From ae87665e92cb17952abf2b7f182a0302264dc642 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Fri, 16 Sep 2022 09:04:29 +0900 Subject: [PATCH 01/75] Multilang: add missing Korean translations (#25799) kor translation update --- selfdrive/ui/translations/main_ko.ts | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index b517c8320..2a827ca4a 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -985,42 +985,42 @@ location set Updates are only downloaded while the car is off. - + 업데이트는 차량 연결이 해제되어 있는 동안에만 다운로드됩니다. Current Version - + 현재 버전 Download - + 다운로드 Install Update - + 업데이트 설치 INSTALL - + 설치 Target Branch - + 대상 브랜치 SELECT - + 선택 Select a branch - + 브랜치 선택 From 834f212903f5c06a9fe8d6caa6b6da52ac7a7d83 Mon Sep 17 00:00:00 2001 From: cydia2020 <12470297+cydia2020@users.noreply.github.com> Date: Fri, 16 Sep 2022 10:48:17 +1000 Subject: [PATCH 02/75] Multilang: add missing Chinese e2e toggle translations (#25656) * japanese e2e toggle * chinese (simp) * chinese (trad) * OOPS * Mention experimental in details * Also in traditional * Exp. * suggestions * Apply suggestions from code review Co-authored-by: ZwX1616 * add back removed translations from merge * Update selfdrive/ui/translations/main_zh-CHS.ts Co-authored-by: Shane Smiskol Co-authored-by: ZwX1616 --- selfdrive/ui/translations/main_zh-CHS.ts | 4 ++-- selfdrive/ui/translations/main_zh-CHT.ts | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 8fce4e01a..8a6f856be 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -1167,7 +1167,7 @@ location set 🌮 End-to-end longitudinal (extremely alpha) 🌮 - + 🌮 端对端纵向控制（实验性功能） 🌮 @@ -1182,7 +1182,7 @@ location set Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - + 让驾驶模型直接控制油门和刹车，openpilot将会模仿人类司机的驾驶方式。该功能仍非常实验性。 diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 022d41be8..675830542 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -1169,7 +1169,7 @@ location set 🌮 End-to-end longitudinal (extremely alpha) 🌮 - + 🌮 端對端縱向控制（實驗性功能） 🌮 @@ -1184,7 +1184,7 @@ location set Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - + 讓駕駛模型直接控製油門和剎車，openpilot將會模仿人類司機的駕駛方式。該功能仍非常實驗性。 From 1aa8c0525ea5339eecd82cb08572636ebbaa7034 Mon Sep 17 00:00:00 2001 From: Jason Shuler Date: Thu, 15 Sep 2022 20:55:02 -0400 Subject: [PATCH 03/75] GM: Chevy Equinox 2019-22 (#25431) * Chevy Equinox Port * LKAS is not standard on 2019, but it's the same package as ACC. (LKAS standard 2020+) * 2019 here too * clean up * add to untested * not in docs Co-authored-by: Shane Smiskol --- selfdrive/car/gm/interface.py | 10 +++++++++- selfdrive/car/gm/values.py | 8 +++++++- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/override.yaml | 1 + 4 files changed, 18 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index be2889048..49d56cf09 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -71,7 +71,7 @@ class CarInterface(CarInterfaceBase): # These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars likely still work fine. Once a user confirms each car works and a test route is # added to selfdrive/car/tests/routes.py, we can remove it from this list. - ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL} + ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX} # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below. ret.minSteerSpeed = 10 * CV.KPH_TO_MS @@ -170,6 +170,14 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 1.0 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + elif candidate == CAR.EQUINOX: + ret.minEnableSpeed = -1 + ret.mass = 3500. * CV.LB_TO_KG + STD_CARGO_KG + ret.wheelbase = 2.72 + ret.steerRatio = 14.4 + ret.centerToFront = ret.wheelbase * 0.4 + 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) diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index a84cbdc91..25e624da7 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -60,6 +60,7 @@ class CAR: ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016" BOLT_EUV = "CHEVROLET BOLT EUV 2022" SILVERADO = "CHEVROLET SILVERADO 1500 