Branch + + + + Git Commit + Git Commit + + + + OS Version + إصدار نظام التشغيل + + + + Version + إصدار + + + + Last Update Check + التحقق من آخر تحديث + + + + The last time openpilot successfully checked for an update. The updater only runs while the car is off. + آخر مرة نجح برنامج openpilot في التحقق من التحديث. يعمل المحدث فقط أثناء إيقاف تشغيل السيارة. + + + + Check for Update + فحص التحديثات + + + + CHECKING + تدقيق + + + + Switch Branch + تبديل الفرع + + + + ENTER + أدخل + + + + + The new branch will be pulled the next time the updater runs. + سيتم سحب الفرع الجديد في المرة التالية التي يتم فيها تشغيل أداة التحديث. + + + + Enter branch name + أدخل اسم الفرع + + + + UNINSTALL + الغاء التثبيت + + + + Uninstall %1 + الغاء التثبيت %1 + + + + Are you sure you want to uninstall? + هل أنت متأكد أنك تريد إلغاء التثبيت؟ + + + + failed to fetch update + فشل في جلب التحديث + + + + + CHECK + تأكد الان + + + + SshControl + + + SSH Keys + SSH Keys + + + + Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. + تحذير: هذا يمنح SSH الوصول إلى جميع المفاتيح العامة في إعدادات GitHub. لا تدخل أبدًا اسم مستخدم GitHub بخلاف اسم المستخدم الخاص بك. لن يطلب منك موظف comma أبدًا إضافة اسم مستخدم GitHub الخاص به. + + + + + ADD + أضف + + + + Enter your GitHub username + أدخل اسم مستخدم GitHub الخاص بك + + + + LOADING + جار التحميل + + + + REMOVE + نزع + + + + Username '%1' has no keys on GitHub + لا يحتوي اسم المستخدم '%1' على مفاتيح على GitHub + + + + Request timed out + انتهت مهلة الطلب + + + + Username '%1' doesn't exist on GitHub + اسم المستخدم '%1' غير موجود على GitHub + + + + SshToggle + + + Enable SSH + تفعيل SSH + + + + TermsPage + + + Terms & Conditions + البنود و الظروف + + + + Decline + انحدار + + + + Scroll to accept + قم بالتمرير للقبول + + + + Agree + موافق + + + + TogglesPanel + + + Enable openpilot + تمكين openpilot + + + + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. + استخدم نظام الطيار المفتوح للتحكم التكيفي في ثبات السرعة والحفاظ على مساعدة السائق. انتباهك مطلوب في جميع الأوقات لاستخدام هذه الميزة. يسري تغيير هذا الإعداد عند إيقاف تشغيل السيارة. + + + + Enable Lane Departure Warnings + قم بتمكين تحذيرات مغادرة حارة السير + + + + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). + تلقي تنبيهات للتوجه مرة أخرى إلى الحارة عندما تنجرف سيارتك فوق خط المسار المكتشف دون تنشيط إشارة الانعطاف أثناء القيادة لمسافة تزيد عن 31 ميلاً في الساعة (50 كم / ساعة). + + + + Use Metric System + استخدم النظام المتري + + + + Display speed in km/h instead of mph. + عرض السرعة بالكيلو متر في الساعة بدلاً من ميل في الساعة. + + + + Record and Upload Driver Camera + تسجيل وتحميل كاميرا السائق + + + + Upload data from the driver facing camera and help improve the driver monitoring algorithm. + قم بتحميل البيانات من الكاميرا المواجهة للسائق وساعد في تحسين خوارزمية مراقبة السائق. + + + + Disengage On Accelerator Pedal + فك الارتباط على دواسة التسريع + + + + When enabled, pressing the accelerator pedal will disengage openpilot. + عند التمكين ، سيؤدي الضغط على دواسة الوقود إلى فصل الطيار المفتوح. + + + + Show ETA in 24h Format + إظهار الوقت المقدر للوصول بتنسيق 24 ساعة + + + + Use 24h format instead of am/pm + استخدم تنسيق 24 ساعة بدلاً من صباحًا / مساءً + + + + Show Map on Left Side of UI + إظهار الخريطة على الجانب الأيسر من واجهة المستخدم + + + + Show map on left side when in split screen view. + إظهار الخريطة على الجانب الأيسر عندما تكون في طريقة عرض الشاشة المنقسمة. + + + + openpilot Longitudinal Control + openpilot التحكم الطولي + + + + openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! + سوف يقوم برنامج openpilot بتعطيل رادار السيارة وسيتولى التحكم في الغاز والمكابح. تحذير: هذا يعطل AEB! + + + + Updater + + + Update Required + مطلوب التحديث + + + + An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. + مطلوب تحديث نظام التشغيل. قم بتوصيل جهازك بشبكة Wi-Fi للحصول على أسرع تجربة تحديث. حجم التنزيل 1 غيغابايت تقريبًا. + + + + Connect to Wi-Fi + اتصل بشبكة Wi-Fi + + + + Install + ثبيت + + + + Back + خلف + + + + Loading... + جار التحميل... + + + + Reboot + اعادة التشغيل + + + + Update failed + فشل التحديث + + + + WifiUI + + + + Scanning for networks... + جارٍ البحث عن شبكات ... + + + + CONNECTING... + جارٍ الاتصال ... + + + + FORGET + نزع + + + + Forget Wi-Fi Network "%1"? + نزع شبكة اWi-Fi "%1"? + + + diff --git a/selfdrive/ui/translations/main_en.ts b/selfdrive/ui/translations/main_en.ts index 3f9692e5f..42e30a59a 100644 --- a/selfdrive/ui/translations/main_en.ts +++ b/selfdrive/ui/translations/main_en.ts @@ -4,6 +4,7 @@ InputDialog + Need at least %n character(s)! Need at least %n character! @@ -14,6 +15,7 @@ QObject + %n minute(s) ago %n minute ago @@ -21,6 +23,7 @@ + %n hour(s) ago %n hour ago @@ -28,6 +31,7 @@ + %n day(s) ago %n day ago diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index b66bc4b80..7d0203dae 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -4,17 +4,17 @@ AbstractAlert - + Close 閉じる - + Snooze Update 更新の一時停止 - + Reboot and Update 再起動してアップデート @@ -22,53 +22,53 @@ AdvancedNetworking - + Back 戻る - + Enable Tethering ﾃｻﾞﾘﾝｸﾞを有効化 - + Tethering Password ﾃｻﾞﾘﾝｸﾞﾊﾟｽﾜｰﾄﾞ - - + + EDIT 編集 - + Enter new tethering password 新しいテザリングパスワードを入力 - + IP Address IP アドレス - + Enable Roaming ﾛｰﾐﾝｸﾞを有効化 - + APN Setting APN 設定 - + Enter APN APN を入力 - + leave blank for automatic configuration 空白のままにして、自動設定にします @@ -76,13 +76,13 @@ ConfirmationDialog - - + + Ok OK - + Cancel キャンセル @@ -90,17 +90,17 @@ DeclinePage - + You must accept the Terms and Conditions in order to use openpilot. openpilot をご利用される前に、利用規約に同意する必要があります。 - + Back 戻る - + Decline, uninstall %1 拒否して %1 をｱﾝｲﾝｽﾄｰﾙ @@ -108,152 +108,152 @@ DevicePanel - + Dongle ID ドングル番号 (Dongle ID) - + N/A N/A - + Serial シリアル番号 - + Driver Camera 車内カメラ - + PREVIEW 見る - + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 車内カメラをプレビューして、ドライバー監視システムの視界を確認ができます。(車両の電源を切る必要があります) - + Reset Calibration ｷｬﾘﾌﾞﾚｰｼｮﾝをﾘｾｯﾄ - + RESET ﾘｾｯﾄ - + Are you sure you want to reset calibration? ｷｬﾘﾌﾞﾚｰｼｮﾝをリセットしてもよろしいですか？ - + Review Training Guide 入門書を見る - + REVIEW 見る - + Review the rules, features, and limitations of openpilot openpilot の特徴を見る - + Are you sure you want to review the training guide? 入門書を見てもよろしいですか？ - + Regulatory 認証情報 - + VIEW 見る - + Change Language 言語を変更 - + CHANGE 変更 - + Select a language 言語を選択 - + Reboot 再起動 - + Power Off 電源を切る - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot は、左または右の4°以内、上の5°または下の8°以内にデバイスを取付ける必要があります。キャリブレーションを引き続きます、リセットはほとんど必要ありません。 - + Your device is pointed %1° %2 and %3° %4. このデバイスは%2の%1°、%4の%3°に向けます。 - + down 下 - + up 上 - + left 左 - + right 右 - + Are you sure you want to reboot? 再起動してもよろしいですか？ - + Disengage to Reboot openpilot をキャンセルして再起動ができます - + Are you sure you want to power off? シャットダウンしてもよろしいですか？ - + Disengage to Power Off openpilot をキャンセルしてシャットダウンができます @@ -261,32 +261,32 @@ DriveStats - + Drives 運転履歴 - + Hours 時間 - + ALL TIME 累計 - + PAST WEEK 先週 - + KM km - + Miles マイル @@ -294,7 +294,7 @@ DriverViewScene - + camera starting ｶﾒﾗを起動しています @@ -302,12 +302,12 @@ InputDialog - + Cancel キャンセル - + Need at least %n character(s)! %n文字以上でお願いします！ @@ -317,22 +317,22 @@ Installer - + Installing... インストールしています... - + Receiving objects: ｵﾌﾞｼﾞｪｸﾄをﾀﾞｳﾝﾛｰﾄﾞしています： - + Resolving deltas: デルタを解決しています： - + Updating files: ファイルを更新しています： @@ -340,27 +340,27 @@ MapETA - + eta 予定到着時間 - + min 分 - + hr 時間 - + km ｷﾛﾒｰﾄﾙ - + mi ﾏｲﾙ @@ -368,22 +368,22 @@ MapInstructions - + km ｷﾛﾒｰﾄﾙ - + m ﾒｰﾄﾙ - + mi ﾏｲﾙ - + ft ﾌｨｰﾄ @@ -391,48 +391,48 @@ MapPanel - + Current Destination 現在の目的地 - + CLEAR 削除 - + Recent Destinations 最近の目的地 - + Try the Navigation Beta β版ﾅﾋﾞｹﾞｰｼｮﾝを試す - + Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai より詳細な案内情報を得ることができます。 詳しくはこちら：https://connect.comma.ai - + No home location set 自宅の住所はまだ 設定されていません - + No work location set 職場の住所はまだ 設定されていません - + no recent destinations 最近の目的地履歴がありません @@ -440,12 +440,12 @@ location set MapWindow - + Map Loading マップを読み込んでいます - + Waiting for GPS GPS信号を探しています @@ -453,12 +453,12 @@ location set MultiOptionDialog - + Select 選択 - + Cancel キャンセル @@ -466,23 +466,23 @@ location set Networking - + Advanced 詳細 - + Enter password パスワードを入力 - - + + for "%1" ﾈｯﾄﾜｰｸ名：%1 - + Wrong password ﾊﾟｽﾜｰﾄﾞが間違っています @@ -490,30 +490,30 @@ location set NvgWindow - + km/h km/h - + mph mph - - + + MAX 最高速度 - - + + SPEED 速度 - - + + LIMIT 制限速度 @@ -521,17 +521,17 @@ location set OffroadHome - + UPDATE 更新 - + ALERTS 警告 - + ALERT 警告 @@ -539,22 +539,22 @@ location set PairingPopup - + Pair your device to your comma account デバイスと comma アカウントを連携する - + Go to https://connect.comma.ai on your phone モバイルデバイスで「connect.comma.ai」にアクセスして - + Click "add new device" and scan the QR code on the right 「新しいデバイスを追加」を押すと、右側のQRコードをスキャンしてください - + Bookmark connect.comma.ai to your home screen to use it like an app 「connect.comma.ai」をホーム画面に追加して、アプリのように使うことができます @@ -562,32 +562,32 @@ location set PrimeAdWidget - + Upgrade Now 今すぐｱｯﾌﾟｸﾞﾚｰﾄ - + Become a comma prime member at connect.comma.ai connect.comma.ai でﾌﾟﾗｲﾑ会員に登録できます - + PRIME FEATURES: 特典： - + Remote access リモートアクセス - + 1 year of storage 一年間の保存期間 - + Developer perks 開発者向け特典 @@ -595,22 +595,22 @@ location set PrimeUserWidget - + ✓ SUBSCRIBED ✓ 入会しました - + comma prime comma prime - + CONNECT.COMMA.AI CONNECT.COMMA.AI - + COMMA POINTS COMMA POINTS @@ -618,41 +618,41 @@ location set QObject - + Reboot 再起動 - + Exit 閉じる - + dashcam ﾄﾞﾗｲﾌﾞﾚｺｰﾀﾞｰ - + openpilot openpilot - + %n minute(s) ago %n 分前 - + %n hour(s) ago %n 時間前 - + %n day(s) ago %n 日前 @@ -662,47 +662,47 @@ location set Reset - + Reset failed. Reboot to try again. 初期化に失敗しました。再起動後に再試行してください。 - + Are you sure you want to reset your device? 初期化してもよろしいですか？ - + Resetting device... デバイスが初期化されます... - + System Reset システムを初期化 - + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. システムの初期化をリクエストしました。「確認」ボタンを押すとデバイスが初期化されます。「キャンセル」ボタンを押すと起動を続行します。 - + Cancel キャンセル - + Reboot 再起動 - + Confirm 確認 - + Unable to mount data partition. Press confirm to reset your device. 「data」パーティションをマウントできません。「確認」ボタンを押すとデバイスが初期化されます。 @@ -710,7 +710,7 @@ location set RichTextDialog - + Ok OK @@ -718,33 +718,33 @@ location set SettingsWindow - + × × - + Device デバイス - - + + Network ﾈｯﾄﾜｰｸ - + Toggles 切り替え - + Software ｿﾌﾄｳｪｱ - + Navigation ﾅﾋﾞｹﾞｰｼｮﾝ @@ -752,105 +752,105 @@ location set Setup - + WARNING: Low Voltage 警告：低電圧 - + Power your device in a car with a harness or proceed at your own risk. 自己責任でハーネスから電源を供給してください。 - + Power off 電源を切る - - - + + + Continue 続ける - + Getting Started はじめに - + Before we get on the road, let’s finish installation and cover some details. その前に、インストールを完了し、いくつかの詳細を説明します。 - + Connect to Wi-Fi Wi-Fi に接続 - - + + Back 戻る - + Continue without Wi-Fi Wi-Fi に未接続で続行 - + Waiting for internet インターネット接続を待機中 - + Choose Software to Install インストールするソフトウェアを選びます - + Dashcam ﾄﾞﾗｲﾌﾞﾚｺｰﾀﾞｰ - + Custom Software カスタムソフトウェア - + Enter URL URL を入力 - + for Custom Software カスタムソフトウェア - + Downloading... ダウンロード中... - + Download Failed ダウンロード失敗 - + Ensure the entered URL is valid, and the device’s internet connection is good. 入力された URL を確認し、デバイスがインターネットに接続されていることを確認してください。 - + Reboot device デバイスを再起動 - + Start over 最初からやり直す @@ -858,17 +858,17 @@ location set SetupWidget - + Finish Setup セットアップ完了 - + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. デバイスを comma connect (connect.comma.ai)でペアリングし comma prime 特典を申請してください。 - + Pair device デバイスをペアリング @@ -876,106 +876,106 @@ location set Sidebar - - + + CONNECT 接続 - + OFFLINE オフライン - - + + ONLINE オンライン - + ERROR エラー - - - + + + TEMP 温度 - + HIGH 高温 - + GOOD 最適 - + OK OK - + VEHICLE 車両 - + NO NO - + PANDA PANDA - + GPS GPS - + SEARCH 検索 - + -- -- - + Wi-Fi Wi-Fi - + ETH ETH - + 2G 2G - + 3G 3G - + LTE LTE - + 5G 5G @@ -983,89 +983,89 @@ location set SoftwarePanel - + Git Branch Git ブランチ - + Git Commit Git コミット - + OS Version OS バージョン - + Version バージョン - + Last Update Check 最終更新確認 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. openpilotが最後にアップデートの確認に成功してからの時間です。アップデート処理は、車の電源が切れているときのみ実行されます。 - + Check for Update 更新プログラムをチェック - + CHECKING 確認中 - + Switch Branch ブランチの切り替え - + ENTER 切替 - - + + The new branch will be pulled the next time the updater runs. updater を実行する時にブランチを切り替えます。 - + Enter branch name ブランチ名を入力 - + UNINSTALL アンインストール - + Uninstall %1 %1をアンインストール - + Are you sure you want to uninstall? アンインストールしてもよろしいですか？ - + failed to fetch update 更新のﾀﾞｳﾝﾛｰﾄﾞにｴﾗｰが発生しました - - + + CHECK 確認 @@ -1073,48 +1073,48 @@ location set SshControl - + SSH Keys SSH 鍵 - + Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. 警告: これは、GitHub の設定にあるすべての公開鍵への SSH アクセスを許可するものです。自分以外の GitHub のユーザー名を入力しないでください。コンマのスタッフが GitHub のユーザー名を追加するようお願いすることはありません。 - - + + ADD 追加 - + Enter your GitHub username GitHub のユーザー名を入力してください - + LOADING ローディング - + REMOVE 削除 - + Username '%1' has no keys on GitHub ユーザー名 “%1” は GitHub に鍵がありません - + Request timed out リクエストタイムアウト - + Username '%1' doesn't exist on GitHub ユーザー名 '%1' は GitHub に存在しません @@ -1122,7 +1122,7 @@ location set SshToggle - + Enable SSH SSH を有効化 @@ -1130,22 +1130,22 @@ location set TermsPage - + Terms & Conditions 利用規約 - + Decline 拒否 - + Scroll to accept スクロールして同意 - + Agree 同意 @@ -1153,82 +1153,92 @@ location set TogglesPanel - + Enable openpilot openpilot を有効化 - + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. アダプティブクルーズコントロールとレーンキーピングドライバーアシスト（openpilotシステム）。この機能を使用するには、常に注意が必要です。この設定を変更すると、車の電源が切れたときに有効になります。 - + Enable Lane Departure Warnings 車線逸脱警報機能を有効化 - + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). 時速31マイル（50km）を超えるスピードで走行中、方向指示器を作動させずに検出された車線ライン上に車両が触れた場合、車線に戻るアラートを受信します。 - + Use Metric System メートル法を有効化 - + Display speed in km/h instead of mph. 速度は mph ではなく km/h で表示されます。 - + Record and Upload Driver Camera 車内カメラの録画とアップロード - + Upload data from the driver facing camera and help improve the driver monitoring algorithm. 車内カメラの映像をアップロードし、ドライバー監視システムのアルゴリズムの向上に役立てます。 - + + 🌮 End-to-end longitudinal (extremely alpha) 🌮 + + + + + Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental. + + + + Disengage On Accelerator Pedal ｱｸｾﾙ踏むと openpilot をｷｬﾝｾﾙ - + When enabled, pressing the accelerator pedal will disengage openpilot. 有効な場合は、アクセルを踏むと openpilot をキャンセルします。 - + Show ETA in 24h Format 24時間表示 - + Use 24h format instead of am/pm AM/PM の代わりに24時間形式を使用します - + Show Map on Left Side of UI ﾃﾞｨｽﾌﾟﾚｲの左側にﾏｯﾌﾟを表示 - + Show map on left side when in split screen view. 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。 - + openpilot Longitudinal Control openpilot 縦方向制御 - + openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! 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！ @@ -1236,42 +1246,42 @@ location set Updater - + Update Required 更新が必要です - + An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. ｵﾍﾟﾚｰﾃｨﾝｸﾞｼｽﾃﾑのアップデートが必要です。Wi-Fi に接続することで、最速のアップデートを体験できます。ダウンロードサイズは約 1GB です。 - + Connect to Wi-Fi Wi-Fi に接続 - + Install インストール - + Back 戻る - + Loading... 読み込み中... - + Reboot 再起動 - + Update failed 更新失敗 @@ -1279,23 +1289,23 @@ location set WifiUI - - + + Scanning for networks... ネットワークをスキャン中... - + CONNECTING... 接続中... - + FORGET 削除 - + Forget Wi-Fi Network "%1"? Wi-Fiﾈｯﾄﾜｰｸ%1を削除してもよろしいですか？ diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index a67b957e8..ff83057a9 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -4,17 +4,17 @@ AbstractAlert - + Close 닫기 - + Snooze Update 업데이트 일시중지 - + Reboot and Update 업데이트 및 재부팅 @@ -22,53 +22,53 @@ AdvancedNetworking - + Back 뒤로 - + Enable Tethering 테더링 사용 - + Tethering Password 테더링 비밀번호 - - + + EDIT 편집 - + Enter new tethering password 새 테더링 비밀번호를 입력하세요 - + IP Address IP 주소 - + Enable Roaming 로밍 사용 - + APN Setting APN 설정 - + Enter APN APN 입력 - + leave blank for automatic configuration 자동설정을 하려면 공백으로 두세요 @@ -76,13 +76,13 @@ ConfirmationDialog - - + + Ok 확인 - + Cancel 취소 @@ -90,17 +90,17 @@ DeclinePage - + You must accept the Terms and Conditions in order to use openpilot. openpilot을 사용하려면 이용 약관에 동의해야 합니다. - + Back 뒤로 - + Decline, uninstall %1 거절, %1 제거 @@ -108,152 +108,152 @@ DevicePanel - + Dongle ID Dongle ID - + N/A N/A - + Serial Serial - + Driver Camera 운전자 카메라 - + PREVIEW 미리보기 - + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 운전자 모니터링이 좋은 가시성을 갖도록 운전자를 향한 카메라를 미리 봅니다. (차량연결은 해제되어있어야 합니다) - + Reset Calibration 캘리브레이션 재설정 - + RESET 재설정 - + Are you sure you want to reset calibration? 캘리브레이션을 재설정하시겠습니까? - + Review Training Guide 트레이닝 가이드 다시보기 - + REVIEW 다시보기 - + Review the rules, features, and limitations of openpilot openpilot의 규칙, 기능 및 제한 다시보기 - + Are you sure you want to review the training guide? 트레이닝 가이드를 다시보시겠습니까? - + Regulatory 규제 - + VIEW 보기 - + Change Language 언어 변경 - + CHANGE 변경 - + Select a language 언어를 선택하세요 - + Reboot 재부팅 - + Power Off 전원 종료 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot은 장치를 좌측 또는 우측은 4° 이내, 위쪽 5° 또는 아래쪽은 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다. - + Your device is pointed %1° %2 and %3° %4. 사용자의 장치가 %1° %2 및 %3° %4를 가리키고 있습니다. - + down 아래로 - + up 위로 - + left 좌측으로 - + right 우측으로 - + Are you sure you want to reboot? 재부팅 하시겠습니까? - + Disengage to Reboot 재부팅 하려면 해제하세요 - + Are you sure you want to power off? 전원을 종료하시겠습니까? - + Disengage to Power Off 전원을 종료하려면 해제하세요 @@ -261,32 +261,32 @@ DriveStats - + Drives 주행 - + Hours 시간 - + ALL TIME 전체 - + PAST WEEK 지난주 - + KM Km - + Miles Miles @@ -294,7 +294,7 @@ DriverViewScene - + camera starting 카메라 시작중 @@ -302,12 +302,12 @@ InputDialog - + Cancel 취소 - + Need at least %n character(s)! 최소 %n 자가 필요합니다! @@ -317,22 +317,22 @@ Installer - + Installing... 