2020" + EQUINOX = "CHEVROLET EQUINOX 2019" class Footnote(Enum): @@ -89,6 +90,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = { 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), ], + CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22", "Adaptive Cruise Control (ACC)", footnotes=[], harness=Harness.gm), } @@ -166,6 +168,10 @@ FINGERPRINTS = { { 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 }], + CAR.EQUINOX: [ + { + 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 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, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 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')) @@ -173,6 +179,6 @@ 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, CAR.SILVERADO} +CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX} STEER_THRESHOLD = 1.0 diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 1f5d3edaf..9f28bf854 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -21,6 +21,7 @@ non_tested_cars = [ GM.CADILLAC_ATS, GM.HOLDEN_ASTRA, GM.MALIBU, + GM.EQUINOX, HYUNDAI.ELANTRA_GT_I30, HYUNDAI.GENESIS_G90, HYUNDAI.KIA_OPTIMA_H, diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 20fb5f7a6..2e0f601e8 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -27,6 +27,7 @@ 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] +CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05] VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1] HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0] From 5a80fda819fda68cad1caf7c6db15d9a495aefac Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 15 Sep 2022 19:24:18 -0700 Subject: [PATCH 04/75] GM: adjust Bolt EUV centerToFront --- selfdrive/car/gm/interface.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 49d56cf09..f3ab1ee72 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -156,7 +156,7 @@ class CarInterface(CarInterfaceBase): ret.mass = 1669. + STD_CARGO_KG ret.wheelbase = 2.675 ret.steerRatio = 16.8 - ret.centerToFront = ret.wheelbase * 0.4 + ret.centerToFront = 2.15 # measured tire_stiffness_factor = 1.0 ret.steerActuatorDelay = 0.2 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) From 7ddcde687e3ffaa0ec91002871b76f9ca82752b1 Mon Sep 17 00:00:00 2001 From: eFini Date: Fri, 16 Sep 2022 10:31:57 +0800 Subject: [PATCH 05/75] Multilang: add missing Chinese (Traditional) translations (#25802) --- selfdrive/ui/translations/main_zh-CHT.ts | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 675830542..ef958e714 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -985,42 +985,42 @@ location set Updates are only downloaded while the car is off. - + 系統更新只會在熄火時下載。 Current Version - + 當前版本 Download - + 下載 Install Update - + 安裝更新 INSTALL - + 安裝 Target Branch - + 目標分支 SELECT - + 選取 Select a branch - + 選取一個分支 @@ -1174,12 +1174,12 @@ location set Experimental openpilot longitudinal control - + 使用 openpilot 縱向控制（實驗） <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> - + <b>注意：這台車的 openpilot 縱向控制仍然是實驗中的功能，開啟這功能將會關閉自動緊急煞車 (AEB)。</b> From 64c2d4b30f7d4be1e1726a5668c548ecf8d6e32e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 15 Sep 2022 19:37:12 -0700 Subject: [PATCH 06/75] Wrap new UI strings --- selfdrive/ui/qt/offroad/settings.cc | 4 ++-- selfdrive/ui/translations/main_ja.ts | 12 +++++++++++- selfdrive/ui/translations/main_ko.ts | 12 +++++++++++- selfdrive/ui/translations/main_pt-BR.ts | 12 +++++++++++- selfdrive/ui/translations/main_zh-CHS.ts | 12 +++++++++++- selfdrive/ui/translations/main_zh-CHT.ts | 12 +++++++++++- 6 files changed, 57 insertions(+), 7 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 52df247a2..ae878c541 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -134,8 +134,8 @@ void TogglesPanel::updateToggles() { e2e_toggle->setEnabled(false); params.remove("EndToEndLong"); - const QString no_long = "openpilot longitudinal control is not currently available for this car."; - const QString exp_long = "Enable experimental longitudinal control to enable this."; + const QString no_long = tr("openpilot longitudinal control is not currently available for this car."); + const QString exp_long = tr("Enable experimental longitudinal control to enable this."); e2e_toggle->setDescription("" + (CP.getExperimentalLongitudinalAvailable() ? exp_long : no_long) + "

" + e2e_description); } diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 4262473fb..3cc914975 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -1187,7 +1187,17 @@ location set アクセルとブレーキの制御をopenpilotに任せます。openpilotが人間と同じように運転します。最初期の実験段階です。 - + + openpilot longitudinal control is not currently available for this car. + + + + + Enable experimental longitudinal control to enable this. + + + + Disengage On Accelerator Pedal ｱｸｾﾙ踏むと openpilot をｷｬﾝｾﾙ diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 2a827ca4a..17914f21d 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -1187,7 +1187,17 @@ location set 주행모델이 가속과 감속을 제어하도록 하면 openpilot은 운전자가 생각하는것처럼 운전합니다. (매우 실험적) - + + openpilot longitudinal control is not currently available for this car. + + + + + Enable experimental longitudinal control to enable this. + + + + Disengage On Accelerator Pedal 가속페달 조작시 해제 diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 91ffabc62..fe028e18b 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -1191,7 +1191,17 @@ trabalho definido - + + openpilot longitudinal control is not currently available for this car. + + + + + Enable experimental longitudinal control to enable this. + + + + Disengage On Accelerator Pedal Desacionar Com Pedal Do Acelerador diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 8a6f856be..28008ef06 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -1185,7 +1185,17 @@ location set 让驾驶模型直接控制油门和刹车，openpilot将会模仿人类司机的驾驶方式。该功能仍非常实验性。 - + + openpilot longitudinal control is not currently available for this car. + + + + + Enable experimental longitudinal control to enable this. + + + + Disengage On Accelerator Pedal 踩油门时取消控制 diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index ef958e714..19f5bf739 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -1187,7 +1187,17 @@ location set 讓駕駛模型直接控製油門和剎車，openpilot將會模仿人類司機的駕駛方式。該功能仍非常實驗性。 - + + openpilot longitudinal control is not currently available for this car. + + + + + Enable experimental longitudinal control to enable this. + + + + Disengage On Accelerator Pedal 油門取消控車 From cfaa1b7d3eeeb8ae16b77e04a0416dbacf4bc6d2 Mon Sep 17 00:00:00 2001 From: Jason Shuler Date: Thu, 15 Sep 2022 23:11:53 -0400 Subject: [PATCH 07/75] GM: Chevy Bolt EV 2022-23 (#25430) * Chevy Bolt EV w ACC Port * dashcam * The website allows you to select the package without ACC * fix Bolt E(U)V centerToFront * Update selfdrive/car/gm/values.py Co-authored-by: Shane Smiskol --- selfdrive/car/gm/interface.py | 10 +++++----- selfdrive/car/gm/values.py | 6 ++++-- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/override.yaml | 1 + 4 files changed, 11 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index f3ab1ee72..93be57cf2 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -71,7 +71,7 @@ class CarInterface(CarInterfaceBase): # These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars likely still work fine. Once a user confirms each car works and a test route is # added to selfdrive/car/tests/routes.py, we can remove it from this list. - ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX} + ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX, CAR.BOLT_EV} # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below. ret.minSteerSpeed = 10 * CV.KPH_TO_MS @@ -138,23 +138,23 @@ class CarInterface(CarInterfaceBase): ret.mass = 1601. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 15.3 - ret.centerToFront = ret.wheelbase * 0.49 + ret.centerToFront = ret.wheelbase * 0.5 elif candidate == CAR.ESCALADE_ESV: ret.minEnableSpeed = -1. # engage speed is decided by pcm ret.mass = 2739. + STD_CARGO_KG ret.wheelbase = 3.302 ret.steerRatio = 17.3 - ret.centerToFront = ret.wheelbase * 0.49 + ret.centerToFront = ret.wheelbase * 0.