설치중... - + Receiving objects: 수신중： - + Resolving deltas: 델타병합： - + Updating files: 파일갱신： @@ -340,27 +340,27 @@ MapETA - + eta 도착 - + min 분 - + hr 시간 - + km km - + mi mi @@ -368,22 +368,22 @@ MapInstructions - + km km - + m m - + mi mi - + ft ft @@ -391,48 +391,48 @@ MapPanel - + Current Destination 현재 목적지 - + CLEAR 삭제 - + Recent Destinations 최근 목적지 - + Try the Navigation Beta 네비게이션(베타)를 사용해보세요 - + Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai 자세한 경로안내를 원하시면 comma prime을 구독하세요. 등록：https://connect.comma.ai - + No home location set 집 설정되지않음 - + No work location set 회사 설정되지않음 - + no recent destinations 최근 목적지 없음 @@ -440,12 +440,12 @@ location set MapWindow - + Map Loading 지도 로딩 - + Waiting for GPS GPS를 기다리는 중 @@ -453,12 +453,12 @@ location set MultiOptionDialog - + Select 선택 - + Cancel 취소 @@ -466,23 +466,23 @@ location set Networking - + Advanced 고급 설정 - + Enter password 비밀번호를 입력하세요 - - + + for "%1" 하기위한 "%1" - + Wrong password 비밀번호가 틀렸습니다 @@ -490,30 +490,30 @@ location set NvgWindow - + km/h km/h - + mph mph - - + + MAX MAX - - + + SPEED SPEED - - + + LIMIT LIMIT @@ -521,17 +521,17 @@ location set OffroadHome - + UPDATE 업데이트 - + ALERTS 알림 - + ALERT 알림 @@ -539,22 +539,22 @@ location set PairingPopup - + Pair your device to your comma account 장치를 콤마 계정과 페어링합니다 - + Go to https://connect.comma.ai on your phone https://connect.comma.ai에 접속하세요 - + Click "add new device" and scan the QR code on the right "새 장치 추가"를 클릭하고 오른쪽 QR 코드를 검색합니다 - + Bookmark connect.comma.ai to your home screen to use it like an app connect.comma.ai을 앱처럼 사용하려면 홈 화면에 바로가기를 만드십시오 @@ -562,32 +562,32 @@ location set PrimeAdWidget - + Upgrade Now 지금 업그레이드 - + Become a comma prime member at connect.comma.ai connect.comma.ai에서 comma prime에 가입합니다 - + PRIME FEATURES: PRIME 기능： - + Remote access 원격 접속 - + 1 year of storage 1년간 저장 - + Developer perks 개발자 혜택 @@ -595,22 +595,22 @@ location set PrimeUserWidget - + ✓ SUBSCRIBED ✓ 구독함 - + comma prime comma prime - + CONNECT.COMMA.AI CONNECT.COMMA.AI - + COMMA POINTS COMMA POINTS @@ -618,41 +618,41 @@ location set QObject - + Reboot 재부팅 - + Exit 종료 - + dashcam dashcam - + openpilot openpilot - + %n minute(s) ago %n 분전 - + %n hour(s) ago %n 시간전 - + %n day(s) ago %n 일전 @@ -662,47 +662,47 @@ location set Reset - + Reset failed. Reboot to try again. 초기화 실패. 재부팅후 다시 시도하세요. - + Are you sure you want to reset your device? 장치를 초기화 하시겠습니까? - + Resetting device... 장치 초기화중... - + System Reset 장치 초기화 - + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. 장치를 초기화 합니다. 확인버튼을 누르면 모든 내용과 설정이 초기화됩니다. 취소를 누르면 다시 부팅합니다. - + Cancel 취소 - + Reboot 재부팅 - + Confirm 확인 - + Unable to mount data partition. Press confirm to reset your device. 데이터 파티션을 마운트할 수 없습니다. 확인 버튼을 눌러 장치를 리셋합니다. @@ -710,7 +710,7 @@ location set RichTextDialog - + Ok 확인 @@ -718,33 +718,33 @@ location set SettingsWindow - + × × - + Device 장치 - - + + Network 네트워크 - + Toggles 토글 - + Software 소프트웨어 - + Navigation 네비게이션 @@ -752,105 +752,105 @@ location set Setup - + WARNING: Low Voltage 경고: 전압이 낮습니다 - + Power your device in a car with a harness or proceed at your own risk. 하네스 보드에 차량의 전원을 연결하세요. - + Power off 전원 종료 - - - + + + Continue 계속 - + Getting Started 설정 시작 - + Before we get on the road, let’s finish installation and cover some details. 출발하기 전에 설정을 완료하고 몇 가지 세부 사항을 살펴보겠습니다. - + Connect to Wi-Fi wifi 연결 - - + + Back 뒤로 - + Continue without Wi-Fi wifi 없이 계속 - + Waiting for internet 네트워크 접속을 기다립니다 - + Choose Software to Install 설치할 소프트웨어를 선택하세요 - + Dashcam Dashcam - + Custom Software Custom Software - + Enter URL URL 입력 - + for Custom Software for Custom Software - + Downloading... 다운로드중... - + Download Failed 다운로드 실패 - + Ensure the entered URL is valid, and the device’s internet connection is good. 입력된 URL이 유효하고 장치의 인터넷 연결이 잘 되어 있는지 확인합니다. - + Reboot device 재부팅 - + Start over 다시 시작 @@ -858,17 +858,17 @@ location set SetupWidget - + Finish Setup 설정 완료 - + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. 장치를 (connect.comma.ai)에서 페어링하고 comma prime 오퍼를 청구합니다. - + Pair device 장치 페어링 @@ -876,106 +876,106 @@ location set Sidebar - - + + CONNECT 연결 - + OFFLINE 오프라인 - - + + ONLINE 온라인 - + ERROR 오류 - - - + + + TEMP 온도 - + HIGH 높음 - + GOOD 좋음 - + OK 경고 - + VEHICLE 차량 - + NO NO - + PANDA PANDA - + GPS GPS - + SEARCH 검색중 - + -- -- - + Wi-Fi Wi-Fi - + ETH 이더넷 - + 2G 2G - + 3G 3G - + LTE LTE - + 5G 5G @@ -983,89 +983,89 @@ location set SoftwarePanel - + Git Branch Git 브렌치 - + Git Commit Git 커밋 - + OS Version OS 버전 - + Version 버전 - + Last Update Check 최신 업데이트 검사 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 최근에 openpilot이 업데이트를 성공적으로 확인했습니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다. - + Check for Update 업데이트 확인 - + CHECKING 확인중 - + Switch Branch 브랜치 변경 - + ENTER 입력하세요 - - + + The new branch will be pulled the next time the updater runs. 다음 업데이트 프로그램이 실행될 때 새 브랜치가 적용됩니다. - + Enter branch name 브랜치명 입력 - + UNINSTALL 제거 - + Uninstall %1 %1 제거 - + Are you sure you want to uninstall? 제거하시겠습니까? - + failed to fetch update 업데이트를 가져올수없습니다 - - + + CHECK 확인 @@ -1073,48 +1073,48 @@ location set SshControl - + SSH Keys SSH 키 - + Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. 경고：이렇게 하면 GitHub 설정의 모든 공용 키에 대한 SSH 액세스 권한이 부여됩니다. 자신의 사용자 이름이 아닌 GitHub 사용자 이름을 입력하지 마십시오. comma 직원은 GitHub 사용자 이름을 추가하도록 요청하지 않습니다. - - + + ADD 추가 - + Enter your GitHub username GitHub 사용자 ID - + LOADING 로딩 - + REMOVE 제거 - + Username '%1' has no keys on GitHub '%1'의 키가 GitHub에 없습니다 - + Request timed out 요청 시간 초과 - + Username '%1' doesn't exist on GitHub '%1'은 GitHub에 없습니다 @@ -1122,7 +1122,7 @@ location set SshToggle - + Enable SSH SSH 사용 @@ -1130,22 +1130,22 @@ location set TermsPage - + Terms & Conditions 약관 - + Decline 거절 - + Scroll to accept 허용하려면 아래로 스크롤하세요 - + Agree 동의 @@ -1153,82 +1153,92 @@ location set TogglesPanel - + Enable openpilot openpilot 사용 - + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. 어댑티브 크루즈 컨트롤 및 차선 유지 운전자 보조를 위해 openpilot 시스템을 사용하십시오. 이 기능을 사용하려면 항상 주의를 기울여야 합니다. 이 설정을 변경하면 차량 전원이 꺼질 때 적용됩니다. - + Enable Lane Departure Warnings 차선 이탈 경고 사용 - + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). 차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향 지시등이 활성화되지 않은 상태에서 감지된 차선 위를 주행할 경우 차선이탈 경고를 사용합니다. - + Use Metric System 미터법 사용 - + Display speed in km/h instead of mph. mph 대신 km/h로 속도를 표시합니다. - + Record and Upload Driver Camera 운전자 카메라 녹화 및 업로드 - + Upload data from the driver facing camera and help improve the driver monitoring algorithm. 운전자 카메라에서 데이터를 업로드하고 운전자 모니터링 알고리즘을 개선합니다. - + + 🌮 End-to-end longitudinal (extremely alpha) 🌮 + 🌮 e2e long 사용 (매우 실험적) 🌮 + + + + Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental. + 주행모델이 가속과 감속을 제어하도록 하면 openpilot은 운전자가 생각하는것처럼 운전합니다. (매우 실험적) + + + Disengage On Accelerator Pedal 가속페달 조작시 해제 - + When enabled, pressing the accelerator pedal will disengage openpilot. 활성화된 경우 가속 페달을 누르면 openpilot이 해제됩니다. - + Show ETA in 24h Format 24시간 형식으로 도착예정시간 표시 - + Use 24h format instead of am/pm 오전/오후 대신 24시간 형식 사용 - + Show Map on Left Side of UI UI 왼쪽에 지도 표시 - + Show map on left side when in split screen view. 분할 화면 보기에서 지도를 왼쪽에 표시합니다. - + openpilot Longitudinal Control openpilot Longitudinal Control - + openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! openpilot은 차량'의 레이더를 무력화시키고 가속페달과 브레이크의 제어를 인계받을 것이다. 경고: AEB를 비활성화합니다! @@ -1236,42 +1246,42 @@ location set Updater - + Update Required 업데이트 필요 - + An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. OS 업데이트가 필요합니다. 장치를 wifi에 연결하여 가장 빠른 업데이트 경험을 제공합니다. 다운로드 크기는 약 1GB입니다. - + Connect to Wi-Fi wifi 연결 - + Install 설치 - + Back 뒤로 - + Loading... 로딩중... - + Reboot 재부팅 - + Update failed 업데이트 실패 @@ -1279,23 +1289,23 @@ location set WifiUI - - + + Scanning for networks... 네트워크 검색 중... - + CONNECTING... 연결중... - + FORGET 저장안함 - + Forget Wi-Fi Network "%1"? wifi 네트워크 저장안함 "%1"? diff --git a/selfdrive/ui/translations/main_pt.ts b/selfdrive/ui/translations/main_nl.ts similarity index 71% rename from selfdrive/ui/translations/main_pt.ts rename to selfdrive/ui/translations/main_nl.ts index 912afa38a..99646ed74 100644 --- a/selfdrive/ui/translations/main_pt.ts +++ b/selfdrive/ui/translations/main_nl.ts @@ -1,22 +1,22 @@ - + AbstractAlert Close - Fechar + Sluit Snooze Update - Adiar Atualização + Update uitstellen Reboot and Update - Reiniciar e Atualizar + Opnieuw Opstarten en Updaten @@ -24,53 +24,53 @@ Back - Voltar + Terug Enable Tethering - Ativar Theter + Tethering Inschakelen Tethering Password - Senha Thetering + Tethering Wachtwoord EDIT - EDITAR + AANPASSEN Enter new tethering password - Insira nova senha thetering + Voer nieuw tethering wachtwoord in IP Address - IP Endereço + IP Adres Enable Roaming - Ativar Roaming + Roaming Inschakelen APN Setting - APN Config + APN Instelling Enter APN - Insira APN + Voer APN in leave blank for automatic configuration - deixe em branco para configuração automática + laat leeg voor automatische configuratie @@ -79,12 +79,12 @@ Ok - OK + Ok Cancel - Cancelar + Annuleren @@ -92,17 +92,17 @@ You must accept the Terms and Conditions in order to use openpilot. - Você precisa aceitar os Termos e Condições para utilizar openpilot. + U moet de Algemene Voorwaarden accepteren om openpilot te gebruiken. Back - Voltar + Terug Decline, uninstall %1 - Rejeitar, desintalar %1 + Afwijzen, verwijder %1 @@ -115,32 +115,32 @@ N/A - N/A + Nvt Serial - Serial + Serienummer Driver Camera - Câmera Motorista + Bestuurders Camera PREVIEW - PREVISUAL + BEKIJKEN Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) - Pré-visualizar a câmera voltada para o motorista para garantir que monitor tem uma boa visibilidade (veículo precisa estar desligado) + Bekijk de naar de bestuurder gerichte camera om ervoor te zorgen dat het monitoren van de bestuurder goed zicht heeft. (Voertuig moet uitgschakeld zijn) Reset Calibration - Limpar Calibragem + Kalibratie Resetten @@ -150,112 +150,112 @@ Are you sure you want to reset calibration? - Tem certeza que quer limpar calibragem? + Weet u zeker dat u de kalibratie wilt resetten? Review Training Guide - Revisar o Treinamento + Doorloop de Training Opnieuw REVIEW - REVISAR + BEKIJKEN Review the rules, features, and limitations of openpilot - Revisar regras, features e limitações do openpilot + Bekijk de regels, functies en beperkingen van openpilot Are you sure you want to review the training guide? - Tem certeza que quer rever o treinamento? + Weet u zeker dat u de training opnieuw wilt doorlopen? Regulatory - Regulatório + Regelgeving VIEW - VER + BEKIJKEN Change Language - Mudar Língua + Taal Wijzigen CHANGE - MUDAR + WIJZIGEN Select a language - Selecione uma linguagem + Selecteer een taal Reboot - Reiniciar + Opnieuw Opstarten Power Off - Desligar + Uitschakelen openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. - o openpilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 8° para baixo. o openpilot está continuamente calibrando, a redefinição raramente é necessária. + openpilot vereist dat het apparaat binnen 4° links of rechts en binnen 5° omhoog of 8° omlaag wordt gemonteerd. openpilot kalibreert continu, resetten is zelden nodig. Your device is pointed %1° %2 and %3° %4. - Seu dispositivo está montado %1° %2 e %3° %4. + Uw apparaat is gericht op %1° %2 en %3° %4. down - baixo + omlaag up - cima + omhoog left - esquerda + links right - direita + rechts Are you sure you want to reboot? - Tem certeza que quer reiniciar? + Weet u zeker dat u opnieuw wilt opstarten? Disengage to Reboot - Desacione para Reiniciar + Deactiveer openpilot om opnieuw op te starten Are you sure you want to power off? - Tem certeza que quer desligar? + Weet u zeker dat u wilt uitschakelen? Disengage to Power Off - Desacione para Desligar + Deactiveer openpilot om uit te schakelen @@ -263,32 +263,32 @@ Drives - Dirigidas + Ritten Hours - Horas + Uren ALL TIME - TOTAL + TOTAAL PAST WEEK - SEMANA PASSADA + AFGELOPEN WEEK KM - KM + Km Miles - Milhas + Mijl @@ -296,7 +296,7 @@ camera starting - camera iniciando + Camera wordt gestart @@ -304,14 +304,14 @@ Cancel - Cancelar + Annuleren Need at least %n character(s)! - Necessita no mínimo %n caractere! - Necessita no mínimo %n caracteres! + Heeft minstens %n karakter nodig! + Heeft minstens %n karakters nodig! @@ -320,22 +320,22 @@ Installing... - Instalando... + Installeren... Receiving objects: - Recebendo objetos: + Objecten ontvangen: Resolving deltas: - Resolvendo deltas: + Deltas verwerken: Updating files: - Atualizando arquivos: + Bestanden bijwerken: @@ -353,7 +353,7 @@ hr - hr + uur @@ -381,12 +381,12 @@ mi - milha + mi ft - pés + ft @@ -394,48 +394,48 @@ Current Destination - Destino Atual + Huidige Bestemming CLEAR - LIMPAR + LEEGMAKEN Recent Destinations - Destinos Recentes + Recente Bestemmingen Try the Navigation Beta - Experimente a Navegação Beta + Probeer de Navigatie Bèta Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai - Obtenha instruções passo a passo exibidas e muito mais com -uma assinatura prime Increva-se agora：https://connect.comma.ai + Krijg stapsgewijze routebeschrijving en meer met een comma +prime abonnement. Meld u nu aan: https://connect.comma.ai No home location set - Sem local -residência definido + Geen thuislocatie +ingesteld No work location set - Sem local -trabalho definido + Geen werklocatie +ingesteld no recent destinations - sem destinos recentes + geen recente bestemmingen @@ -443,12 +443,12 @@ trabalho definido Map Loading - Carregando Mapa + Kaart wordt geladen Waiting for GPS - Esperando por GPS + Wachten op GPS @@ -456,12 +456,12 @@ trabalho definido Select - Selecione + Selecteer Cancel - Cancelar + Annuleren @@ -469,23 +469,23 @@ trabalho definido Advanced - Avançado + Geavanceerd Enter password - Insira a senha + Voer wachtwoord in for "%1" - para "%1" + voor "%1" Wrong password - Senha incorreta + Verkeerd wachtwoord @@ -493,7 +493,7 @@ trabalho definido km/h - km/h + km/u @@ -504,19 +504,19 @@ trabalho definido MAX - LIMITE + MAX SPEED - MAX + SPEED LIMIT - VELO + LIMIT @@ -524,17 +524,17 @@ trabalho definido UPDATE - ATUALIZAÇÃO + UPDATE ALERTS - ALERTAS + WAARSCHUWINGEN ALERT - ALERTA + WAARSCHUWING @@ -542,22 +542,22 @@ trabalho definido Pair your device to your comma account - Pareie seu dispositivo a sua conta comma + Koppel uw apparaat aan uw comma-account Go to https://connect.comma.ai on your phone - navegue até https://connect.comma.ai no seu telefone + Ga naar https://connect.comma.ai op uw telefoon Click "add new device" and scan the QR code on the right - Clique "add new device" e escaneie o QR code a seguir + Klik op "add new device" en scan de QR-code aan de rechterkant Bookmark connect.comma.ai to your home screen to use it like an app - Salve connect.comma.ai como sua página inicial para utilizar com um app + Voeg connect.comma.ai toe op uw startscherm om het als een app te gebruiken @@ -565,32 +565,32 @@ trabalho definido Upgrade Now - Atualizar Agora + Upgrade nu Become a comma prime member at connect.comma.ai - Torne-se um membro comma prime em connect.comma.ai + Word een comma prime lid op connect.comma.ai PRIME FEATURES: - PRIME FEATURES: + PRIME BEVAT: Remote access - Acesso remoto + Toegang op afstand 1 year of storage - 1 ano de armazenamento + 1 jaar lang opslag Developer perks - Benefícios para desenvolvedor + Voordelen voor ontwikkelaars @@ -598,7 +598,7 @@ trabalho definido ✓ SUBSCRIBED - ✓ INSCRITO + ✓ GEABONNEERD @@ -613,7 +613,7 @@ trabalho definido COMMA POINTS - PONTOS COMMA + COMMA PUNTEN @@ -621,12 +621,12 @@ trabalho definido Reboot - Reiniciar + Opnieuw Opstarten Exit - Sair + Afsluiten @@ -642,24 +642,24 @@ trabalho definido %n minute(s) ago - há %n minuto - há %n minutos + %n minuut geleden + %n minuten geleden %n hour(s) ago - há %n hora - há %n horas + %n uur geleden + %n uur geleden %n day(s) ago - há %n dia - há %n dias + %n dag geleden + %n dagen geleden @@ -668,47 +668,47 @@ trabalho definido Reset failed. Reboot to try again. - Reset falhou. Reinicie para tentar novamente. + Opnieuw instellen mislukt. Start opnieuw op om opnieuw te proberen. Are you sure you want to reset your device? - Tem certeza que quer resetar seu dispositivo? + Weet u zeker dat u uw apparaat opnieuw wilt instellen? Resetting device... - Resetando dispositivo... + Apparaat opnieuw instellen... System Reset - Resetar Sistema + Systeemreset System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - Solicitado reset do sistema. Confirme para apagar todo conteúdo e configurações. Aperte cancelar para continuar boot. + Systeemreset geactiveerd. Druk op bevestigen om alle inhoud en instellingen te wissen. Druk op Annuleren om het opstarten te hervatten. Cancel - Cancelar + Annuleren Reboot - Reiniciar + Opnieuw Opstarten Confirm - Confirmar + Bevestigen Unable to mount data partition. Press confirm to reset your device. - Não foi possível montar a partição de dados. Pressione confirmar para resetar seu dispositivo. + Kan gegevenspartitie niet koppelen. Druk op bevestigen om uw apparaat te resetten. @@ -729,18 +729,18 @@ trabalho definido Device - Dispositivo + Apparaat Network - Rede + Netwerk Toggles - Ajustes + Opties @@ -750,7 +750,7 @@ trabalho definido Navigation - Navegação + Navigatie @@ -758,60 +758,60 @@ trabalho definido WARNING: Low Voltage - ALERTA: Baixa Voltagem + WAARCHUWING: Lage Spanning Power your device in a car with a harness or proceed at your own risk. - Ligue