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]] ret.lateralTuning.pid.kf = 0.000045 tire_stiffness_factor = 1.0 - elif candidate == CAR.BOLT_EUV: + elif candidate in (CAR.BOLT_EV, CAR.BOLT_EUV): ret.minEnableSpeed = -1 ret.mass = 1669. + STD_CARGO_KG - ret.wheelbase = 2.675 + ret.wheelbase = 2.63779 ret.steerRatio = 16.8 ret.centerToFront = 2.15 # measured tire_stiffness_factor = 1.0 diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 25e624da7..943e8a658 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -58,6 +58,7 @@ class CAR: ACADIA = "GMC ACADIA DENALI 2018" BUICK_REGAL = "BUICK REGAL ESSENCE 2018" ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016" + BOLT_EV = "CHEVROLET BOLT EV 2022" BOLT_EUV = "CHEVROLET BOLT EUV 2022" SILVERADO = "CHEVROLET SILVERADO 1500 2020" EQUINOX = "CHEVROLET EQUINOX 2019" @@ -85,6 +86,7 @@ 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_EV: GMCarInfo("Chevrolet Bolt EV 2022-23", "Adaptive Cruise Control (ACC)", 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), @@ -176,9 +178,9 @@ FINGERPRINTS = { 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')) -EV_CAR = {CAR.VOLT, CAR.BOLT_EUV} +EV_CAR = {CAR.VOLT, CAR.BOLT_EV, 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, CAR.SILVERADO, CAR.EQUINOX} +CAMERA_ACC_CAR = {CAR.BOLT_EV, CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX} STEER_THRESHOLD = 1.0 diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 9f28bf854..e86525baa 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -22,6 +22,7 @@ non_tested_cars = [ GM.HOLDEN_ASTRA, GM.MALIBU, GM.EQUINOX, + GM.BOLT_EV, HYUNDAI.ELANTRA_GT_I30, HYUNDAI.GENESIS_G90, HYUNDAI.KIA_OPTIMA_H, diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 2e0f601e8..b5d1a3119 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -25,6 +25,7 @@ KIA EV6 2022: [3.5, 3.0, 0.0] 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 EV 2022: [2.0, 2.0, 0.05] CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05] CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112] CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05] From b133a4c9a8e8f3ab8211fe1e7a52bd0bb41c5c47 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Thu, 15 Sep 2022 20:15:57 -0700 Subject: [PATCH 08/75] regenerate replay segments for torqued (#25805) * update segments in test_processes * bump cereal * update refs --- cereal | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- .../test/process_replay/test_processes.py | 30 +++++++++---------- 3 files changed, 17 insertions(+), 17 deletions(-) diff --git a/cereal b/cereal index 513dfc7ee..e4130c905 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 513dfc7ee001243cd68a57a9d92fe3170fc49c7d +Subproject commit e4130c90558dfb491e132992dce36e0e620e070a diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 739061025..062611316 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -ef5395e5f36550d2b485216eee5406bf6062e9c9 \ No newline at end of file +147410f09f242f05b922c9cc7ac04c3c3366419c \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index e8c2e1dc9..0f118971c 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -38,21 +38,21 @@ original_segments = [ ] segments = [ - ("BODY", "regen660D86654BA|2022-07-06--14-27-15--0"), - ("HYUNDAI", "regen114E5FF24D8|2022-07-14--17-08-47--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"), - ("HONDA", "regenE62960EEC38|2022-07-14--19-33-24--0"), - ("HONDA2", "regenC3EBD92F029|2022-07-14--19-29-47--0"), - ("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", "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"), + ("BODY", "regen9D38397D30D|2022-09-09--13-12-48--0"), + ("HYUNDAI", "regenB3953B393C0|2022-09-09--14-49-37--0"), + ("HYUNDAI", "regen8DB830E5376|2022-09-13--17-24-37--0"), + ("TOYOTA", "regen8FCBB6F06F1|2022-09-09--13-14-07--0"), + ("TOYOTA2", "regen956BFA75300|2022-09-09--14-51-24--0"), + ("TOYOTA3", "regenE909BC2F430|2022-09-09--20-44-49--0"), + ("HONDA", "regenD1D10209015|2022-09-09--14-53-09--0"), + ("HONDA2", "regen3F7C2EFDC08|2022-09-09--19-41-19--0"), + ("CHRYSLER", "regen92783EAE66B|2022-09-09--13-15-44--0"), + ("RAM", "regenBE5DAAEF30F|2022-09-13--17-06-24--0"), + ("SUBARU", "regen8A363AF7E14|2022-09-13--17-20-39--0"), + ("GM", "regen31EA3F9A37C|2022-09-09--21-06-36--0"), + ("NISSAN", "regenAA21ADE5921|2022-09-09--19-44-37--0"), + ("VOLKSWAGEN", "regenA1BF4D17761|2022-09-09--19-46-24--0"), + ("MAZDA", "regen1994C97E977|2022-09-13--16-34-44--0"), ] # dashcamOnly makes don't need to be tested until a full port is done From b7d9f157faa33023ab07db561c155db0abb28c0b Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Thu, 15 Sep 2022 23:16:54 -0400 Subject: [PATCH 09/75] Updater: Reboot instead of shutdown to install new branch (#25804) Reboot instead of shutdown to install new branch --- selfdrive/ui/qt/offroad/software_settings.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc index c9deef2ec..4f048241c 100644 --- a/selfdrive/ui/qt/offroad/software_settings.cc +++ b/selfdrive/ui/qt/offroad/software_settings.cc @@ -45,7 +45,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { installBtn = new ButtonControl(tr("Install Update"), tr("INSTALL")); connect(installBtn, &ButtonControl::clicked, [=]() { installBtn->setEnabled(false); - params.putBool("DoShutdown", true); + params.putBool("DoReboot", true); }); addItem(installBtn); From f0665911b2aa5807348ee5bf209ee21b8be2ca89 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 16 Sep 2022 11:36:13 +0800 Subject: [PATCH 10/75] map: fix repeated call to m_map->setZoom (#25784) Fix repeated map api calls --- selfdrive/ui/qt/maps/map.cc | 3 ++- selfdrive/ui/qt/maps/map.h | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index 71706fd35..b5519dacc 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -204,7 +204,8 @@ void MapWindow::updateState(const UIState &s) { if (zoom_counter == 0) { m_map->setZoom(util::map_val(velocity_filter.x(), 0, 30, MAX_ZOOM, MIN_ZOOM)); - } else { + zoom_counter = -1; + } else if (zoom_counter > 0) { zoom_counter--; } diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h index ecba867ed..c3d5e9253 100644 --- a/selfdrive/ui/qt/maps/map.h +++ b/selfdrive/ui/qt/maps/map.h @@ -98,7 +98,7 @@ private: // Panning QPointF m_lastPos; int pan_counter = 0; - int zoom_counter = 0; + int zoom_counter = -1; // Position std::optional last_position; From 8fcbcd800610f30ddf85b5a314dbf40afb0fa320 Mon Sep 17 00:00:00 2001 From: eFini Date: Fri, 16 Sep 2022 11:38:53 +0800 Subject: [PATCH 11/75] Multilang: add missing Chinese (Traditional) translations (#25807) added missing cht translations --- selfdrive/ui/translations/main_zh-CHT.ts | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 19f5bf739..364508bd1 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -1189,12 +1189,12 @@ location set openpilot longitudinal control is not currently available for this car. - + openpilot 縱向控制目前不適用於這輛車。 Enable experimental longitudinal control to enable this. - + 打開縱向控制（實驗）以啟用此功能。 From 5356216e92f7c46d5aaefa1c3e85c91fd17816e4 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 15 Sep 2022 20:45:01 -0700 Subject: [PATCH 12/75] remove unused compute_gb (#25808) --- selfdrive/car/mazda/interface.py | 4 ---- selfdrive/car/mock/interface.py | 4 ---- 2 files changed, 8 deletions(-) diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index 89ed5638c..7c42431e3 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -10,10 +10,6 @@ EventName = car.CarEvent.EventName class CarInterface(CarInterfaceBase): - @staticmethod - def compute_gb(accel, speed): - return float(accel) / 4.0 - @staticmethod def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py index 2c7f4611e..77e3703c2 100755 --- a/selfdrive/car/mock/interface.py +++ b/selfdrive/car/mock/interface.py @@ -28,10 +28,6 @@ class CarInterface(CarInterfaceBase): self.yaw_rate = 0. self.yaw_rate_meas = 0. - @staticmethod - def