seu dispositivo em um carro com um chicote ou prossiga por sua conta e risco. + Voorzie uw apparaat van stroom in een auto met een harnas (car harness) of ga op eigen risico verder. Power off - Desligar + Uitschakelen Continue - Continuar + Doorgaan Getting Started - Começando + Aan de slag Before we get on the road, let’s finish installation and cover some details. - Antes de pegarmos a estrada, vamos terminar a instalação e cobrir alguns detalhes. + Laten we, voordat we op pad gaan, de installatie afronden en enkele details bespreken. Connect to Wi-Fi - Conectar ao Wi-Fi + Maak verbinding met Wi-Fi Back - Voltar + Terug Continue without Wi-Fi - Continuar sem Wi-Fi + Doorgaan zonder Wi-Fi Waiting for internet - Esperando pela internet + Wachten op internet Choose Software to Install - Escolher Software para Instalar + Kies Software om te Installeren @@ -821,42 +821,42 @@ trabalho definido Custom Software - Sofware Customizado + Andere Software Enter URL - Preencher URL + Voer URL in for Custom Software - para o Software Customizado + voor Andere Software Downloading... - Baixando... + Downloaden... Download Failed - Download Falhou + Downloaden Mislukt Ensure the entered URL is valid, and the device’s internet connection is good. - Garanta que a URL inserida é valida, e uma boa conexão à internet. + Zorg ervoor dat de ingevoerde URL geldig is en dat de internetverbinding van het apparaat goed is. Reboot device - Reiniciar Dispositivo + Apparaat opnieuw opstarten Start over - Inicializar + Begin opnieuw @@ -864,89 +864,89 @@ trabalho definido Finish Setup - Terminar Configuração + Installatie voltooien Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. - Pareie seu dispositivo com comma connect (connect.comma.ai) e reivindique sua oferta de comma prime. + Koppel uw apparaat met comma connect (connect.comma.ai) en claim uw comma prime-aanbieding. Pair device - Parear dispositivo + Apparaat koppelen Sidebar - - + + CONNECT - CONEXÃO + VERBINDING - + OFFLINE - DESCONEC + OFFLINE - - + + ONLINE - CONECTADO + ONLINE - + ERROR - ERRO + FOUT - - - + + + TEMP TEMP - + HIGH - ALTA + HOOG - + GOOD - BOA + GOED - + OK OK - + VEHICLE - VEÍCULO + VOERTUIG - + NO - SEM + GEEN - + PANDA PANDA - + GPS GPS - + SEARCH - PROCURA + ZOEKEN @@ -976,7 +976,7 @@ trabalho definido LTE - LTE + 4G @@ -989,89 +989,89 @@ trabalho definido Git Branch - Ramo Git + Git Branch Git Commit - Commit Git + Git Commit OS Version - Versão do Sistema + OS Versie Version - Versão + Versie Last Update Check - Verificação da última atualização + Laatste Updatecontrole The last time openpilot successfully checked for an update. The updater only runs while the car is off. - A última vez que o openpilot verificou com sucesso uma atualização. O atualizador só funciona com o carro desligado. + De laatste keer dat openpilot met succes heeft gecontroleerd op een update. De updater werkt alleen als de auto is uitgeschakeld. Check for Update - Verifique atualizações + Controleer op Updates CHECKING - VERIFICANDO + CONTROLEER Switch Branch - Trocar Ramo + Branch Verwisselen ENTER - INSERIR + INVOEREN The new branch will be pulled the next time the updater runs. - O novo ramo será aplicado na próxima execução do atualizador. + Tijdens de volgende update wordt de nieuwe branch opgehaald. Enter branch name - Inserir o nome do ramo + Voer branch naam in - UNINSTALL - DESINSTALAR + Uninstall %1 + Verwijder %1 - Uninstall %1 - Desintalando %1 + UNINSTALL + VERWIJDER Are you sure you want to uninstall? - Tem certeza que quer desinstalar? + Weet u zeker dat u de installatie ongedaan wilt maken? failed to fetch update - falha ao buscar atualização + ophalen van update mislukt CHECK - VERIFICAR + CONTROLEER @@ -1079,48 +1079,48 @@ trabalho definido SSH Keys - Chave SSH + SSH Sleutels Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. - Aviso: isso concede acesso SSH a todas as chaves públicas nas configurações do GitHub. Nunca insira um nome de usuário do GitHub que não seja o seu. Um funcionário da comma NUNCA pedirá que você adicione seu nome de usuário do GitHub. + Waarschuwing: dit geeft SSH toegang tot alle openbare sleutels in uw GitHub-instellingen. Voer nooit een andere GitHub-gebruikersnaam in dan die van uzelf. Een medewerker van comma zal u NOOIT vragen om zijn GitHub-gebruikersnaam toe te voegen. ADD - ADICIONAR + TOEVOEGEN Enter your GitHub username - Insira seu nome de usuário do GitHub + Voer uw GitHub gebruikersnaam in LOADING - CARREGANDO + LADEN REMOVE - REMOVER + VERWIJDEREN Username '%1' has no keys on GitHub - Usuário "%1” não possui chaves no GitHub + Gebruikersnaam '%1' heeft geen SSH sleutels op GitHub Request timed out - A solicitação expirou + Time-out van aanvraag Username '%1' doesn't exist on GitHub - Usuário '%1' não existe no GitHub + Gebruikersnaam '%1' bestaat niet op GitHub @@ -1128,7 +1128,7 @@ trabalho definido Enable SSH - Habilitar SSH + SSH Inschakelen @@ -1136,22 +1136,22 @@ trabalho definido Terms & Conditions - Termos & Condições + Algemene Voorwaarden Decline - Declinar + Afwijzen Scroll to accept - Role para aceitar + Scroll om te accepteren Agree - Concordo + Akkoord @@ -1159,82 +1159,82 @@ trabalho definido Enable openpilot - Ativar openpilot + openpilot Inschakelen Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - Use o sistema openpilot para controle de cruzeiro adaptativo e assistência ao motorista de manutenção de faixa. Sua atenção é necessária o tempo todo para usar esse recurso. A alteração desta configuração tem efeito quando o carro é desligado. + Gebruik het openpilot-systeem voor adaptieve cruisecontrol en rijstrookassistentie. Uw aandacht is te allen tijde vereist om deze functie te gebruiken. Het wijzigen van deze instelling wordt van kracht wanneer de auto wordt uitgeschakeld. Enable Lane Departure Warnings - Ativar Avisos de Saída de Faixa + Waarschuwingen bij Verlaten Rijstrook Inschakelen Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). - Receba alertas para voltar para a pista se o seu veículo sair da faixa e a seta não tiver sido acionada previamente quando em velocidades superiores a 50 km/h. + Ontvang waarschuwingen om terug naar de rijstrook te sturen wanneer uw voertuig over een gedetecteerde rijstrookstreep drijft zonder dat de richtingaanwijzer wordt geactiveerd terwijl u harder rijdt dan 50 km/u (31 mph). Use Metric System - Usar Sistema Métrico + Gebruik Metrisch Systeem Display speed in km/h instead of mph. - Exibir velocidade em km/h invés de mph. + Geef snelheid weer in km/u in plaats van mph. Record and Upload Driver Camera - Gravar e Upload Câmera Motorista + Opnemen en Uploaden van de Bestuurders Camera Upload data from the driver facing camera and help improve the driver monitoring algorithm. - Upload dados da câmera voltada para o motorista e ajude a melhorar o algoritmo de monitoramentor. + Upload gegevens van de bestuurders camera en help het algoritme voor het monitoren van de bestuurder te verbeteren. Disengage On Accelerator Pedal - Desacionar Com Pedal Do Acelerador + Deactiveren Met Gaspedaal When enabled, pressing the accelerator pedal will disengage openpilot. - Quando ativado, pressionar o pedal do acelerador desacionará o openpilot. + Indien ingeschakeld, zal het indrukken van het gaspedaal openpilot deactiveren. Show ETA in 24h Format - Mostrar ETA em formato 24h + Toon verwachte aankomsttijd in 24-uurs formaat Use 24h format instead of am/pm - Use o formato 24h em vez de am/pm + Gebruik 24-uurs formaat in plaats van AM en PM Show Map on Left Side of UI - Exibir Mapa no Lado Esquerdo + Toon kaart aan linkerkant van het scherm Show map on left side when in split screen view. - Exibir mapa do lado esquerdo quando a tela for dividida. + Toon kaart links in gesplitste schermweergave. openpilot Longitudinal Control - openpilot Controle Longitudinal + openpilot Longitudinale Controle openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! - openpilot desativará o radar do carro e assumirá o controle do acelerador e freios. Atenção: isso desativa AEB! + openpilot zal de radar van de auto uitschakelen en de controle over gas en remmen overnemen. Waarschuwing: hierdoor wordt AEB (automatische noodrem) uitgeschakeld! @@ -1242,42 +1242,42 @@ trabalho definido Update Required - Atualização Necessária + Update Vereist An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. - Uma atualização do sistema operacional é necessária. Conecte seu dispositivo ao Wi-Fi para a experiência de atualização mais rápida. O tamanho do download é de aproximadamente 1GB. + Een update van het besturingssysteem is vereist. Verbind je apparaat met Wi-Fi voor de snelste update-ervaring. De downloadgrootte is ongeveer 1 GB. Connect to Wi-Fi - Conecte-se ao Wi-Fi + Maak verbinding met Wi-Fi Install - Instalar + Installeer Back - Voltar + Terug Loading... - Carregando... + Aan het laden... Reboot - Reiniciar + Opnieuw Opstarten Update failed - Falha na atualização + Update mislukt @@ -1286,22 +1286,22 @@ trabalho definido Scanning for networks... - Procurando redes... + Scannen naar netwerken... CONNECTING... - CONECTANDO... + VERBINDEN... FORGET - ESQUECER + VERGETEN Forget Wi-Fi Network "%1"? - Esquecer Rede Wi-Fi "%1"? + Vergeet Wi-Fi Netwerk "%1"? diff --git a/selfdrive/ui/translations/main_pl.ts b/selfdrive/ui/translations/main_pl.ts new file mode 100644 index 000000000..8593d6826 --- /dev/null +++ b/selfdrive/ui/translations/main_pl.ts @@ -0,0 +1,1311 @@ + + + + + AbstractAlert + + + Close + Zamknij + + + + Snooze Update + Zaktualizuj później + + + + Reboot and Update + Uruchom ponownie i zaktualizuj + + + + AdvancedNetworking + + + Back + Wróć + + + + Enable Tethering + Włącz hotspot osobisty + + + + Tethering Password + Hasło do hotspotu + + + + + EDIT + EDYTUJ + + + + Enter new tethering password + Wprowadź nowe hasło do hotspotu + + + + IP Address + Adres IP + + + + Enable Roaming + Włącz roaming danych + + + + APN Setting + Ustawienia APN + + + + Enter APN + Wprowadź APN + + + + leave blank for automatic configuration + Pozostaw puste, aby użyć domyślnej konfiguracji + + + + ConfirmationDialog + + + + Ok + Ok + + + + Cancel + Anuluj + + + + DeclinePage + + + You must accept the Terms and Conditions in order to use openpilot. + Aby korzystać z openpilota musisz zaakceptować regulamin. + + + + Back + Wróć + + + + Decline, uninstall %1 + Odrzuć, odinstaluj %1 + + + + DevicePanel + + + Dongle ID + ID adaptera + + + + N/A + N/A + + + + Serial + Numer seryjny + + + + Driver Camera + Kamera kierowcy + + + + PREVIEW + PODGLĄD + + + + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) + Wyświetl podgląd z kamery skierowanej na kierowcę, aby upewnić się, że monitoring kierowcy ma dobry zakres widzenia. (pojazd musi być wyłączony) + + + + Reset Calibration + Zresetuj kalibrację + + + + RESET + ZRESETUJ + + + + Are you sure you want to reset calibration? + Czy na pewno chcesz zresetować kalibrację? + + + + Review Training Guide + Zapoznaj się z samouczkiem + + + + REVIEW + ZAPOZNAJ SIĘ + + + + Review the rules, features, and limitations of openpilot + Zapoznaj się z zasadami, funkcjami i ograniczeniami openpilota + + + + Are you sure you want to review the training guide? + Czy na pewno chcesz się zapoznać z samouczkiem? + + + + Regulatory + Regulacja + + + + VIEW + WIDOK + + + + Change Language + Zmień język + + + + CHANGE + ZMIEŃ + + + + Select a language + Wybierz język + + + + Reboot + Uruchom ponownie + + + + Power Off + Wyłącz + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot wymaga, aby urządzenie było zamontowane z maksymalnym odchyłem 4° poziomo, 5° w górę oraz 8° w dół. openpilot jest ciągle kalibrowany, rzadko konieczne jest resetowania urządzenia. + + + + Your device is pointed %1° %2 and %3° %4. + Twoje urządzenie jest skierowane %1° %2 oraz %3° %4. + + + + down + w dół + + + + up + w górę + + + + left + w lewo + + + + right + w prawo + + + + Are you sure you want to reboot? + Czy na pewno chcesz uruchomić ponownie urządzenie? + + + + Disengage to Reboot + Aby uruchomić ponownie, odłącz sterowanie + + + + Are you sure you want to power off? + Czy na pewno chcesz wyłączyć urządzenie? + + + + Disengage to Power Off + Aby wyłączyć urządzenie, odłącz sterowanie + + + + DriveStats + + + Drives + Przejazdy + + + + Hours + Godziny + + + + ALL TIME + CAŁKOWICIE + + + + PAST WEEK + OSTATNI TYDZIEŃ + + + + KM + KM + + + + Miles + Mile + + + + DriverViewScene + + + camera starting + uruchamianie kamery + + + + InputDialog + + + Cancel + Anuluj + + + + Need at least %n character(s)! + + Wpisana wartość powinna składać się przynajmniej z %n znaku! + Wpisana wartość powinna skłądać się przynajmniej z %n znaków! + Wpisana wartość powinna skłądać się przynajmniej z %n znaków! + + + + + Installer + + + Installing... + Instalowanie... + + + + Receiving objects: + Odbieranie obiektów: + + + + Resolving deltas: + Rozwiązywanie różnic: + + + + Updating files: + Aktualizacja plików: + + + + MapETA + + + eta + przewidywany czas + + + + min + min + + + + hr + godz + + + + km + km + + + + mi + mi + + + + MapInstructions + + + km + km + + + + m + m + + + + mi + mi + + + + ft + ft + + + + MapPanel + + + Current Destination + Miejsce docelowe + + + + CLEAR + WYCZYŚĆ + + + + Recent Destinations + Ostatnie miejsca docelowe + + + + Try the Navigation Beta + Wypróbuj nawigację w wersji beta + + + + Get turn-by-turn directions displayed and more with a comma +prime subscription. Sign up now: https://connect.comma.ai + Odblokuj nawigację zakręt po zakęcie i wiele więcej subskrybując +comma prime. Zarejestruj się teraz: https://connect.comma.ai + + + + No home +location set + Lokalizacja domu +nie została ustawiona + + + + No work +location set + Miejsce pracy +nie zostało ustawione + + + + no recent destinations + brak ostatnich miejsc docelowych + + + + MapWindow + + + Map Loading + Ładowanie Mapy + + + + Waiting for GPS + Oczekiwanie na sygnał GPS + + + + MultiOptionDialog + + + Select + Wybierz + + + + Cancel + Anuluj + + + + Networking + + + Advanced + Zaawansowane + + + + Enter password + Wprowadź hasło + + + + + for "%1" + do "%1" + + + + Wrong password + Niepoprawne hasło + + + + NvgWindow + + + km/h + km/h + + + + mph + mph + + + + + MAX + MAX + + + + + SPEED + PRĘDKOŚĆ + + + + + LIMIT + OGRANICZENIE + + + + OffroadHome + + + UPDATE + UAKTUALNIJ + + + + ALERTS + ALERTY + + + + ALERT + ALERT + + + + PairingPopup + + + Pair your device to your comma account + Sparuj swoje urzadzenie ze swoim kontem comma + + + + Go to https://connect.comma.ai on your phone + Wejdź na stronę https://connect.comma.ai na swoim telefonie + + + + Click "add new device" and scan the QR code on the right + Kliknij "add new device" i zeskanuj kod QR znajdujący się po prawej stronie + + + + Bookmark connect.comma.ai to your home screen to use it like an app + Dodaj connect.comma.ai do zakładek na swoim ekranie początkowym, aby korzystać z niej jak z aplikacji + + + + PrimeAdWidget + + + Upgrade Now + Uaktualnij teraz + + + + Become a comma prime member at connect.comma.ai + Zostań członkiem comma prime na connect.comma.ai + + + + PRIME FEATURES: + FUNKCJE PRIME: + + + + Remote access + Zdalny dostęp + + + + 1 year of storage + 1 rok przechowywania danych + + + + Developer perks + Udogodnienia dla programistów + + + + PrimeUserWidget + + + ✓ SUBSCRIBED + ✓ ZASUBSKRYBOWANO + + + + comma prime + comma prime + + + + CONNECT.COMMA.AI + CONNECT.COMMA.AI + + + + COMMA POINTS + COMMA POINTS + + + + QObject + + + Reboot + Uruchom Ponownie + + + + Exit + Wyjdź + + + + dashcam + wideorejestrator + + + + openpilot + openpilot + + + + %n minute(s) ago + + %n minutę temu + %n minuty temu + %n minut temu + + + + + %n hour(s) ago + + % godzinę temu + %n godziny temu + %n godzin temu + + + + + %n day(s) ago + + %n dzień temu + %n dni temu + %n dni temu + + + + + Reset + + + Reset failed. Reboot to try again. + Wymazywanie zakończone niepowodzeniem. Aby spróbować ponownie, uruchom ponownie urządzenie. + + + + Are you sure you want to reset your device? + Czy na pewno chcesz wymazać urządzenie? + + + + Resetting device... + Wymazywanie urządzenia... + + + + System Reset + Przywróć do ustawień fabrycznych + + + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + Przywracanie do ustawień fabrycznych. Wciśnij potwierdź, aby usunąć wszystkie dane oraz ustawienia. Wciśnij anuluj, aby wznowić uruchamianie. + + + + Cancel + Anuluj + + + + Reboot + Uruchom ponownie + + + + Confirm + Potwiedź + + + + Unable to mount data partition. Press confirm to reset your device. + Partycja nie została zamontowana poprawnie. Wciśnij potwierdź, aby uruchomić ponownie urządzenie. + + + + RichTextDialog + + + Ok + Ok + + + + SettingsWindow + + + × + x + + + + Device + Urządzenie + + + + + Network + Sieć + + + + Toggles + Przełączniki + + + + Software + Oprogramowanie + + + + Navigation + Nawigacja + + + + Setup + + + WARNING: Low Voltage + OSTRZEŻENIE: Niskie Napięcie + + + + Power your device in a car with a harness or proceed at your own risk. + Podłącz swoje urządzenie do zasilania poprzez podłączenienie go do pojazdu lub kontynuuj na własną odpowiedzialność. + + + + Power off + Wyłącz + + + + + + Continue + Kontynuuj + + + + Getting Started + Zacznij + + + + Before we get on the road, let’s finish installation and cover some details. + Zanim