compute_gb(accel, speed): - return accel - @staticmethod def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) From b7dc1968cd4c61d33f96124b36d8d7a48957748f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 15 Sep 2022 21:21:10 -0700 Subject: [PATCH 13/75] GM minSteerSpeed: add some tolerance for Volt (#25809) * add some tolerance for volts * add comment * update refs --- selfdrive/car/gm/interface.py | 3 ++- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 93be57cf2..22ea83759 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -74,7 +74,8 @@ class CarInterface(CarInterfaceBase): ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX, CAR.BOLT_EV} # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below. - ret.minSteerSpeed = 10 * CV.KPH_TO_MS + # Some GMs need some tolerance above 10 kph to avoid a fault + ret.minSteerSpeed = 10.1 * 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 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 062611316..b1a2785ba 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -147410f09f242f05b922c9cc7ac04c3c3366419c \ No newline at end of file +a4aa1f37c6d966151d3b43a0b51fffbcfa0187b1 \ No newline at end of file From 40f89b183e5ab39d4a176e54268b0eb9de8e9ebc Mon Sep 17 00:00:00 2001 From: ambientocclusion <1399123+ambientocclusion@users.noreply.github.com> Date: Thu, 15 Sep 2022 21:59:52 -0700 Subject: [PATCH 14/75] Multilang: add missing Japanese translations (#25803) Add missing Japanese translations --- selfdrive/ui/translations/main_ja.ts | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 3cc914975..b41e1bff7 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -985,42 +985,42 @@ location set Updates are only downloaded while the car is off. - + 車の電源がオフの間のみ、アップデートのダウンロードが行われます。 Current Version - + 現在のバージョン Download - + ダウンロード Install Update - + アップデート INSTALL - + インストール Target Branch - + 対象のブランチ SELECT - + 選択 Select a branch - + ブランチを選択 @@ -1189,12 +1189,12 @@ location set openpilot longitudinal control is not currently available for this car. - + openpilotによるアクセル制御は、この車では現在利用できません。 Enable experimental longitudinal control to enable this. - + ここ機能を使う為には、「実験段階のopenpilotによるアクセル制御」を先に有効化してください。 From 453635394db56098f3473574150147eb977d61f4 Mon Sep 17 00:00:00 2001 From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Date: Fri, 16 Sep 2022 15:43:22 -0300 Subject: [PATCH 15/75] Toyota: add missing Corolla Cross Hybrid engine FW (#25814) * Fingerprint: Add missing toyota corolla cross hybrid FW engine From user lucasolivmed#1416 dongleId: 3eb4c34a2a663c37 * fix typo --- selfdrive/car/toyota/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index b0fb14311..26c61f5b7 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -817,6 +817,7 @@ FW_VERSIONS = { b'\x01896637626000\x00\x00\x00\x00', b'\x01896637648000\x00\x00\x00\x00', b'\x01896637643000\x00\x00\x00\x00', + b'\x02896630A07000\x00\x00\x00\x008966A4703000\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', From d460b2c62b9c652c73a1f4b34a3a83784c5eadb5 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Fri, 16 Sep 2022 16:21:33 -0500 Subject: [PATCH 16/75] VW MQB: Add FW for 2021 Volkswagen Atlas (#25820) --- selfdrive/car/volkswagen/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 4d17b4e3a..bdd1b5089 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -300,6 +300,7 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8703H906026AA\xf1\x899970', b'\xf1\x8703H906026AJ\xf1\x890638', + b'\xf1\x8703H906026AJ\xf1\x891017', b'\xf1\x8703H906026AT\xf1\x891922', b'\xf1\x8703H906026BC\xf1\x892664', b'\xf1\x8703H906026F \xf1\x896696', From e6ff301864b06d0b1dc14e007e1769d53234e38b Mon Sep 17 00:00:00 2001 From: Igor Biletskyy Date: Fri, 16 Sep 2022 14:22:19 -0700 Subject: [PATCH 17/75] RPv2: fix data length check (#25819) fix --- selfdrive/boardd/panda.