ruszysz w drogę, dokończ instalację i podaj kilka szczegółów. + + + + Connect to Wi-Fi + Połącz z Wi-Fi + + + + + Back + Wróć + + + + Continue without Wi-Fi + Kontynuuj bez połączenia z Wif-Fi + + + + Waiting for internet + Oczekiwanie na połączenie sieciowe + + + + Choose Software to Install + Wybierz oprogramowanie do instalacji + + + + Dashcam + Wideorejestrator + + + + Custom Software + Własne oprogramowanie + + + + Enter URL + Wprowadź adres URL + + + + for Custom Software + do własnego oprogramowania + + + + Downloading... + Pobieranie... + + + + Download Failed + Pobieranie nie powiodło się + + + + Ensure the entered URL is valid, and the device’s internet connection is good. + Upewnij się, że wpisany adres URL jest poprawny, a połączenie internetowe działa poprawnie. + + + + Reboot device + Uruchom ponownie + + + + Start over + Zacznij od początku + + + + SetupWidget + + + Finish Setup + Zakończ konfigurację + + + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + Sparuj swoje urządzenie z comma connect (connect.comma.ai) i wybierz swoją ofertę comma prime. + + + + Pair device + Sparuj urządzenie + + + + Sidebar + + + + CONNECT + POŁĄCZENIE + + + + OFFLINE + OFFLINE + + + + + ONLINE + ONLINE + + + + ERROR + BŁĄD + + + + + + TEMP + TEMP + + + + HIGH + WYSOKA + + + + GOOD + DOBRA + + + + OK + OK + + + + VEHICLE + POJAZD + + + + NO + BRAK + + + + PANDA + PANDA + + + + GPS + GPS + + + + SEARCH + SZUKAJ + + + + -- + -- + + + + Wi-Fi + Wi-FI + + + + ETH + ETH + + + + 2G + 2G + + + + 3G + 3G + + + + LTE + LTE + + + + 5G + 5G + + + + SoftwarePanel + + + Git Branch + Gałąź Git + + + + Git Commit + Git commit + + + + OS Version + Wersja systemu + + + + Version + Wersja + + + + Last Update Check + Ostatnie sprawdzenie aktualizacji + + + + The last time openpilot successfully checked for an update. The updater only runs while the car is off. + Ostatni raz kiedy openpilot znalazł aktualizację. Aktualizator może być uruchomiony wyłącznie wtedy, kiedy pojazd jest wyłączony. + + + + Check for Update + Sprawdź uaktualnienia + + + + CHECKING + SPRAWDZANIE + + + + Switch Branch + Zmień gąłąź + + + + ENTER + WPROWADŹ + + + + + The new branch will be pulled the next time the updater runs. + Nowa gałąź będzie pobrana przy następnym uruchomieniu aktualizatora. + + + + Enter branch name + Wprowadź nazwę gałęzi + + + + Uninstall %1 + Odinstaluj %1 + + + + UNINSTALL + ODINSTALUJ + + + + Are you sure you want to uninstall? + Czy na pewno chcesz odinstalować? + + + + failed to fetch update + pobieranie aktualizacji zakończone niepowodzeniem + + + + + CHECK + SPRAWDŹ + + + + SshControl + + + SSH Keys + Klucze SSH + + + + Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. + Ostrzeżenie: To spowoduje przekazanie dostępu do wszystkich Twoich publicznych kuczy z ustawień GitHuba. Nigdy nie wprowadzaj nazwy użytkownika innej niż swoja. Pracownik comma NIGDY nie poprosi o dodanie swojej nazwy uzytkownika. + + + + + ADD + DODAJ + + + + Enter your GitHub username + Wpisz swoją nazwę użytkownika GitHub + + + + LOADING + ŁADOWANIE + + + + REMOVE + USUŃ + + + + Username '%1' has no keys on GitHub + Użytkownik '%1' nie posiada żadnych kluczy na GitHubie + + + + Request timed out + Limit czasu rządania + + + + Username '%1' doesn't exist on GitHub + Użytkownik '%1' nie istnieje na GitHubie + + + + SshToggle + + + Enable SSH + Włącz SSH + + + + TermsPage + + + Terms & Conditions + Regulamin + + + + Decline + Odrzuć + + + + Scroll to accept + Przewiń w dół, aby zaakceptować + + + + Agree + Zaakceptuj + + + + TogglesPanel + + + Enable openpilot + Włącz openpilota + + + + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. + Użyj openpilota do zachowania bezpiecznego odstępu między pojazdami i do asystowania w utrzymywaniu pasa ruchu. Twoja pełna uwaga jest wymagana przez cały czas korzystania z tej funkcji. Ustawienie to może być wdrożone wyłącznie wtedy, gdy pojazd jest wyłączony. + + + + Enable Lane Departure Warnings + Włącz ostrzeganie przed zmianą pasa ruchu + + + + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). + Otrzymuj alerty o powrocie na właściwy pas, kiedy Twój pojazd przekroczy linię bez włączonego kierunkowskazu jadąc powyżej 50 km/h (31 mph). + + + + Use Metric System + Korzystaj z systemu metrycznego + + + + Display speed in km/h instead of mph. + Wyświetl prędkość w km/h zamiast mph. + + + + Record and Upload Driver Camera + Nagraj i prześlij nagranie z kamery kierowcy + + + + Upload data from the driver facing camera and help improve the driver monitoring algorithm. + Prześlij dane z kamery skierowanej na kierowcę i pomóż poprawiać algorytm monitorowania kierowcy. + + + + Disengage On Accelerator Pedal + Odłącz poprzez naciśnięcie gazu + + + + When enabled, pressing the accelerator pedal will disengage openpilot. + Po włączeniu, naciśnięcie na pedał gazu odłączy openpilota. + + + + Show ETA in 24h Format + Pokaż oczekiwany czas dojazdu w formacie 24-godzinnym + + + + Use 24h format instead of am/pm + Korzystaj z formatu 24-godzinnego zamiast 12-godzinnego + + + + Show Map on Left Side of UI + Pokaż mapę po lewej stronie ekranu + + + + Show map on left side when in split screen view. + Pokaż mapę po lewej stronie kiedy ekran jest podzielony. + + + + openpilot Longitudinal Control + Kontrola wzdłużna openpilota + + + + openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! + openpilot wyłączy radar samochodu i przejmie kontrolę nad gazem i hamulcem. Ostrzeżenie: wyłączony zostanie system AEB! + + + + Updater + + + Update Required + Wymagana Aktualizacja + + + + An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. + Wymagana aktualizacja systemu operacyjnego. Aby przyspieszyć proces aktualizacji połącz swoje urzeądzenie do Wi-Fi. Rozmiar pobieranej paczki wynosi około 1GB. + + + + Connect to Wi-Fi + Połącz się z Wi-Fi + + + + Install + Zainstaluj + + + + Back + Wróć + + + + Loading... + Ładowanie... + + + + Reboot + Uruchom ponownie + + + + Update failed + Aktualizacja nie powiodła się + + + + WifiUI + + + + Scanning for networks... + Wyszukiwanie sieci... + + + + CONNECTING... + ŁĄCZENIE... + + + + FORGET + ZAPOMNIJ + + + + Forget Wi-Fi Network "%1"? + Czy chcesz zapomnieć sieć "%1"? + + + diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts new file mode 100644 index 000000000..5a2167ea8 --- /dev/null +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -0,0 +1,1317 @@ + + + + + AbstractAlert + + + Close + Fechar + + + + Snooze Update + Adiar Atualização + + + + Reboot and Update + Reiniciar e Atualizar + + + + AdvancedNetworking + + + Back + Voltar + + + + Enable Tethering + Ativar Tether + + + + Tethering Password + Senha Tethering + + + + + EDIT + EDITAR + + + + Enter new tethering password + Insira nova senha tethering + + + + IP Address + Endereço IP + + + + Enable Roaming + Ativar Roaming + + + + APN Setting + APN Config + + + + Enter APN + Insira APN + + + + leave blank for automatic configuration + deixe em branco para configuração automática + + + + ConfirmationDialog + + + + Ok + OK + + + + Cancel + Cancelar + + + + DeclinePage + + + You must accept the Terms and Conditions in order to use openpilot. + Você precisa aceitar os Termos e Condições para utilizar openpilot. + + + + Back + Voltar + + + + Decline, uninstall %1 + Rejeitar, desintalar %1 + + + + DevicePanel + + + Dongle ID + Dongle ID + + + + N/A + N/A + + + + Serial + Serial + + + + Driver Camera + Câmera voltada para o Motorista + + + + PREVIEW + PREVISUAL + + + + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) + Pré-visualizar a câmera voltada para o motorista para garantir que monitor tem uma boa visibilidade (veículo precisa estar desligado) + + + + Reset Calibration + Resetar Calibragem + + + + RESET + RESET + + + + Are you sure you want to reset calibration? + Tem certeza que quer resetar a calibragem? + + + + Review Training Guide + Revisar Guia de Treinamento + + + + REVIEW + REVISAR + + + + Review the rules, features, and limitations of openpilot + Revisar regras, aprimoramentos e limitações do openpilot + + + + Are you sure you want to review the training guide? + Tem certeza que quer rever o treinamento? + + + + Regulatory + Regulatório + + + + VIEW + VER + + + + Change Language + Alterar Idioma + + + + CHANGE + ALTERAR + + + + Select a language + Selecione o Idioma + + + + Reboot + Reiniciar + + + + Power Off + Desligar + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. + o openpilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 8° para baixo. o openpilot está continuamente calibrando, resetar raramente é necessário. + + + + Your device is pointed %1° %2 and %3° %4. + Seu dispositivo está montado %1° %2 e %3° %4. + + + + down + baixo + + + + up + cima + + + + left + esquerda + + + + right + direita + + + + Are you sure you want to reboot? + Tem certeza que quer reiniciar? + + + + Disengage to Reboot + Desacione para Reiniciar + + + + Are you sure you want to power off? + Tem certeza que quer desligar? + + + + Disengage to Power Off + Desacione para Desligar + + + + DriveStats + + + Drives + Dirigidas + + + + Hours + Horas + + + + ALL TIME + TOTAL + + + + PAST WEEK + SEMANA PASSADA + + + + KM + KM + + + + Miles + Milhas + + + + DriverViewScene + + + camera starting + câmera iniciando + + + + InputDialog + + + Cancel + Cancelar + + + + Need at least %n character(s)! + + Necessita no mínimo %n caractere! + Necessita no mínimo %n caracteres! + + + + + Installer + + + Installing... + Instalando... + + + + Receiving objects: + Recebendo objetos: + + + + Resolving deltas: + Resolvendo deltas: + + + + Updating files: + Atualizando arquivos: + + + + MapETA + + + eta + eta + + + + min + min + + + + hr + hr + + + + km + km + + + + mi + mi + + + + MapInstructions + + + km + km + + + + m + m + + + + mi + milha + + + + ft + pés + + + + MapPanel + + + Current Destination + Destino Atual + + + + CLEAR + LIMPAR + + + + Recent Destinations + Destinos Recentes + + + + Try the Navigation Beta + Experimente a Navegação Beta + + + + Get turn-by-turn directions displayed and more with a comma +prime subscription. Sign up now: https://connect.comma.ai + Obtenha instruções passo a passo exibidas e muito mais com +uma assinatura prime Inscreva-se agora: https://connect.comma.ai + + + + No home +location set + Sem local +residência definido + + + + No work +location set + Sem local de +trabalho definido + + + + no recent destinations + sem destinos recentes + + + + MapWindow + + + Map Loading + Carregando Mapa + + + + Waiting for GPS + Esperando por GPS + + + + MultiOptionDialog + + + Select + Selecione + + + + Cancel + Cancelar + + + + Networking + + + Advanced + Avançado + + + + Enter password + Insira a senha + + + + + for "%1" + para "%1" + + + + Wrong password + Senha incorreta + + + + NvgWindow + + + km/h + km/h + + + + mph + mph + + + + + MAX + LIMITE + + + + + SPEED + MAX + + + + + LIMIT + VELO + + + + OffroadHome + + + UPDATE + ATUALIZAÇÃO + + + + ALERTS + ALERTAS + + + + ALERT + ALERTA + + + + PairingPopup + + + Pair your device to your comma account + Pareie seu dispositivo à sua conta comma + + + + Go to https://connect.comma.ai on your phone + navegue até https://connect.comma.ai no seu telefone + + + + Click "add new device" and scan the QR code on the right + Clique "add new device" e escaneie o QR code a seguir + + + + Bookmark connect.comma.ai to your home screen to use it like an app + Salve connect.comma.ai como sua página inicial para utilizar como um app + + + + PrimeAdWidget + + + Upgrade Now + Atualizar Agora + + + + Become a comma prime member at connect.comma.ai + Torne-se um membro comma prime em connect.comma.ai + + + + PRIME FEATURES: + APRIMORAMENTOS PRIME: + + + + Remote access + Acesso remoto + + + + 1 year of storage + 1 ano de armazenamento + + + + Developer perks + Benefícios para desenvolvedor + + + + PrimeUserWidget + + + ✓ SUBSCRIBED + ✓ INSCRITO + + + + comma prime + comma prime + + + + CONNECT.COMMA.AI + CONNECT.COMMA.AI + + + + COMMA POINTS + PONTOS COMMA + + + + QObject + + + Reboot + Reiniciar + + + + Exit + Sair + + + + dashcam + dashcam + + + + openpilot + openpilot + + + + %n minute(s) ago + + há %n minuto + há %n minutos + + + + + %n hour(s) ago + + há %n hora + há %n horas + + + + + %n day(s) ago + + há %n dia + há %n dias + + + + + Reset + + + Reset failed. Reboot to try again. + Reset falhou. Reinicie para tentar novamente. + + + + Are you sure you want to reset your device? + Tem certeza que quer resetar seu dispositivo? + + + + Resetting device... + Resetando dispositivo... + + + + System Reset + Resetar Sistema + + + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + Solicitado reset do sistema. Confirme para apagar todo conteúdo e configurações. Aperte cancelar para continuar boot. + + + + Cancel + Cancelar + + + + Reboot + Reiniciar + + + + Confirm + Confirmar + + + + Unable to mount data partition. Press confirm to reset your device. + Não foi possível montar a partição de dados. Pressione confirmar para resetar seu dispositivo. + + + + RichTextDialog + + + Ok + Ok + + + + SettingsWindow + + + × + × + + + + Device + Dispositivo + + + + + Network + Rede + + + + Toggles + Ajustes + + + + Software + Software + + + + Navigation + Navegação + + + + Setup + + + WARNING: Low Voltage + ALERTA: Baixa Voltagem + + + + Power your device in a car with a harness or proceed at your own risk. + Ligue seu dispositivo em um carro com um chicote ou prossiga por sua conta e risco. + + + + Power off + Desligar + + + + + + Continue + Continuar + + + + Getting Started + Começando + + + + Before we get on the road, let’s finish installation and cover some details. + Antes de pegarmos a estrada, vamos terminar a instalação e cobrir alguns detalhes. + + + + Connect to Wi-Fi + Conectar ao Wi-Fi + + + + + Back + Voltar + + + + Continue without Wi-Fi + Continuar sem Wi-Fi + + + + Waiting for internet + Esperando pela internet + + + + Choose Software to Install + Escolher Software para Instalar + + + + Dashcam + Dashcam + + + + Custom Software + Sofware Customizado + + + + Enter URL + Preencher URL + + + + for Custom Software + para o Software Customizado + + + + Downloading... + Baixando... + + + + Download Failed + Download Falhou + + + + Ensure the entered URL is valid, and the device’s internet connection is good. + Garanta que a URL inserida é valida, e uma boa conexão à internet. + + + + Reboot device + Reiniciar Dispositivo + + + + Start over + Inicializar + + + + SetupWidget + + + Finish Setup + Concluir + + + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + Pareie seu dispositivo com comma connect (connect.comma.ai) e reivindique sua oferta de comma prime. + + + + Pair device + Parear dispositivo + + + + Sidebar + + + + CONNECT + CONEXÃO + + + + OFFLINE + DESCONEC + + + + + ONLINE + CONECTADO + + + + ERROR + ERRO + + + + + + TEMP + TEMP + + + + HIGH + ALTA + + + + GOOD + BOA + + + + OK + OK + + + + VEHICLE + VEÍCULO + + + + NO + SEM + + + + PANDA + PANDA + + + + GPS + GPS + + + + SEARCH + PROCURA + + + + -- + -- + + + + Wi-Fi + Wi-Fi + + + + ETH + ETH + + + + 2G + 2G + + + + 3G + 3G + + + + LTE + LTE + + + + 5G + 5G + + + + SoftwarePanel + + + Git Branch + Git Branch + + + + Git Commit + Último Commit + + + + OS Version + Versão do Sistema + + + + Version + Versão + + + + Last Update Check + Verificação da última atualização + + + + The last time openpilot successfully checked for an update. The updater only runs while the car is off. + A última vez que o openpilot verificou com sucesso uma atualização. O atualizador só funciona com o carro desligado. + + + + Check for Update + Verifique atualizações + + + + CHECKING + VERIFICANDO + + + + Switch Branch + Alterar Branch + + + + ENTER + INSERIR + + + + + The new branch will be pulled the next time the updater runs. + A nova branch será aplicada ao verificar atualizações. + + + + Enter branch name + Inserir o nome da branch + + + + UNINSTALL + DESINSTALAR + + + + Uninstall %1 + Desintalar o %1 + + + + Are you sure you want to uninstall? + Tem certeza que quer desinstalar? + + + + failed to fetch update + falha ao buscar atualização + + + + + CHECK + VERIFICAR + + + + SshControl + + + SSH Keys + Chave SSH + + + + Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. + Aviso: isso concede acesso SSH a todas as chaves públicas nas configurações do GitHub. Nunca insira um nome de usuário do GitHub que não seja o seu. Um funcionário da comma NUNCA pedirá que você adicione seu nome de usuário do GitHub. + + + + + ADD + ADICIONAR + + + + Enter your GitHub username + Insira seu nome de usuário do GitHub + + + + LOADING + CARREGANDO + + + + REMOVE + REMOVER + + + + Username '%1' has no keys on GitHub + Usuário "%1” não possui chaves no GitHub + + + + Request timed out + A solicitação expirou + + + + Username '%1' doesn't exist on GitHub + Usuário '%1' não existe no GitHub + + + + SshToggle + + + Enable SSH + Habilitar SSH + + + + TermsPage + + + Terms & Conditions + Termos & Condições + + + + Decline + Declinar + + + + Scroll to accept + Role a tela para aceitar + + + + Agree + Concordo + + + + TogglesPanel + + + Enable openpilot + Ativar openpilot + + + + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. + Use o sistema openpilot para controle de cruzeiro adaptativo e assistência ao motorista de manutenção de faixa. Sua atenção é necessária o tempo todo para usar esse recurso. A alteração desta configuração tem efeito quando o carro é desligado. + + + + Enable Lane Departure Warnings + Ativar Avisos de Saída de Faixa + + + + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). + Receba alertas para voltar para a pista se o seu veículo sair da faixa e a seta não tiver sido acionada previamente quando em velocidades superiores a 50 km/h. + + + + Use Metric System + Usar Sistema Métrico + + + + Display speed in km/h instead of mph. + Exibir velocidade em km/h invés de mph. + + + + Record and Upload Driver Camera + Gravar e Upload Câmera Motorista + + + + Upload data from the driver facing camera and help improve the driver monitoring algorithm. + Upload dados da câmera voltada para o motorista e ajude a melhorar o algoritmo de monitoramentor. + + + + 🌮 End-to-end longitudinal (extremely alpha) 🌮 + 🌮 End-to-end longitudinal (experimental) 🌮 + + + + Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental. + 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. + + + + Disengage On Accelerator Pedal + Desacionar Com Pedal Do Acelerador + + + + When enabled, pressing the accelerator pedal will disengage openpilot. + Quando ativado, pressionar o pedal do acelerador desacionará o openpilot. + + + + Show ETA in 24h Format + Mostrar ETA em formato 24h + + + + Use 24h format instead of am/pm + Use o formato 24h em vez de am/pm + + + + Show Map on Left Side of UI + Exibir Mapa no Lado Esquerdo + + + + Show map on left side when in split screen view. + Exibir mapa do lado esquerdo quando a tela for dividida. + + + + openpilot Longitudinal Control + openpilot Controle Longitudinal + + + + openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! + openpilot desativará o radar do carro e assumirá o controle do acelerador e freios. Atenção: isso desativa AEB! + + + + Updater + + + Update Required + Atualização Necessária + + + + An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. + Uma atualização do sistema operacional é necessária. Conecte seu dispositivo ao Wi-Fi para a experiência de atualização mais rápida. O tamanho do download é de aproximadamente 1GB. + + + + Connect to Wi-Fi + Conecte-se ao Wi-Fi + + + + Install + Instalar + + + + Back + Voltar + + + + Loading... + Carregando... + + + + Reboot + Reiniciar + + + + Update failed + Falha na atualização + + + + WifiUI + + + + Scanning for networks... + Procurando redes... + + + + CONNECTING... + CONECTANDO... + + + + FORGET + ESQUECER + + + + Forget Wi-Fi Network "%1"? + Esquecer Rede Wi-Fi "%1"? + + + diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts new file mode 100644 index 000000000..7e7fcf278 --- /dev/null +++ b/selfdrive/ui/translations/main_th.ts @@ -0,0 +1,1303 @@ + + + + + AbstractAlert + + + Close + ปิด + + + + Snooze Update + เลื่อนการอัปเดต + + + + Reboot and Update + รีบูตและอัปเดต + + + + AdvancedNetworking + + + Back + ย้อนกลับ + + + + Enable Tethering + ปล่อยฮอตสปอต + + + + Tethering Password + รหัสผ่านฮอตสปอต + + + + + EDIT + แก้ไข + + + + Enter new tethering password + ป้อนรหัสผ่านฮอตสปอตใหม่ + + + + IP Address + หมายเลขไอพี + + + + Enable Roaming + เปิดใช้งานโรมมิ่ง + + + + APN Setting + ตั้งค่า APN + + + + Enter APN + ป้อนค่า APN + + + + leave blank for automatic configuration + เว้นว่างเพื่อตั้งค่าอัตโนมัติ + + + + ConfirmationDialog + + + + Ok + ตกลง + + + + Cancel + ยกเลิก + + + + DeclinePage + + + You must accept the Terms and Conditions in order to use openpilot. + คุณต้องยอมรับเงื่อนไขและข้อตกลง เพื่อใช้งาน openpilot + + + + Back + ย้อนกลับ + + + + Decline, uninstall %1 + ปฏิเสธ และถอนการติดตั้ง %1 + + + + DevicePanel + + + Dongle ID + Dongle ID + + + + N/A + ไม่มี + + + + Serial + ซีเรียล + + + + Driver Camera + กล้องฝั่งคนขับ + + + + PREVIEW + แสดงภาพ + + + + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) + ดูภาพตัวอย่างกล้องที่หันเข้าหาคนขับเพื่อให้แน่ใจว่าการตรวจสอบคนขับมีทัศนวิสัยที่ดี (รถต้องดับเครื่องยนต์) + + + + Reset Calibration + รีเซ็ตการคาลิเบรท + + + + RESET + รีเซ็ต + + + + Are you sure you want to reset calibration? + คุณแน่ใจหรือไม่ว่าต้องการรีเซ็ตการคาลิเบรท? + + + + Review Training Guide + ทบทวนคู่มือการใช้งาน + + + + REVIEW + ทบทวน + + + + Review the rules, features, and limitations of openpilot + ตรวจสอบกฎ คุณสมบัติ และข้อจำกัดของ openpilot + + + + Are you sure you want to review the training guide? + คุณแน่ใจหรือไม่ว่าต้องการทบทวนคู่มือการใช้งาน? + + + + Regulatory + ระเบียบข้อบังคับ + + + + VIEW + ดู + + + + Change Language + เปลี่ยนภาษา + + + + CHANGE + เปลี่ยน + + + + Select a language + เลือกภาษา + + + + Reboot + รีบูต + + + + Power Off + ปิดเครื่อง + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot กำหนดให้ติดตั้งอุปกรณ์ โดยสามารถเอียงด้านซ้ายหรือขวาไม่เกิน 4° และเอียงขึ้นด้านบนไม่เกิน 5° หรือเอียงลงด้านล่างไม่เกิน 8° openpilot ทำการคาลิเบรทอย่างต่อเนื่อง แทบจะไม่จำเป็นต้องทำการรีเซ็ตการคาลิเบรท + + + + Your device is pointed %1° %2 and %3° %4. + อุปกรณ์ของคุณเอียงไปทาง %2 %1° และ %4 %3° + + + + down + ด้านล่าง + + + + up + ด้านบน + + + + left + ด้านซ้าย + + + + right + ด้านขวา + + + + Are you sure you want to reboot? + คุณแน่ใจหรือไม่ว่าต้องการรีบูต? + + + + Disengage to Reboot + ยกเลิกระบบช่วยขับเพื่อรีบูต + + + + Are you sure you want to power off? + คุณแน่ใจหรือไม่ว่าต้องการปิดเครื่อง? + + + + Disengage to Power Off + ยกเลิกระบบช่วยขับเพื่อปิดเครื่อง + + + + DriveStats + + + Drives + การขับขี่ + + + + Hours + ชั่วโมง + + + + ALL TIME + ทั้งหมด + + + + PAST WEEK + สัปดาห์ที่ผ่านมา + + + + KM + กิโลเมตร + + + + Miles + ไมล์ + + + + DriverViewScene + + + camera starting + กำลังเปิดกล้อง + + + + InputDialog + + + Cancel + ยกเลิก + + + + Need at least %n character(s)! + + ต้องการอย่างน้อย %n ตัวอักษร! + + + + + Installer + + + Installing... + กำลังติดตั้ง... + + + + Receiving objects: + กำลังรับข้อมูล: + + + + Resolving deltas: + การแก้ไขเดลต้า: + + + + Updating files: + กำลังอัปเดตไฟล์: + + + + MapETA + + + eta + eta + + + + min + นาที + + + + hr + ชม. + + + + km + กม. + + + + mi + ไมล์ + + + + MapInstructions + + + km + กม. + + + + m + ม. + + + + mi + ไมล์ + + + + ft + ฟุต + + + + MapPanel + + + Current Destination + ปลายทางปัจจุบัน + + + + CLEAR + ล้างข้อมูล + + + + Recent Destinations + ปลายทางล่าสุด + + + + Try the Navigation Beta + ลองใช้ระบบนำทาง (เบต้า) + + + + Get turn-by-turn directions displayed and more with a comma +prime subscription. Sign up now: https://connect.comma.ai + รับการแสดงเส้นทางแบบเลี้ยวต่อเลี้ยว และอื่นๆ ด้วยการสมัครบริการ +comma prime สมัครเลย: https://connect.comma.ai + + + + No home +location set + ยังไม่ได้กำหนด +ตำแหน่งของบ้าน + + + + No work +location set + ยังไม่ได้กำหนด +ตำแหน่งของที่ทำงาน + + + + no recent destinations + ไม่พบปลายทางล่าสุด + + + + MapWindow + + + Map Loading + กำลังโหลดแผนที่ + + + + Waiting for GPS + กำลังรอสัญญาณ GPS + + + + MultiOptionDialog + + + Select + เลือก + + + + Cancel + ยกเลิก + + + + Networking + + + Advanced + ขั้นสูง + + + + Enter password + ใส่รหัสผ่าน + + + + + for "%1" + สำหรับ "%1" + + + + Wrong password + รหัสผ่านผิด + + + + NvgWindow + + + km/h + กม./ชม. + + + + mph + ไมล์/ชม. + + + + + MAX + สูงสุด + + + + + SPEED + ความเร็ว + + + + + LIMIT + จำกัด + + + + OffroadHome + + + UPDATE + อัปเดต + + + + ALERTS + การแจ้งเตือน + + + + ALERT + การแจ้งเตือน + + + + PairingPopup + + + Pair your device to your comma account + จับคู่อุปกรณ์ของคุณกับบัญชี comma ของคุณ + + + + Go to https://connect.comma.ai on your phone + ไปที่ https://connect.comma.ai ด้วยโทรศัพท์ของคุณ + + + + Click "add new device" and scan the QR code on the right + กดที่ "add new device" และสแกนคิวอาร์โค้ดทางด้านขวา + + + + Bookmark connect.comma.ai to your home screen to use it like an app + จดจำ connect.comma.ai โดยการเพิ่มไปยังหน้าจอโฮม เพื่อใช้งานเหมือนเป็นแอปพลิเคชัน + + + + PrimeAdWidget + + + Upgrade Now + อัพเกรดเดี๋ยวนี้ + + + + Become a comma prime member at connect.comma.ai + สมัครสมาชิก comma prime ได้ที่ connect.comma.ai + + + + PRIME FEATURES: + คุณสมบัติของ PRIME: + + + + Remote access + การเข้าถึงระยะไกล + + + + 1 year of storage + จัดเก็บข้อมูลนาน 1 ปี + + + + Developer perks + สิทธิพิเศษสำหรับนักพัฒนา + + + + PrimeUserWidget + + + ✓ SUBSCRIBED + ✓ สมัครสำเร็จ + + + + comma prime + comma prime + + + + CONNECT.COMMA.AI + CONNECT.COMMA.AI + + + + COMMA POINTS + คะแนน COMMA + + + + QObject + + + Reboot + รีบูต + + + + Exit + ปิด + + + + dashcam + กล้องติดรถยนต์ + + + + openpilot + openpilot + + + + %n minute(s) ago + + %n นาทีที่แล้ว + + + + + %n hour(s) ago + + %n ชั่วโมงที่แล้ว + + + + + %n day(s) ago + + %n วันที่แล้ว + + + + + Reset + + + Reset failed. Reboot to try again. + การรีเซ็ตล้มเหลว รีบูตเพื่อลองอีกครั้ง + + + + Are you sure you want to reset your device? + คุณแน่ใจหรือไม่ว่าต้องการรีเซ็ตอุปกรณ์? + + + + Resetting device... + กำลังรีเซ็ตอุปกรณ์... + + + + System Reset + รีเซ็ตระบบ + + + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + มีการสั่งรีเซ็ตระบบ กดยืนยันเพื่อลบข้อมูลและการตั้งค่าทั้งหมด กดยกเลิกเพื่อบูตเข้าระบบตามปกติ + + + + Cancel + ยกเลิก + + + + Reboot + รีบูต + + + + Confirm + ยืนยัน + + + + Unable to mount data partition. Press confirm to reset your device. + ไม่สามารถเมานต์พาร์ติชั่นข้อมูล กดยืนยันเพื่อรีเซ็ตอุปกรณ์ของคุณ + + + + RichTextDialog + + + Ok + ตกลง + + + + SettingsWindow + + + × + × + + + + Device + อุปกรณ์ + + + + + Network + เครือข่าย + + + + Toggles + ตัวเลือก + + + + Software + ซอฟต์แวร์ + + + + Navigation + การนำทาง + + + + Setup + + + WARNING: Low Voltage + คำเตือน: แรงดันแบตเตอรี่ต่ำ + + + + Power your device in a car with a harness or proceed at your own risk. + โปรดต่ออุปกรณ์ของคุณเข้ากับสายควบคุมในรถยนต์ หรือดำเนินการด้วยความเสี่ยงของคุณเอง + + + + Power off + ปิดเครื่อง + + + + + + Continue + ดำเนินการต่อ + + + + Getting Started + เริ่มกันเลย + + + + Before we get on the road, let’s finish installation and cover some details. + ก่อนออกเดินทาง เรามาทำการติดตั้งซอฟต์แวร์ และตรวจสอบการตั้งค่า + + + + Connect to Wi-Fi + เชื่อมต่อ Wi-Fi + + + + + Back + ย้อนกลับ + + + + Continue without Wi-Fi + ดำเนินการต่อโดยไม่ใช้ Wi-Fi + + + + Waiting for internet + กำลังรอสัญญาณอินเตอร์เน็ต + + + + Choose Software to Install + เลือกซอฟต์แวร์ที่จะติดตั้ง + + + + Dashcam + กล้องติดรถยนต์ + + + + Custom Software + ซอฟต์แวร์ที่กำหนดเอง + + + + Enter URL + ป้อน URL + + + + for Custom Software + สำหรับซอฟต์แวร์ที่กำหนดเอง + + + + Downloading... + กำลังดาวน์โหลด... + + + + Download Failed + ดาวน์โหลดล้มเหลว + + + + Ensure the entered URL is valid, and the device’s internet connection is good. + ตรวจสอบให้แน่ใจว่า URL ที่ป้อนนั้นถูกต้อง และอุปกรณ์เชื่อมต่ออินเทอร์เน็ตอยู่ + + + + Reboot device + รีบูตอุปกรณ์ + + + + Start over + เริ่มต้นใหม่ + + + + SetupWidget + + + Finish Setup + ตั้งค่าเสร็จสิ้น + + + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + จับคู่อุปกรณ์ของคุณกับ comma connect (connect.comma.ai) และรับข้อเสนอ comma prime ของคุณ + + + + Pair device + จับคู่อุปกรณ์ + + + + Sidebar + + + + CONNECT + เชื่อมต่อ + + + + OFFLINE + ออฟไลน์ + + + + + ONLINE + ออนไลน์ + + + + ERROR + เกิดข้อผิดพลาด + + + + + + TEMP + อุณหภูมิ + + + + HIGH + สูง + + + + GOOD + ดี + + + + OK + พอใช้ + + + + VEHICLE + รถยนต์ + + + + NO + ไม่พบ + + + + PANDA + PANDA + + + + GPS + จีพีเอส + + + + SEARCH + ค้นหา + + + + -- + -- + + + + Wi-Fi + Wi-Fi + + + + ETH + ETH + + + + 2G + 2G + + + + 3G + 3G + + + + LTE + LTE + + + + 5G + 5G + + + + SoftwarePanel + + + Git Branch + Git Branch + + + + Git Commit + Git Commit + + + + OS Version + เวอร์ชันระบบปฏิบัติการ + + + + Version + เวอร์ชั่น + + + + Last Update Check + ตรวจสอบการอัปเดตล่าสุด + + + + The last time openpilot successfully checked for an update. The updater only runs while the car is off. + ครั้งสุดท้ายที่ openpilot ตรวจสอบการอัปเดตสำเร็จ ตัวอัปเดตจะทำงานในขณะที่รถดับเครื่องอยู่เท่านั้น + + + + Check for Update + ตรวจสอบการอัปเดต + + + + CHECKING + กำลังตรวจสอบ + + + + Switch Branch + เปลี่ยน Branch + + + + ENTER + เปลี่ยน + + + + + The new branch will be pulled the next time the updater runs. + Branch ใหม่จะถูกติดตั้งในครั้งต่อไปที่ตัวอัปเดตทำงาน + + + + Enter branch name + ใส่ชื่อ Branch + + + + Uninstall %1 + ถอนการติดตั้ง %1 + + + + UNINSTALL + ถอนการติดตั้ง + + + + Are you sure you want to uninstall? + คุณแน่ใจหรือไม่ว่าต้องการถอนการติดตั้ง? + + + + failed to fetch update + โหลดข้อมูลอัปเดตไม่สำเร็จ + + + + + CHECK + ตรวจสอบ + + + + SshControl + + + SSH Keys + คีย์ SSH + + + + Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. + คำเตือน: สิ่งนี้ให้สิทธิ์ SSH เข้าถึงคีย์สาธารณะทั้งหมดใน GitHub ของคุณ อย่าป้อนชื่อผู้ใช้ GitHub อื่นนอกเหนือจากของคุณเอง พนักงาน comma จะไม่ขอให้คุณเพิ่มชื่อผู้ใช้ GitHub ของพวกเขา + + + + + ADD + เพิ่ม + + + + Enter your GitHub username + ป้อนชื่อผู้ใช้ GitHub ของคุณ + + + + LOADING + กำลังโหลด + + + + REMOVE + ลบ + + + + Username '%1' has no keys on GitHub + ชื่อผู้ใช้ '%1' ไม่มีคีย์บน GitHub + + + + Request timed out + ตรวจสอบไม่สำเร็จ เนื่องจากใช้เวลามากเกินไป + + + + Username '%1' doesn't exist on GitHub + ไม่พบชื่อผู้ใช้ '%1' บน GitHub + + + + SshToggle + + + Enable SSH + เปิดใช้งาน SSH + + + + TermsPage + + + Terms & Conditions + ข้อตกลงและเงื่อนไข + + + + Decline + ปฏิเสธ + + + + Scroll to accept + เลื่อนเพื่อตอบรับข้อตกลง + + + + Agree + ยอมรับ + + + + TogglesPanel + + + Enable openpilot + เปิดใช้งาน openpilot + + + + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. + ใช้ระบบ openpilot สำหรับระบบควบคุมความเร็วอัตโนมัติ และระบบช่วยควบคุมรถให้อยู่ในเลน คุณจำเป็นต้องให้ความสนใจตลอดเวลาที่ใช้คุณสมบัตินี้ การเปลี่ยนการตั้งค่านี้จะมีผลเมื่อคุณดับเครื่องยนต์ + + + + Enable Lane Departure Warnings + เปิดใช้งานการเตือนการออกนอกเลน + + + + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). + รับการแจ้งเตือนให้เลี้ยวกลับเข้าเลนเมื่อรถของคุณตรวจพบการข้ามช่องจราจรโดยไม่เปิดสัญญาณไฟเลี้ยวในขณะขับขี่ที่ความเร็วเกิน 31 ไมล์ต่อชั่วโมง (50 กม./ชม) + + + + Use Metric System + ใช้ระบบเมตริก + + + + Display speed in km/h instead of mph. + แสดงความเร็วเป็น กม./ชม. แทน ไมล์/ชั่วโมง + + + + Record and Upload Driver Camera + บันทึกและอัปโหลดภาพจากกล้องคนขับ + + + + Upload data from the driver facing camera and help improve the driver monitoring algorithm. + อัปโหลดข้อมูลจากกล้องที่หันหน้าไปทางคนขับ และช่วยปรับปรุงอัลกอริธึมการตรวจสอบผู้ขับขี่ + + + + Disengage On Accelerator Pedal + ยกเลิกระบบช่วยขับเมื่อเหยียบคันเร่ง + + + + When enabled, pressing the accelerator pedal will disengage openpilot. + เมื่อเปิดใช้งาน การกดแป้นคันเร่งจะเป็นการยกเลิกระบบช่วยขับโดย openpilot + + + + Show ETA in 24h Format + แสดงเวลา ETA ในรูปแบบ 24 ชั่วโมง + + + + Use 24h format instead of am/pm + ใช้รูปแบบเวลา 24 ชั่วโมง แทน am/pm + + + + Show Map on Left Side of UI + แสดงแผนที่ที่ด้านซ้ายของหน้าจอ + + + + Show map on left side when in split screen view. + แสดงแผนที่ด้านซ้ายของหน้าจอเมื่ออยู่ในโหมดแบ่งหน้าจอ + + + + openpilot Longitudinal Control + openpilot การควบคุมการเร่งและลดความเร็ว + + + + openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! + openpilot จะปิดการใช้งานเรดาร์ของรถ และจะเข้าควบคุมการเร่งและเบรก คำเตือน: สิ่งนี้จะปิดระบบ AEB! + + + + Updater + + + Update Required + จำเป็นต้องอัปเดต + + + + An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. + จำเป็นต้องมีการอัปเดตระบบปฏิบัติการ เชื่อมต่ออุปกรณ์ของคุณกับ Wi-Fi เพื่อประสบการณ์การอัปเดตที่เร็วที่สุด ขนาดดาวน์โหลดประมาณ 1GB + + + + Connect to Wi-Fi + เชื่อมต่อกับ Wi-Fi + + + + Install + ติดตั้ง + + + + Back + ย้อนกลับ + + + + Loading... + กำลังโหลด... + + + + Reboot + รีบูต + + + + Update failed + การอัปเดตล้มเหลว + + + + WifiUI + + + + Scanning for networks... + กำลังสแกนหาเครือข่าย... + + + + CONNECTING... + กำลังเชื่อมต่อ... + + + + FORGET + เลิกใช้ + + + + Forget Wi-Fi Network "%1"? + เลิกใช้เครือข่าย Wi-Fi "%1"? + + + diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 1ed96422b..79a08899c 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -4,17 +4,17 @@ AbstractAlert - + Close 关闭 - + Snooze Update 暂停更新 - + Reboot and Update 重启并更新 @@ -22,53 +22,53 @@ AdvancedNetworking - + Back 返回 - + Enable Tethering 启用WiFi热点 - + Tethering Password WiFi热点密码 - - + + EDIT 编辑 - + Enter new tethering password 输入新的WiFi热点密码 - + IP Address IP地址 - + Enable Roaming 启用数据漫游 - + APN Setting APN设置 - + Enter APN 输入APN - + leave blank for automatic configuration 留空以自动配置 @@ -76,13 +76,13 @@ ConfirmationDialog - - + + Ok 好的 - + Cancel 取消 @@ -90,17 +90,17 @@ DeclinePage - + You must accept the Terms and Conditions in order to use openpilot. 您必须接受条款和条件以使用openpilot。 - + Back 返回 - + Decline, uninstall %1 拒绝并卸载%1 @@ -108,152 +108,152 @@ DevicePanel - + Dongle ID 设备ID（Dongle ID） - + N/A N/A - + Serial 序列号 - + Driver Camera 驾驶员摄像头 - + PREVIEW 预览 - + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 打开并预览驾驶员摄像头，以确保驾驶员监控具有良好视野。仅熄火时可用。 - + Reset Calibration 重置设备校准 - + RESET 重置 - + Are you sure you want to reset calibration? 您确定要重置设备校准吗？ - + Review Training Guide 新手指南 - + REVIEW 查看 - + Review the rules, features, and limitations of openpilot 查看openpilot的使用规则，以及其功能和限制。 - + Are you sure you want to review the training guide? 您确定要查看新手指南吗？ - + Regulatory 监管信息 - + VIEW 查看 - + Change Language 切换语言 - + CHANGE 切换 - + Select a language 选择语言 - + Reboot 重启 - + Power Off 关机 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下8°之间。一般来说，openpilot会持续更新校准，很少需要重置。 - + Your device is pointed %1° %2 and %3° %4. 您的设备校准为%1° %2、%3° %4。 - + down 朝下 - + up 朝上 - + left 朝左 - + right 朝右 - + Are you sure you want to reboot? 您确定要重新启动吗？ - + Disengage to Reboot 取消openpilot以重新启动 - + Are you sure you want to power off? 您确定要关机吗？ - + Disengage to Power Off 取消openpilot以关机 @@ -261,32 +261,32 @@ DriveStats - + Drives 旅程数 - + Hours 小时 - + ALL TIME 全部 - + PAST WEEK 过去一周 - + KM 公里 - + Miles 英里 @@ -294,7 +294,7 @@ DriverViewScene - + camera starting 正在启动相机 @@ -302,12 +302,12 @@ InputDialog - + Cancel 取消 - + Need at least %n character(s)! 至少需要 %n 个字符！ @@ -317,22 +317,22 @@ Installer - + Installing... 正在安装…… - + Receiving objects: 正在接收： - + Resolving deltas: 正在处理： - + Updating files: 正在更新文件： @@ -340,27 +340,27 @@ MapETA - + eta 埃塔 - + min 分钟 - + hr 小时 - + km km - + mi mi @@ -368,22 +368,22 @@ MapInstructions - + km km - + m m - + mi mi - + ft ft @@ -391,46 +391,46 @@ MapPanel - + Current Destination 当前目的地 - + CLEAR 清空 - + Recent Destinations 最近目的地 - + Try the Navigation Beta 试用导航测试版 - + Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai 订阅comma prime以获取导航。 立即注册：https://connect.comma.ai - + No home location set 家：未设定 - + No work location set 工作：未设定 - + no recent destinations 无最近目的地 @@ -438,12 +438,12 @@ location set MapWindow - + Map Loading 地图加载中 - + Waiting for GPS 等待 GPS @@ -451,12 +451,12 @@ location set MultiOptionDialog - + Select 选择 - + Cancel 取消 @@ -464,23 +464,23 @@ location set Networking - + Advanced 高级 - + Enter password 输入密码 - - + + for "%1" 网络名称："%1" - + Wrong password 密码错误 @@ -488,30 +488,30 @@ location set NvgWindow - + km/h km/h - + mph mph - - + + MAX 最高定速 - - + + SPEED SPEED - - + + LIMIT LIMIT @@ -519,17 +519,17 @@ location set OffroadHome - + UPDATE 更新 - + ALERTS 警报 - + ALERT 警报 @@ -537,22 +537,22 @@ location set PairingPopup - + Pair your device to your comma account 将您的设备与comma账号配对 - + Go to https://connect.comma.ai on your phone 在手机上访问 https://connect.comma.ai - + Click "add new device" and scan the QR code on the right 点击“添加新设备”，扫描右侧二维码 - + Bookmark connect.comma.ai to your home screen to use it like an app 将 connect.comma.ai 收藏到您的主屏幕，以便像应用程序一样使用它 @@ -560,32 +560,32 @@ location set PrimeAdWidget - + Upgrade Now 现在升级 - + Become a comma prime member at connect.comma.ai 打开connect.comma.ai以注册comma prime会员 - + PRIME FEATURES: comma prime特权： - + Remote access 远程访问 - + 1 year of storage 1年数据存储 - + Developer perks 开发者福利 @@ -593,22 +593,22 @@ location set PrimeUserWidget - + ✓ SUBSCRIBED ✓ 已订阅 - + comma prime comma prime - + CONNECT.COMMA.AI CONNECT.COMMA.AI - + COMMA POINTS COMMA POINTS点数 @@ -616,41 +616,41 @@ location set QObject - + Reboot 重启 - + Exit 退出 - + dashcam 行车记录仪 - + openpilot openpilot - + %n minute(s) ago %n 分钟前 - + %n hour(s) ago %n 小时前 - + %n day(s) ago %n 天前 @@ -660,47 +660,47 @@ location set Reset - + Reset failed. Reboot to try again. 重置失败。 重新启动以重试。 - + Are you sure you want to reset your device? 您确定要重置您的设备吗？ - + Resetting device... 正在重置设备…… - + System Reset 恢复出厂设置 - + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. 已触发系统重置：确认以删除所有内容和设置。取消以正常启动设备。 - + Cancel 取消 - + Reboot 重启 - + Confirm 确认 - + Unable to mount data partition. Press confirm to reset your device. 无法挂载数据分区。 确认以重置您的设备。 @@ -708,7 +708,7 @@ location set RichTextDialog - + Ok 好的 @@ -716,33 +716,33 @@ location set SettingsWindow - + × × - + Device 设备 - - + + Network 网络 - + Toggles 设定 - + Software 软件 - + Navigation 导航 @@ -750,105 +750,105 @@ location set Setup - + WARNING: Low Voltage 警告：低电压 - + Power your device in a car with a harness or proceed at your own risk. 请使用car harness线束为您的设备供电，或自行承担风险。 - + Power off 关机 - - - + + + Continue 继续 - + Getting Started 开始设置 - + Before we get on the road, let’s finish installation and cover some details. 开始旅程之前，让我们完成安装并介绍一些细节。 - + Connect to Wi-Fi 连接到WiFi - - + + Back 返回 - + Continue without Wi-Fi 不连接WiFi并继续 - + Waiting for internet 等待网络连接 - + Choose Software to Install 选择要安装的软件 - + Dashcam Dashcam（行车记录仪） - + Custom Software 自定义软件 - + Enter URL 输入网址 - + for Custom Software 以下载自定义软件 - + Downloading... 正在下载…… - + Download Failed 下载失败 - + Ensure the entered URL is valid, and the device’s internet connection is good. 请确保互联网连接良好且输入的URL有效。 - + Reboot device 重启设备 - + Start over 重来 @@ -856,17 +856,17 @@ location set SetupWidget - + Finish Setup 完成设置 - + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. 将您的设备与comma connect （connect.comma.ai）配对并领取您的comma prime优惠。 - + Pair device 配对设备 @@ -874,106 +874,106 @@ location set Sidebar - - + + CONNECT CONNECT - + OFFLINE 离线 - - + + ONLINE 在线 - + ERROR 连接出错 - - - + + + TEMP 设备温度 - + HIGH 过热 - + GOOD 良好 - + OK 一般 - + VEHICLE 车辆连接 - + NO 无 - + PANDA PANDA - + GPS GPS - + SEARCH 搜索中 - + -- -- - + Wi-Fi Wi-Fi - + ETH 以太网 - + 2G 2G - + 3G 3G - + LTE LTE - + 5G 5G @@ -981,89 +981,89 @@ location set SoftwarePanel - + Git Branch Git Branch - + Git Commit Git Commit - + OS Version 系统版本 - + Version 软件版本 - + Last Update Check 上次检查更新 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 上一次成功检查更新的时间。更新程序仅在汽车熄火时运行。 - + Check for Update 检查更新 - + CHECKING 正在检查更新 - + Switch Branch 切换分支 - + ENTER 输入 - - + + The new branch will be pulled the next time the updater runs. 分支将在更新服务下次启动时自动切换。 - + Enter branch name 输入分支名称 - + UNINSTALL 卸载 - + Uninstall %1 卸载 %1 - + Are you sure you want to uninstall? 您确定要卸载吗？ - + failed to fetch update 获取更新失败 - - + + CHECK 查看 @@ -1071,48 +1071,48 @@ location set SshControl - + SSH Keys SSH密钥 - + Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. 警告：这将授予SSH访问权限给您GitHub设置中的所有公钥。切勿输入您自己以外的GitHub用户名。comma员工永远不会要求您添加他们的GitHub用户名。 - - + + ADD 添加 - + Enter your GitHub username 输入您的GitHub用户名 - + LOADING 正在加载 - + REMOVE 删除 - + Username '%1' has no keys on GitHub 用户名“%1”在GitHub上没有密钥 - + Request timed out 请求超时 - + Username '%1' doesn't exist on GitHub GitHub上不存在用户名“%1” @@ -1120,7 +1120,7 @@ location set SshToggle - + Enable SSH 启用SSH @@ -1128,22 +1128,22 @@ location set TermsPage - + Terms & Conditions 条款和条件 - + Decline 拒绝 - + Scroll to accept 滑动以接受 - + Agree 同意 @@ -1151,82 +1151,92 @@ location set TogglesPanel - + Enable openpilot 启用openpilot - + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. 使用openpilot进行自适应巡航和车道保持辅助。使用此功能时您必须时刻保持注意力。该设置的更改在熄火时生效。 - + Enable Lane Departure Warnings 启用车道偏离警告 - + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). 车速超过31mph（50km/h）时，若检测到车辆越过车道线且未打转向灯，系统将发出警告以提醒您返回车道。 - + Use Metric System 使用公制单位 - + Display speed in km/h instead of mph. 显示车速时，以km/h代替mph。 - + Record and Upload Driver Camera 录制并上传驾驶员摄像头 - + Upload data from the driver facing camera and help improve the driver monitoring algorithm. 上传驾驶员摄像头的数据，帮助改进驾驶员监控算法。 - + + 🌮 End-to-end longitudinal (extremely alpha) 🌮 + + + + + Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental. + + + + Disengage On Accelerator Pedal 踩油门时取消控制 - + When enabled, pressing the accelerator pedal will disengage openpilot. 启用后，踩下油门踏板将取消openpilot。 - + Show ETA in 24h Format 以24小时格式显示预计到达时间 - + Use 24h format instead of am/pm 使用24小时制代替am/pm - + Show Map on Left Side of UI 在介面左侧显示地图 - + Show map on left side when in split screen view. 在分屏模式中，将地图置于屏幕左侧。 - + openpilot Longitudinal Control openpilot纵向控制 - + openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! 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！ @@ -1234,42 +1244,42 @@ location set Updater - + Update Required 需要更新 - + An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. 操作系统需要更新。请将您的设备连接到WiFi以获取更快的更新体验。下载大小约为1GB。 - + Connect to Wi-Fi 连接到WiFi - + Install 安装 - + Back 返回 - + Loading... 正在加载…… - + Reboot 重启 - + Update failed 更新失败 @@ -1277,23 +1287,23 @@ location set WifiUI - - + + Scanning for networks... 正在扫描网络…… - + CONNECTING... 正在连接…… - + FORGET 忘记 - + Forget Wi-Fi Network "%1"? 忘记WiFi网络 "%1"? diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 4f5c37764..0d51e6d28 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -4,17 +4,17 @@ AbstractAlert - + Close 關閉 - + Snooze Update 暫停更新 - + Reboot and Update 重啟並更新 @@ -22,53 +22,53 @@ AdvancedNetworking - + Back 回上頁 - + Enable Tethering 啟用網路分享 - + Tethering Password 網路分享密碼 - - + + EDIT 編輯 - + Enter new tethering password 輸入新的網路分享密碼 - + IP Address IP 地址 - + Enable Roaming 啟用漫遊 - + APN Setting APN 設置 - + Enter APN 輸入 APN - + leave blank for automatic configuration 留空白將自動配置 @@ -76,13 +76,13 @@ ConfirmationDialog - - + + Ok 確定 - + Cancel 取消 @@ -90,17 +90,17 @@ DeclinePage - + You must accept the Terms and Conditions in order to use openpilot. 您必須先接受條款和條件才能使用 openpilot。 - + Back 回上頁 - + Decline, uninstall %1 拒絕並卸載 %1 @@ -108,152 +108,152 @@ DevicePanel - + Dongle ID Dongle ID - + N/A 無法使用 - + Serial 序號 - + Driver Camera 駕駛員攝像頭 - + PREVIEW 預覽 - + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 預覽駕駛員監控鏡頭畫面，以確保其具有良好視野。（僅在熄火時可用） - + Reset Calibration 重置校準 - + RESET 重置 - + Are you sure you want to reset calibration? 您確定要重置校準嗎？ - + Review Training Guide 觀看使用教學 - + REVIEW 觀看 - + Review the rules, features, and limitations of openpilot 觀看 openpilot 的使用規則、功能和限制 - + Are you sure you want to review the training guide? 您確定要觀看使用教學嗎？ - + Regulatory 法規/監管 - + VIEW 觀看 - + Change Language 更改語言 - + CHANGE 更改 - + Select a language 選擇語言 - + Reboot 重新啟動 - + Power Off 關機 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。 - + Your device is pointed %1° %2 and %3° %4. 你的設備目前朝%2 %1° 以及朝%4 %3° 。 - + down 下 - + up 上 - + left 左 - + right 右 - + Are you sure you want to reboot? 您確定要重新啟動嗎？ - + Disengage to Reboot 請先取消控車才能重新啟動 - + Are you sure you want to power off? 您確定您要關機嗎？ - + Disengage to Power Off 請先取消控車才能關機 @@ -261,32 +261,32 @@ DriveStats - + Drives 旅程 - + Hours 小時 - + ALL TIME 總共 - + PAST WEEK 上周 - + KM 公里 - + Miles 英里 @@ -294,7 +294,7 @@ DriverViewScene - + camera starting 開啟相機中 @@ -302,12 +302,12 @@ InputDialog - + Cancel 取消 - + Need at least %n character(s)! 需要至少 %n 個字元！ @@ -317,22 +317,22 @@ Installer - + Installing... 安裝中… - + Receiving objects: 接收對象： - + Resolving deltas: 分析差異： - + Updating files: 更新檔案： @@ -340,27 +340,27 @@ MapETA - + eta 抵達 - + min 分鐘 - + hr 小時 - + km km - + mi mi @@ -368,22 +368,22 @@ MapInstructions - + km km - + m m - + mi mi - + ft ft @@ -391,48 +391,48 @@ MapPanel - + Current Destination 當前目的地 - + CLEAR 清除 - + Recent Destinations 最近目的地 - + Try the Navigation Beta 試用導航功能 - + Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai 成為 comma 高級會員來使用導航功能 立即註冊：https://connect.comma.ai - + No home location set 未設定 住家位置 - + No work location set 未設定 工作位置 - + no recent destinations 沒有最近的導航記錄 @@ -440,12 +440,12 @@ location set MapWindow - + Map Loading 地圖加載中 - + Waiting for GPS 等待 GPS @@ -453,12 +453,12 @@ location set MultiOptionDialog - + Select 選擇 - + Cancel 取消 @@ -466,23 +466,23 @@ location set Networking - + Advanced 進階 - + Enter password 輸入密碼 - - + + for "%1" 給 "%1" - + Wrong password 密碼錯誤 @@ -490,30 +490,30 @@ location set NvgWindow - + km/h km/h - + mph mph - - + + MAX 最高 - - + + SPEED 速度 - - + + LIMIT 速限 @@ -521,17 +521,17 @@ location set OffroadHome - + UPDATE 更新 - + ALERTS 提醒 - + ALERT 提醒 @@ -539,22 +539,22 @@ location set PairingPopup - + Pair your device to your comma account 將設備與您的 comma 帳號配對 - + Go to https://connect.comma.ai on your phone 用手機連至 https://connect.comma.ai - + Click "add new device" and scan the QR code on the right 點選 "add new device" 後掃描右邊的二維碼 - + Bookmark connect.comma.ai to your home screen to use it like an app 將 connect.comma.ai 加入您的主屏幕，以便像手機 App 一樣使用它 @@ -562,32 +562,32 @@ location set PrimeAdWidget - + Upgrade Now 馬上升級 - + Become a comma prime member at connect.comma.ai 成為 connect.comma.ai 的高級會員 - + PRIME FEATURES: 高級會員特點： - + Remote access 遠程訪問 - + 1 year of storage 一年的雲端行車記錄 - + Developer perks 開發者福利 @@ -595,22 +595,22 @@ location set PrimeUserWidget - + ✓ SUBSCRIBED ✓ 已訂閱 - + comma prime comma 高級會員 - + CONNECT.COMMA.AI CONNECT.COMMA.AI - + COMMA POINTS COMMA 積分 @@ -618,41 +618,41 @@ location set QObject - + Reboot 重新啟動 - + Exit 離開 - + dashcam 行車記錄器 - + openpilot openpilot - + %n minute(s) ago %n 分鐘前 - + %n hour(s) ago %n 小時前 - + %n day(s) ago %n 天前 @@ -662,47 +662,47 @@ location set Reset - + Reset failed. Reboot to try again. 重置失敗。請重新啟動後再試。 - + Are you sure you want to reset your device? 您確定要重置你的設備嗎？ - + Resetting device... 重置設備中… - + System Reset 系統重置 - + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. 系統重置已觸發。請按確認刪除所有內容和設置。按取消恢復啟動。 - + Cancel 取消 - + Reboot 重新啟動 - + Confirm 確認 - + Unable to mount data partition. Press confirm to reset your device. 無法掛載數據分區。請按確認重置您的設備。 @@ -710,7 +710,7 @@ location set RichTextDialog - + Ok 確定 @@ -718,33 +718,33 @@ location set SettingsWindow - + × × - + Device 設備 - - + + Network 網路 - + Toggles 設定 - + Software 軟體 - + Navigation 導航 @@ -752,105 +752,105 @@ location set Setup - + WARNING: Low Voltage 警告：電壓過低 - + Power your device in a car with a harness or proceed at your own risk. 請使用車上 harness 提供的電源，若繼續的話您需要自擔風險。 - + Power off 關機 - - - + + + Continue 繼續 - + Getting Started 入門 - + Before we get on the road, let’s finish installation and cover some details. 在我們上路之前，讓我們完成安裝並介紹一些細節。 - + Connect to Wi-Fi 連接到無線網絡 - - + + Back 回上頁 - + Continue without Wi-Fi 在沒有 Wi-Fi 的情況下繼續 - + Waiting for internet 連接至網路中 - + Choose Software to Install 選擇要安裝的軟體 - + Dashcam 行車記錄器 - + Custom Software 定制的軟體 - + Enter URL 輸入網址 - + for Custom Software 定制的軟體 - + Downloading... 下載中… - + Download Failed 下載失敗 - + Ensure the entered URL is valid, and the device’s internet connection is good. 請確定您輸入的是有效的安裝網址，並且確定設備的網路連線狀態良好。 - + Reboot device 重新啟動 - + Start over 重新開始 @@ -858,17 +858,17 @@ location set SetupWidget - + Finish Setup 完成設置 - + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. 將您的設備與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。 - + Pair device 配對設備 @@ -876,106 +876,106 @@ location set Sidebar - - + + CONNECT 雲端服務 - + OFFLINE 已離線 - - + + ONLINE 已連線 - + ERROR 錯誤 - - - + + + TEMP 溫度 - + HIGH 偏高 - + GOOD 正常 - + OK 一般 - + VEHICLE 車輛通訊 - + NO 未連線 - + PANDA 車輛通訊 - + GPS GPS - + SEARCH 車輛通訊 - + -- -- - + Wi-Fi - + ETH - + 2G - + 3G - + LTE - + 5G @@ -983,89 +983,89 @@ location set SoftwarePanel - + Git Branch Git 分支 - + Git Commit Git 提交 - + OS Version 系統版本 - + Version 版本 - + Last Update Check 上次檢查時間 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 上次成功檢查更新的時間。更新系統只會在車子熄火時執行。 - + Check for Update 檢查更新 - + CHECKING 檢查中 - + Switch Branch 切換分支 - + ENTER 切換 - - + + The new branch will be pulled the next time the updater runs. 新的分支將會在下次檢查更新時切換過去。 - + Enter branch name 輸入分支名稱 - + UNINSTALL 卸載 - + Uninstall %1 卸載 %1 - + Are you sure you want to uninstall? 您確定您要卸載嗎？ - + failed to fetch update 下載更新失敗 - - + + CHECK 檢查 @@ -1073,48 +1073,48 @@ location set SshControl - + SSH Keys SSH 密鑰 - + Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. 警告：這將授權給 GitHub 帳號中所有公鑰 SSH 訪問權限。切勿輸入非您自己的 GitHub 用戶名。comma 員工「永遠不會」要求您添加他們的 GitHub 用戶名。 - - + + ADD 新增 - + Enter your GitHub username 請輸入您 GitHub 的用戶名 - + LOADING 載入中 - + REMOVE 移除 - + Username '%1' has no keys on GitHub GitHub 用戶 '%1' 沒有設定任何密鑰 - + Request timed out 請求超時 - + Username '%1' doesn't exist on GitHub GitHub 用戶 '%1' 不存在 @@ -1122,7 +1122,7 @@ location set SshToggle - + Enable SSH 啟用 SSH 服務 @@ -1130,22 +1130,22 @@ location set TermsPage - + Terms & Conditions 條款和條件 - + Decline 拒絕 - + Scroll to accept 滑動至頁尾接受條款 - + Agree 接受 @@ -1153,82 +1153,92 @@ location set TogglesPanel - + Enable openpilot 啟用 openpilot - + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. 使用 openpilot 的主動式巡航和車道保持功能，開啟後您需要持續集中注意力，設定變更在重新啟動車輛後生效。 - + Enable Lane Departure Warnings 啟用車道偏離警告 - + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). 車速在時速 50 公里 (31 英里) 以上且未打方向燈的情況下，如果偵測到車輛駛出目前車道線時，發出車道偏離警告。 - + Use Metric System 使用公制單位 - + Display speed in km/h instead of mph. 啟用後，速度單位顯示將從 mp/h 改為 km/h。 - + Record and Upload Driver Camera 記錄並上傳駕駛監控影像 - + Upload data from the driver facing camera and help improve the driver monitoring algorithm. 上傳駕駛監控的錄像來協助我們提升駕駛監控的準確率。 - + + 🌮 End-to-end longitudinal (extremely alpha) 🌮 + + + + + Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental. + + + + Disengage On Accelerator Pedal 油門取消控車 - + When enabled, pressing the accelerator pedal will disengage openpilot. 啟用後，踩踏油門將會取消 openpilot 控制。 - + Show ETA in 24h Format 預計到達時間單位改用 24 小時制 - + Use 24h format instead of am/pm 使用 24 小時制。(預設值為 12 小時制) - + Show Map on Left Side of UI 將地圖顯示在畫面的左側 - + Show map on left side when in split screen view. 進入分割畫面後，地圖將會顯示在畫面的左側。 - + openpilot Longitudinal Control openpilot 縱向控制 - + openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! 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！ @@ -1236,42 +1246,42 @@ location set Updater - + Update Required 系統更新 - + An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. 設備的操作系統需要更新。請將您的設備連接到 Wi-Fi 以獲得最快的更新體驗。下載大小約為 1GB。 - + Connect to Wi-Fi 連接到無線網絡 - + Install 安裝 - + Back 回上頁 - + Loading... 載入中… - + Reboot 重新啟動 - + Update failed 更新失敗 @@ -1279,23 +1289,23 @@ location set WifiUI - - + + Scanning for networks... 掃描無線網路中... - + CONNECTING... 連線中... - + FORGET 清除 - + Forget Wi-Fi Network "%1"? 清除 Wi-Fi 網路 "%1"? diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 317ef497a..b208945fe 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -195,6 +195,7 @@ void ui_update_params(UIState *s) { auto params = Params(); s->scene.is_metric = params.getBool("IsMetric"); s->scene.map_on_left = params.getBool("NavSettingLeftSide"); + s->scene.end_to_end_long = params.getBool("EndToEndLong"); } void UIState::updateStatus() { diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 16f78cdef..08ae16ab2 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -101,7 +101,7 @@ typedef struct UIScene { QPointF lead_vertices[2]; float light_sensor, accel_sensor, gyro_sensor; - bool started, ignition, is_metric, map_on_left, longitudinal_control; + bool started, ignition, is_metric, map_on_left, longitudinal_control, end_to_end_long; uint64_t started_frame; } UIScene; diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index e509168ad..afd42c3b3 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -19,7 +19,7 @@ def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLA for file in translation_files.values(): tr_file = os.path.join(translations_dir, f"{file}.ts") - args = f"lupdate -recursive {UI_DIR} -ts {tr_file}" + args = f"lupdate -locations relative -recursive {UI_DIR} -ts {tr_file}" if vanish: args += " -no-obsolete" if file in plural_only: diff --git a/selfdrive/updated.py b/selfdrive/updated.py index e8905962b..7278ef5a8 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -116,7 +116,7 @@ def set_params(new_version: bool, failed_count: int, exception: Optional[str]) - pass if exception is None: - params.delete("LastUpdateException") + params.remove("LastUpdateException") else: params.put("LastUpdateException", exception) diff --git a/system/camerad/SConscript b/system/camerad/SConscript index 25e366210..b03fbdc9a 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -1,4 +1,4 @@ -Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'USE_WEBCAM') +Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc') libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon] @@ -14,7 +14,7 @@ if arch == "larch64": cameras, ], LIBS=libs) -if GetOption("test"): +if GetOption("test") and arch == "x86_64": env.Program('test/ae_gray_test', [ 'test/ae_gray_test.cc', 'cameras/camera_common.cc', diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 2a5605255..e87eaf4b9 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -40,6 +40,7 @@ const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL; const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL; const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL; const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL; +const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL; typedef struct CameraInfo { uint32_t frame_width, frame_height; @@ -94,7 +95,6 @@ private: public: cl_command_queue q; FrameMetadata cur_frame_data; - VisionBuf *cur_rgb_buf; VisionBuf *cur_yuv_buf; VisionBuf *cur_camera_buf; std::unique_ptr camera_bufs; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 31af284d5..a86218c06 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -949,7 +949,7 @@ std::map> CameraState::ar0231_build_register_lut(u // // 0xAA is used to indicate the MSB of the address, 0xA5 for the LSB of the address. // Every byte of data (MSB and LSB) is preceded by 0x5A. Specifying an address is optional - // for contigous ranges. See page 27-29 of the AR0231 Developer guide for more information. + // for contiguous ranges. See page 27-29 of the AR0231 Developer guide for more information. int max_i[] = {1828 / 2 * 3, 1500 / 2 * 3}; auto get_next_idx = [](int cur_idx) { @@ -1077,7 +1077,7 @@ void CameraState::set_camera_exposure(float grey_frac) { // It takes 3 frames for the commanded exposure settings to take effect. The first frame is already started by the time // we reach this function, the other 2 are due to the register buffering in the sensor. // Therefore we use the target EV from 3 frames ago, the grey fraction that was just measured was the result of that control action. - // TODO: Lower latency to 2 frames, by using the histogram outputed by the sensor we can do AE before the debayering is complete + // TODO: Lower latency to 2 frames, by using the histogram outputted by the sensor we can do AE before the debayering is complete const float cur_ev_ = cur_ev[buf.cur_frame_data.frame_id % 3]; @@ -1102,35 +1102,51 @@ void CameraState::set_camera_exposure(float grey_frac) { enable_dc_gain = false; } - // Simple brute force optimizer to choose sensor parameters - // to reach desired EV - for (int g = std::max((int)ANALOG_GAIN_MIN_IDX, gain_idx - 1); g <= std::min((int)ANALOG_GAIN_MAX_IDX, gain_idx + 1); g++) { - float gain = sensor_analog_gains[g] * (enable_dc_gain ? DC_GAIN : 1); + std::string gain_bytes, time_bytes; + if (env_ctrl_exp_from_params) { + gain_bytes = Params().get("CameraDebugExpGain"); + time_bytes = Params().get("CameraDebugExpTime"); + } - // Compute optimal time for given gain - int t = std::clamp(int(std::round(desired_ev / gain)), EXPOSURE_TIME_MIN, EXPOSURE_TIME_MAX); + if (gain_bytes.size() > 0 && time_bytes.size() > 0) { + // Override gain and exposure time + gain_idx = std::stoi(gain_bytes); + exposure_time = std::stoi(time_bytes); - // Only go below recomended gain when absolutely necessary to not overexpose - if (g < ANALOG_GAIN_REC_IDX && t > 20 && g < gain_idx) { - continue; - } + new_g = gain_idx; + new_t = exposure_time; + enable_dc_gain = false; + } else { + // Simple brute force optimizer to choose sensor parameters + // to reach desired EV + for (int g = std::max((int)ANALOG_GAIN_MIN_IDX, gain_idx - 1); g <= std::min((int)ANALOG_GAIN_MAX_IDX, gain_idx + 1); g++) { + float gain = sensor_analog_gains[g] * (enable_dc_gain ? DC_GAIN : 1); - // Compute error to desired ev - float score = std::abs(desired_ev - (t * gain)) * 10; + // Compute optimal time for given gain + int t = std::clamp(int(std::round(desired_ev / gain)), EXPOSURE_TIME_MIN, EXPOSURE_TIME_MAX); - // Going below recomended gain needs lower penalty to not overexpose - float m = g > ANALOG_GAIN_REC_IDX ? 5.0 : 0.1; - score += std::abs(g - (int)ANALOG_GAIN_REC_IDX) * m; + // Only go below recommended gain when absolutely necessary to not overexpose + if (g < ANALOG_GAIN_REC_IDX && t > 20 && g < gain_idx) { + continue; + } + + // Compute error to desired ev + float score = std::abs(desired_ev - (t * gain)) * 10; - // LOGE("cam: %d - gain: %d, t: %d (%.2f), score %.2f, score + gain %.2f, %.3f, %.3f", camera_num, g, t, desired_ev / gain, score, score + std::abs(g - gain_idx) * (score + 1.0) / 10.0, desired_ev, min_ev); + // Going below recommended gain needs lower penalty to not overexpose + float m = g > ANALOG_GAIN_REC_IDX ? 5.0 : 0.1; + score += std::abs(g - (int)ANALOG_GAIN_REC_IDX) * m; - // Small penalty on changing gain - score += std::abs(g - gain_idx) * (score + 1.0) / 10.0; + // LOGE("cam: %d - gain: %d, t: %d (%.2f), score %.2f, score + gain %.2f, %.3f, %.3f", camera_num, g, t, desired_ev / gain, score, score + std::abs(g - gain_idx) * (score + 1.0) / 10.0, desired_ev, min_ev); - if (score < best_ev_score) { - new_t = t; - new_g = g; - best_ev_score = score; + // Small penalty on changing gain + score += std::abs(g - gain_idx) * (score + 1.0) / 10.0; + + if (score < best_ev_score) { + new_t = t; + new_g = g; + best_ev_score = score; + } } } diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h index 03d3d1a82..e75e7e586 100644 --- a/system/camerad/cameras/camera_qcom2.h +++ b/system/camerad/cameras/camera_qcom2.h @@ -7,6 +7,7 @@ #include #include "system/camerad/cameras/camera_common.h" +#include "common/params.h" #include "common/util.h" #define FRAME_BUF_COUNT 4 diff --git a/system/camerad/snapshot/snapshot.py b/system/camerad/snapshot/snapshot.py index 946c220a7..48dfc9e02 100755 --- a/system/camerad/snapshot/snapshot.py +++ b/system/camerad/snapshot/snapshot.py @@ -91,7 +91,7 @@ def snapshot(): subprocess.check_call(["pgrep", "camerad"]) print("Camerad already running") params.put_bool("IsTakingSnapshot", False) - params.delete("Offroad_IsTakingSnapshot") + params.remove("Offroad_IsTakingSnapshot") return None, None except subprocess.CalledProcessError: pass diff --git a/system/hardware/base.py b/system/hardware/base.py index c9c02f3a5..31df1babe 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -78,10 +78,6 @@ class HardwareBase(ABC): def set_bandwidth_limit(upload_speed_kbps: int, download_speed_kbps: int) -> None: pass - @abstractmethod - def get_usb_present(self): - pass - @abstractmethod def get_current_power_draw(self): pass diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py index 60d14e4a6..564f9e483 100644 --- a/system/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -50,12 +50,9 @@ class Pc(HardwareBase): def get_network_strength(self, network_type): return NetworkStrength.unknown - def get_usb_present(self): - return False - def get_current_power_draw(self): return 0 - + def get_som_power_draw(self): return 0 diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py index ca2498a00..51998bf8b 100755 --- a/system/hardware/tici/agnos.py +++ b/system/hardware/tici/agnos.py @@ -20,7 +20,7 @@ class StreamingDecompressor: def __init__(self, url: str) -> None: self.buf = b"" - self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None}) # type: ignore + self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None}) # type: ignore # pylint: disable=missing-timeout self.it = self.req.iter_content(chunk_size=1024 * 1024) self.decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO) self.eof = False @@ -241,7 +241,7 @@ def flash_partition(target_slot_number: int, partition: dict, cloudlog, standalo else: extract_compressed_image(target_slot_number, partition, cloudlog) - # Write hash after successfull flash + # Write hash after successful flash if not full_check: with open(path, 'wb+') as out: out.seek(partition['size']) @@ -257,7 +257,7 @@ def swap(manifest_path: str, target_slot_number: int, cloudlog) -> None: while True: out = subprocess.check_output(f"abctl --set_active {target_slot_number}", shell=True, stderr=subprocess.STDOUT, encoding='utf8') if ("No such file or directory" not in out) and ("lun as boot lun" in out): - cloudlog.info(f"Swap successfull {out}") + cloudlog.info(f"Swap successful {out}") break else: cloudlog.error(f"Swap failed {out}") diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index c3f8c7f82..340093b60 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -287,7 +287,7 @@ class Tici(HardwareBase): ] upload = [ - # Create root Hierarchy Token Bucket that sends all trafic to 1:20 + # Create root Hierarchy Token Bucket that sends all traffic to 1:20 (True, tc + ["qdisc", "add", "dev", adapter, "root", "handle", "1:", "htb", "default", "20"]), # Create class 1:20 with specified rate limit @@ -372,7 +372,6 @@ class Tici(HardwareBase): return (self.read_param_file("/sys/class/power_supply/bms/voltage_now", int) * self.read_param_file("/sys/class/power_supply/bms/current_now", int) / 1e12) def shutdown(self): - # Note that for this to work and have the device stay powered off, the panda needs to be in UsbPowerMode::CLIENT! os.system("sudo poweroff") def get_thermal_config(self): diff --git a/system/hardware/tici/test_agnos_updater.py b/system/hardware/tici/test_agnos_updater.py index 9f188b83d..e0d6ed881 100755 --- a/system/hardware/tici/test_agnos_updater.py +++ b/system/hardware/tici/test_agnos_updater.py @@ -15,7 +15,7 @@ class TestAgnosUpdater(unittest.TestCase): m = json.load(f) for img in m: - r = requests.head(img['url']) + r = requests.head(img['url'], timeout=10) r.raise_for_status() self.assertEqual(r.headers['Content-Type'], "application/x-xz") if not img['sparse']: diff --git a/system/hardware/tici/tests/compare_casync_manifest.py b/system/hardware/tici/tests/compare_casync_manifest.py index 5e5fa2455..b462e93eb 100755 --- a/system/hardware/tici/tests/compare_casync_manifest.py +++ b/system/hardware/tici/tests/compare_casync_manifest.py @@ -17,7 +17,7 @@ def get_chunk_download_size(chunk): if os.path.isfile(path): return os.path.getsize(path) else: - r = requests.head(path) + r = requests.head(path, timeout=10) r.raise_for_status() return int(r.headers['content-length']) diff --git a/system/proclogd/proclog.cc b/system/proclogd/proclog.cc index 9064547d2..cbe3b5349 100644 --- a/system/proclogd/proclog.cc +++ b/system/proclogd/proclog.cc @@ -72,7 +72,7 @@ std::optional procStat(std::string stat) { } std::string name = stat.substr(open_paren + 1, close_paren - open_paren - 1); - // repace space in name with _ + // replace space in name with _ std::replace(&stat[open_paren], &stat[close_paren], ' ', '_'); std::istringstream iss(stat); std::vector v{std::istream_iterator(iss), diff --git a/third_party/acados/build.sh b/third_party/acados/build.sh index a4246fbda..0481e8159 100755 --- a/third_party/acados/build.sh +++ b/third_party/acados/build.sh @@ -13,8 +13,13 @@ fi ACADOS_FLAGS="-DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET" if [[ "$OSTYPE" == "darwin"* ]]; then - ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64;x86_64" - ARCHNAME="Darwin" + if [[ $(uname -m) == "x86_64" ]]; then + ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=x86_64" + ARCHNAME="Darwin_x86_64" + else + ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64;x86_64" + ARCHNAME="Darwin" + fi fi if [ ! -d acados_repo/ ]; then diff --git a/tinygrad b/tinygrad new file mode 120000 index 000000000..cb003823c --- /dev/null +++ b/tinygrad @@ -0,0 +1 @@ +tinygrad_repo/tinygrad \ No newline at end of file diff --git a/tinygrad_repo b/tinygrad_repo new file mode 160000 index 000000000..2e9b7637b --- /dev/null +++ b/tinygrad_repo @@ -0,0 +1 @@ +Subproject commit 2e9b7637b3c3c8895fda9f964215db3a35fe3441 diff --git a/tools/README.md b/tools/README.md index a61d9268d..59eea3230 100644 --- a/tools/README.md +++ b/tools/README.md @@ -2,7 +2,7 @@ ## System Requirements -openpilot is developed and tested on **Ubuntu 20.04**, which is the primary development target aside from the [supported embdedded hardware](https://github.com/commaai/openpilot#running-on-pc). We also have a CI test to verify that openpilot builds on macOS, but the tools are untested. For the best experience, stick to Ubuntu 20.04, otherwise openpilot and the tools should work with minimal to no modifications on macOS and other Linux systems. +openpilot is developed and tested on **Ubuntu 20.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-pc). We also have a CI test to verify that openpilot builds on macOS, but the tools are untested. For the best experience, stick to Ubuntu 20.04, otherwise openpilot and the tools should work with minimal to no modifications on macOS and other Linux systems. ## Setup your PC @@ -39,7 +39,7 @@ scons -u -j$(nproc) ### Windows -Neither openpilot nor any of the tools are developed or tested on Windows, but the [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should get Windows users a similiar experience to Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience. +Neither openpilot nor any of the tools are developed or tested on Windows, but the [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should get Windows users a similar experience to Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience. Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-20.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment. diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py index d321d6fd2..4322ce279 100755 --- a/tools/camerastream/compressed_vipc.py +++ b/tools/camerastream/compressed_vipc.py @@ -86,7 +86,7 @@ def decoder(addr, sock_name, vipc_server, vst, nvidia): print("%2d %4d %.3f %.3f roll %6.2f ms latency %6.2f ms + %6.2f ms + %6.2f ms = %6.2f ms" % (len(msgs), evta.idx.encodeId, evt.logMonoTime/1e9, evta.idx.timestampEof/1e6, frame_latency, process_latency, network_latency, pc_latency, process_latency+network_latency+pc_latency ), len(evta.data), sock_name) if __name__ == "__main__": - parser = argparse.ArgumentParser(description="Decode video streams and broacast on VisionIPC") + parser = argparse.ArgumentParser(description="Decode video streams and broadcast on VisionIPC") parser.add_argument("addr", help="Address of comma three") parser.add_argument("--nvidia", action="store_true", help="Use nvidia instead of ffmpeg") parser.add_argument("--cams", default="0,1,2", help="Cameras to decode") diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py index 6226038d5..8374cf8a7 100755 --- a/tools/joystick/joystickd.py +++ b/tools/joystick/joystickd.py @@ -41,7 +41,7 @@ class Joystick: def __init__(self): # TODO: find a way to get this from API, perhaps "inputs" doesn't support it self.min_axis_value = {'ABS_Y': 0., 'ABS_RZ': 0.} - self.max_axis_value = {'ABS_Y': 1023., 'ABS_RZ': 255.} + self.max_axis_value = {'ABS_Y': 255., 'ABS_RZ': 255.} self.cancel_button = 'BTN_TRIGGER' self.axes_values = {'ABS_Y': 0., 'ABS_RZ': 0.} # gb, steer self.axes_order = ['ABS_Y', 'ABS_RZ'] @@ -77,7 +77,7 @@ def send_thread(joystick): print('\n' + ', '.join(f'{name}: {round(v, 3)}' for name, v in joystick.axes_values.items())) if "WEB" in os.environ: import requests - requests.get("http://"+os.environ["WEB"]+":5000/control/%f/%f" % tuple([joystick.axes_values[a] for a in joystick.axes_order][::-1])) + requests.get("http://"+os.environ["WEB"]+":5000/control/%f/%f" % tuple([joystick.axes_values[a] for a in joystick.axes_order][::-1]), timeout=None) rk.keep_time() def joystick_thread(use_keyboard): diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py index 161befbc7..81a4790de 100755 --- a/tools/latencylogger/latency_logger.py +++ b/tools/latencylogger/latency_logger.py @@ -13,7 +13,7 @@ from tools.lib.logreader import logreader_from_route_or_segment DEMO_ROUTE = "9f583b1d93915c31|2022-05-18--10-49-51--0" SERVICES = ['camerad', 'modeld', 'plannerd', 'controlsd', 'boardd'] -# Retrive controlsd frameId from lateralPlan, mismatch with longitudinalPlan will be ignored +# Retrieve controlsd frameId from lateralPlan, mismatch with longitudinalPlan will be ignored MONOTIME_KEYS = ['modelMonoTime', 'lateralPlanMonoTime'] MSGQ_TO_SERVICE = { 'roadCameraState': 'camerad', @@ -79,7 +79,7 @@ def read_logs(lr): if not data['start'][frame_id][service]: data['start'][frame_id][service] = msg_obj.timestampSof elif msg.which() == 'controlsState': - # Sendcan is published before controlsState, but the frameId is retrived in CS + # Sendcan is published before controlsState, but the frameId is retrieved in CS data['timestamp'][frame_id][service].append(("sendcan published", latest_sendcan_monotime)) elif msg.which() == 'modelV2': if msg_obj.frameIdExtra != frame_id: diff --git a/tools/lib/README.md b/tools/lib/README.md index 241232eae..3cf239d2d 100644 --- a/tools/lib/README.md +++ b/tools/lib/README.md @@ -1,6 +1,6 @@ ## LogReader -Route is a class for conviently accessing all the [logs](/selfdrive/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos. +Route is a class for conveniently accessing all the [logs](/selfdrive/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos. ```python from tools.lib.route import Route diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py index 4ea9ad429..215f7b218 100644 --- a/tools/lib/filereader.py +++ b/tools/lib/filereader.py @@ -1,7 +1,7 @@ import os from tools.lib.url_file import URLFile -DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.internal/") +DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/") def FileReader(fn, debug=False): if fn.startswith("cd:/"): diff --git a/tools/lib/tests/test_readers.py b/tools/lib/tests/test_readers.py index 1d8918ba5..6efa0dc35 100755 --- a/tools/lib/tests/test_readers.py +++ b/tools/lib/tests/test_readers.py @@ -10,7 +10,7 @@ from tools.lib.logreader import LogReader class TestReaders(unittest.TestCase): - @unittest.skip("skip for bandwith reasons") + @unittest.skip("skip for bandwidth reasons") def test_logreader(self): def _check_data(lr): hist = defaultdict(int) @@ -21,7 +21,7 @@ class TestReaders(unittest.TestCase): self.assertEqual(hist['logMessage'], 6857) with tempfile.NamedTemporaryFile(suffix=".bz2") as fp: - r = requests.get("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/raw_log.bz2?raw=true") + r = requests.get("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/raw_log.bz2?raw=true", timeout=10) fp.write(r.content) fp.flush() @@ -31,7 +31,7 @@ class TestReaders(unittest.TestCase): lr_url = LogReader("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/raw_log.bz2?raw=true") _check_data(lr_url) - @unittest.skip("skip for bandwith reasons") + @unittest.skip("skip for bandwidth reasons") def test_framereader(self): def _check_data(f): self.assertEqual(f.frame_count, 1200) @@ -53,7 +53,7 @@ class TestReaders(unittest.TestCase): assert np.all(frame_first_30[15] == frame_15[0]) with tempfile.NamedTemporaryFile(suffix=".hevc") as fp: - r = requests.get("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/video.hevc?raw=true") + r = requests.get("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/video.hevc?raw=true", timeout=10) fp.write(r.content) fp.flush() diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md index 25fcb5931..b4190384d 100644 --- a/tools/plotjuggler/README.md +++ b/tools/plotjuggler/README.md @@ -4,7 +4,7 @@ ## Installation -Once you've cloned and are in openpilot, this command will download PlotJuggler and install our plugins: +Once you've [set up the openpilot environment](../README.md), this command will download PlotJuggler and install our plugins: `cd tools/plotjuggler && ./juggle.py --install` diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index a25a5640d..b7c32d9bf 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -37,7 +37,7 @@ def install(): os.mkdir(INSTALL_DIR) url = os.path.join(RELEASES_URL, m + ".tar.gz") - with requests.get(url, stream=True) as r, tempfile.NamedTemporaryFile() as tmp: + with requests.get(url, stream=True, timeout=10) as r, tempfile.NamedTemporaryFile() as tmp: r.raise_for_status() with open(tmp.name, 'wb') as tmpf: for chunk in r.iter_content(chunk_size=1024*1024): @@ -110,8 +110,8 @@ def juggle_route(route_or_segment_name, segment_count, qlog, can, layout, dbc=No logs = logs[segment_start:segment_end] if None in logs: - ans = input(f"{logs.count(None)}/{len(logs)} of the rlogs in this segment are missing, would you like to fall back to the qlogs? (y/n) ") - if ans == 'y': + resp = input(f"{logs.count(None)}/{len(logs)} of the rlogs in this segment are missing, would you like to fall back to the qlogs? (y/n) ") + if resp == 'y': logs = r.qlog_paths()[segment_start:segment_end] else: print("Please try a different route or segment") diff --git a/tools/plotjuggler/layouts/max-torque-debug.xml b/tools/plotjuggler/layouts/max-torque-debug.xml index 05aa208e2..20a49c218 100644 --- a/tools/plotjuggler/layouts/max-torque-debug.xml +++ b/tools/plotjuggler/layouts/max-torque-debug.xml @@ -16,7 +16,7 @@ - + @@ -51,15 +51,9 @@ - - - - - - - + if (v3 == 0 and v4 == 1) then return (value * v1 ^ 2) - (v2 * 9.81) diff --git a/tools/plotjuggler/layouts/torque-controller.xml b/tools/plotjuggler/layouts/torque-controller.xml index 661bfe094..443255968 100644 --- a/tools/plotjuggler/layouts/torque-controller.xml +++ b/tools/plotjuggler/layouts/torque-controller.xml @@ -1,12 +1,12 @@ - + - + - + @@ -14,7 +14,7 @@ - + @@ -22,33 +22,26 @@ - + - - + + + + + + + + + + + + - - - - - - - - - - - - - - - - - @@ -64,19 +57,29 @@ - + + + return value * 3.6 + /carState/vEgo + + + + return value * 2.23694 + /carState/vEgo + + return (value * v1 ^ 2) - (v2 * 9.81) - /controlsState/curvature + /controlsState/desiredCurvature /carState/vEgo /liveParameters/roll - + return (value * v1 ^ 2) - (v2 * 9.81) - /controlsState/desiredCurvature + /controlsState/curvature /carState/vEgo /liveParameters/roll @@ -86,3 +89,4 @@ + diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc index 87afe63a2..72b385dca 100644 --- a/tools/replay/camera.cc +++ b/tools/replay/camera.cc @@ -37,7 +37,8 @@ void CameraServer::startVipcServer() { void CameraServer::cameraThread(Camera &cam) { auto read_frame = [&](FrameReader *fr, int frame_id) { VisionBuf *yuv_buf = vipc_server_->get_buffer(cam.stream_type); - bool ret = fr->get(frame_id, yuv_buf ? (uint8_t *)yuv_buf->addr : nullptr); + assert(yuv_buf); + bool ret = fr->get(frame_id, (uint8_t *)yuv_buf->addr); return ret ? yuv_buf : nullptr; }; @@ -54,9 +55,10 @@ void CameraServer::cameraThread(Camera &cam) { .timestamp_sof = eidx.getTimestampSof(), .timestamp_eof = eidx.getTimestampEof(), }; + yuv->set_frame_id(eidx.getFrameId()); vipc_server_->send(yuv, &extra, false); } else { - rError("camera[%d] failed to get frame:", cam.type, eidx.getSegmentId()); + rError("camera[%d] failed to get frame: %lu", cam.type, eidx.getSegmentId()); } cam.cached_id = id + 1; diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc index e4a3146a6..5f165ac31 100644 --- a/tools/replay/consoleui.cc +++ b/tools/replay/consoleui.cc @@ -18,6 +18,10 @@ const std::initializer_list> keyboard_shortc {"space", "Pause/Resume"}, {"e", "Next Engagement"}, {"d", "Next Disengagement"}, + {"t", "Next User Tag"}, + {"i", "Next Info"}, + {"w", "Next Warning"}, + {"c", "Next Critical"}, }, { {"enter", "Enter seek request"}, @@ -32,6 +36,7 @@ enum Color { Yellow, Green, Red, + Cyan, BrightWhite, Engaged, Disengaged, @@ -70,6 +75,7 @@ ConsoleUI::ConsoleUI(Replay *replay, QObject *parent) : replay(replay), sm({"car init_pair(Color::Debug, 246, COLOR_BLACK); // #949494 init_pair(Color::Yellow, 184, COLOR_BLACK); init_pair(Color::Red, COLOR_RED, COLOR_BLACK); + init_pair(Color::Cyan, COLOR_CYAN, COLOR_BLACK); init_pair(Color::BrightWhite, 15, COLOR_BLACK); init_pair(Color::Disengaged, COLOR_BLUE, COLOR_BLUE); init_pair(Color::Engaged, 28, 28); @@ -205,6 +211,7 @@ void ConsoleUI::displayTimelineDesc() { {Color::Green, " Info ", true}, {Color::Yellow, " Warning ", true}, {Color::Red, " Critical ", true}, + {Color::Cyan, " User Tag ", true}, }; for (auto [color, name, bold] : indicators) { add_str(w[Win::TimelineDesc], "__", color, bold); @@ -263,6 +270,8 @@ void ConsoleUI::updateTimeline() { if (type == TimelineType::Engaged) { mvwchgat(win, 1, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL); mvwchgat(win, 2, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL); + } else if (type == TimelineType::UserFlag) { + mvwchgat(win, 3, start_pos, end_pos - start_pos + 1, ACS_S3, Color::Cyan, NULL); } else { auto color_id = Color::Green; if (type != TimelineType::AlertInfo) { @@ -336,6 +345,14 @@ void ConsoleUI::handleKey(char c) { replay->seekToFlag(FindFlag::nextEngagement); } else if (c == 'd') { replay->seekToFlag(FindFlag::nextDisEngagement); + } else if (c == 't') { + replay->seekToFlag(FindFlag::nextUserFlag); + } else if (c == 'i') { + replay->seekToFlag(FindFlag::nextInfo); + } else if (c == 'w') { + replay->seekToFlag(FindFlag::nextWarning); + } else if (c == 'c') { + replay->seekToFlag(FindFlag::nextCritical); } else if (c == 'm') { replay->seekTo(+60, true); } else if (c == 'M') { diff --git a/tools/replay/framereader.cc b/tools/replay/framereader.cc index ecde9ad5d..a1ff7b9f8 100644 --- a/tools/replay/framereader.cc +++ b/tools/replay/framereader.cc @@ -133,7 +133,7 @@ bool FrameReader::load(const std::byte *data, size_t size, bool no_hw_decoder, s break; } packets.push_back(pkt); - // some stream seems to contian no keyframes + // some stream seems to contain no keyframes key_frames_count_ += pkt->flags & AV_PKT_FLAG_KEY; } valid_ = valid_ && !packets.empty(); diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index c886a7e18..3e482b547 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -81,7 +81,7 @@ void Replay::start(int seconds) { } void Replay::updateEvents(const std::function &lambda) { - // set updating_events to true to force stream thread relase the lock and wait for evnets_udpated. + // set updating_events to true to force stream thread release the lock and wait for evnets_udpated. updating_events_ = true; { std::unique_lock lk(stream_lock_); @@ -149,6 +149,9 @@ void Replay::buildTimeline() { timeline.push_back({toSeconds(alert_begin), toSeconds(e->mono_time), alert_type}); alert_begin = 0; } + } else if (e->which == cereal::Event::Which::USER_FLAG) { + std::lock_guard lk(timeline_lock); + timeline.push_back({toSeconds(e->mono_time), toSeconds(e->mono_time), TimelineType::UserFlag}); } } } @@ -163,6 +166,13 @@ std::optional Replay::find(FindFlag flag) { } else if (flag == FindFlag::nextDisEngagement && end_ts > cur_ts) { return end_ts; } + } else if (start_ts > cur_ts) { + if ((flag == FindFlag::nextUserFlag && type == TimelineType::UserFlag) || + (flag == FindFlag::nextInfo && type == TimelineType::AlertInfo) || + (flag == FindFlag::nextWarning && type == TimelineType::AlertWarning) || + (flag == FindFlag::nextCritical && type == TimelineType::AlertCritical)) { + return start_ts; + } } } return std::nullopt; @@ -360,7 +370,7 @@ void Replay::stream() { setCurrentSegment(toSeconds(cur_mono_time_) / 60); // migration for pandaState -> pandaStates to keep UI working for old segments - if (cur_which == cereal::Event::Which::PANDA_STATE_D_E_P_R_E_C_A_T_E_D && + if (cur_which == cereal::Event::Which::PANDA_STATE_D_E_P_R_E_C_A_T_E_D && sockets_[cereal::Event::Which::PANDA_STATES] != nullptr) { MessageBuilder msg; auto ps = msg.initEvent().initPandaStates(1); diff --git a/tools/replay/replay.h b/tools/replay/replay.h index 13269d3ec..e86c453f7 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -24,10 +24,14 @@ enum REPLAY_FLAGS { enum class FindFlag { nextEngagement, - nextDisEngagement + nextDisEngagement, + nextUserFlag, + nextInfo, + nextWarning, + nextCritical }; -enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical }; +enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserFlag }; class Replay : public QObject { Q_OBJECT @@ -60,7 +64,7 @@ signals: void streamStarted(); protected slots: - void segmentLoadFinished(bool sucess); + void segmentLoadFinished(bool success); protected: typedef std::map> SegmentMap; diff --git a/tools/scripts/fetch_image_from_route.py b/tools/scripts/fetch_image_from_route.py index 39751ba55..139373f66 100755 --- a/tools/scripts/fetch_image_from_route.py +++ b/tools/scripts/fetch_image_from_route.py @@ -18,7 +18,7 @@ segment = int(sys.argv[2]) frame = int(sys.argv[3]) url = 'https://api.commadotai.com/v1/route/'+sys.argv[1]+"/files" -r = requests.get(url, headers={"Authorization": "JWT "+jwt}) +r = requests.get(url, headers={"Authorization": "JWT "+jwt}, timeout=10) assert r.status_code == 200 print("got api response") diff --git a/tools/scripts/setup_ssh_keys.py b/tools/scripts/setup_ssh_keys.py index 5b5ebfbac..b6d448673 100755 --- a/tools/scripts/setup_ssh_keys.py +++ b/tools/scripts/setup_ssh_keys.py @@ -11,7 +11,7 @@ if __name__ == "__main__": exit(1) username = sys.argv[1] - keys = requests.get(f"https://github.com/{username}.keys") + keys = requests.get(f"https://github.com/{username}.keys", timeout=10) if keys.status_code == 200: Params().put("GithubSshKeys", keys.text) diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py index fa4ce2b41..0e4f47963 100755 --- a/tools/sim/bridge.py +++ b/tools/sim/bridge.py @@ -179,7 +179,7 @@ def gps_callback(gps, vehicle_state): ] dat.gpsLocationExternal = { - "timestamp": int(time.time() * 1000), + "unixTimestampMillis": int(time.time() * 1000), "flags": 1, # valid fix "accuracy": 1.0, "verticalAccuracy": 1.0, @@ -346,7 +346,7 @@ class CarlaBridge: vehicle_state = VehicleState() - # reenable IMU + # re-enable IMU imu_bp = blueprint_library.find('sensor.other.imu') imu = world.spawn_actor(imu_bp, transform, attach_to=vehicle) imu.listen(lambda imu: imu_callback(imu, vehicle_state)) @@ -548,4 +548,4 @@ if __name__ == "__main__": finally: # Try cleaning up the wide camera param # in case users want to use replay after - Params().delete("WideCameraOnly") + Params().remove("WideCameraOnly") diff --git a/tools/sim/tests/test_carla_integration.py b/tools/sim/tests/test_carla_integration.py index 43db783f4..f46739196 100755 --- a/tools/sim/tests/test_carla_integration.py +++ b/tools/sim/tests/test_carla_integration.py @@ -77,7 +77,7 @@ class TestCarlaIntegration(unittest.TestCase): while time.monotonic() < start_time + max_time_per_step: sm.update() - q.put("cruise_up") # Try engaging + q.put("cruise_down") # Try engaging if sm.all_alive() and sm['controlsState'].active: control_active += 1 diff --git a/tools/ssh/README.md b/tools/ssh/README.md index 29d334932..67b5271a4 100644 --- a/tools/ssh/README.md +++ b/tools/ssh/README.md @@ -7,11 +7,11 @@ In order to SSH into your device, you'll need a GitHub account with SSH keys. Se * Enable SSH in your device's settings * Enter your GitHub username in the device's settings * Connect to your device - * Username: `comma` (comma three) + * Username: `comma` * Port: `22` or `8022` -Here's an example command for connecting to your device using its tethered connection: -`ssh root@192.168.43.1` +Here's an example command for connecting to your device using its tethered connection:
+`ssh comma@192.168.43.1` For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding). @@ -34,7 +34,8 @@ Requires [comma SIM with comma prime](https://comma.ai/shop) activated with comm ## Recommended .ssh/config -With the below ssh configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`. For example, `ssh comma-ffffffffffffffff`. +With the below SSH configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`.
+For example: `ssh comma-ffffffffffffffff` ``` Host comma-* diff --git a/tools/webcam/README.md b/tools/webcam/README.md index 1e07bdbbe..f896e19b8 100644 --- a/tools/webcam/README.md +++ b/tools/webcam/README.md @@ -1,3 +1,5 @@ +# NOTE: this README is outdated. #24590 tracks adding back webcam support + # Run openpilot with webcam on PC What's needed: diff --git a/update_requirements.sh b/update_requirements.sh index 94b14496f..060dca76e 100755 --- a/update_requirements.sh +++ b/update_requirements.sh @@ -4,11 +4,26 @@ set -e DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" cd $DIR +RC_FILE="${HOME}/.$(basename ${SHELL})rc" +if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then + RC_FILE="$HOME/.bash_profile" +fi + if ! command -v "pyenv" > /dev/null 2>&1; then echo "pyenv install ..." curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash - export PATH=$HOME/.pyenv/bin:$HOME/.pyenv/shims:$PATH + + echo -e "\n. ~/.pyenvrc" >> $RC_FILE + cat < "${HOME}/.pyenvrc" +if [ -z "\$PYENV_ROOT" ]; then + export PATH=\$HOME/.pyenv/bin:\$HOME/.pyenv/shims:\$PATH + export PYENV_ROOT="\$HOME/.pyenv" + eval "\$(pyenv init -)" + eval "\$(pyenv virtualenv-init -)" +fi +EOF fi +source $RC_FILE export MAKEFLAGS="-j$(nproc)" @@ -29,6 +44,7 @@ pip install pip==21.3.1 pip install pipenv==2021.11.23 if [ -d "./xx" ]; then + echo "WARNING: using xx Pipfile ******" export PIPENV_SYSTEM=1 export PIPENV_PIPFILE=./xx/Pipfile fi @@ -41,7 +57,8 @@ else fi echo "pip packages install..." -pipenv install --dev --deploy --clear +pipenv sync --dev +pipenv --clear pyenv rehash echo "pre-commit hooks install..."