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index 685dabd87..4d72bc904 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -389,7 +389,8 @@ void Panda::pack_can_buffer(const capnp::List::Reader &can_data } auto can_data = cmsg.getDat(); uint8_t data_len_code = len_to_dlc(can_data.size()); - assert(can_data.size() <= ((hw_type == cereal::PandaState::PandaType::RED_PANDA) ? 64 : 8)); + assert(can_data.size() <= ((hw_type == cereal::PandaState::PandaType::RED_PANDA || + hw_type == cereal::PandaState::PandaType::RED_PANDA_V2) ? 64 : 8)); assert(can_data.size() == dlc_to_len[data_len_code]); can_header header; From ff63f26409256cc728b35098d135d19c7284c6f1 Mon Sep 17 00:00:00 2001 From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Date: Fri, 16 Sep 2022 18:32:38 -0300 Subject: [PATCH 18/75] Multilang: update pt-BR translations (#25812) * update pt-BR translations * fix some cutoff texts --- selfdrive/ui/translations/main_pt-BR.ts | 32 ++++++++++++------------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index fe028e18b..a490b4088 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -888,13 +888,13 @@ trabalho definido OFFLINE - DESCONEC + OFFLINE ONLINE - CONECTADO + ONLINE @@ -989,47 +989,47 @@ trabalho definido Updates are only downloaded while the car is off. - + Atualizações baixadas durante o motor desligado. Current Version - + Versao Atual Download - + Download Install Update - + Instalar Atualização INSTALL - + INSTALAR Target Branch - + Alterar Branch SELECT - + SELECIONE Select a branch - + Selecione uma branch UNINSTALL - DESINSTALAR + DESINSTAL @@ -1178,27 +1178,27 @@ trabalho definido Experimental openpilot longitudinal control - + Controle longitudinal experimental openpilot <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> - + <b>AVISO: o controle longitudinal openpilot é experimental para este carro e irá desabilitar AEB.</b> Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - + Deixe o modelo controlar o acelerador e os freios. openpilot irá conduzir como pensa que um humano faria. Super experimental. openpilot longitudinal control is not currently available for this car. - + controle longitudinal openpilot não está disponível para este carro. Enable experimental longitudinal control to enable this. - + Habilite o controle longitudinal experimental para habilitar isso. From 10f08a94dd1cb4ebc803b208697b4dc70795132a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 16 Sep 2022 15:35:38 -0700 Subject: [PATCH 19/75] sensor test fixups (#25818) * sensor test fixups * fix that * little more * seems reliable now * kill old instances * unused * cleanup Co-authored-by: Bruce Wayne --- selfdrive/sensord/tests/test_sensord.py | 107 +++++++++++------------- 1 file changed, 48 insertions(+), 59 deletions(-) diff --git a/selfdrive/sensord/tests/test_sensord.py b/selfdrive/sensord/tests/test_sensord.py index 837fe8883..0b5f054d2 100755 --- a/selfdrive/sensord/tests/test_sensord.py +++ b/selfdrive/sensord/tests/test_sensord.py @@ -1,15 +1,13 @@ #!/usr/bin/env python3 - +import os import time import unittest import numpy as np from collections import namedtuple -from smbus2 import SMBus import cereal.messaging as messaging from cereal import log from system.hardware import TICI, HARDWARE -from selfdrive.test.helpers import with_processes from selfdrive.manager.process_config import managed_processes SENSOR_CONFIGURATIONS = ( @@ -50,33 +48,33 @@ SENSOR_CONFIGURATIONS = ( ) Sensor = log.SensorEventData.SensorSource -SensorConfig = namedtuple('SensorConfig', ['type', 'min_samples', 'sanity_min', 'sanity_max']) +SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max']) ALL_SENSORS = { Sensor.rpr0521: { - SensorConfig("light", 100, 0, 150), + SensorConfig("light", 0, 150), }, Sensor.lsm6ds3: { - SensorConfig("acceleration", 100, 5, 15), - SensorConfig("gyroUncalibrated", 100, 0, .2), - SensorConfig("temperature", 100, 0, 60), + SensorConfig("acceleration", 5, 15), + SensorConfig("gyroUncalibrated", 0, .2), + SensorConfig("temperature", 0, 60), }, Sensor.lsm6ds3trc: { - SensorConfig("acceleration", 100, 5, 15), - SensorConfig("gyroUncalibrated", 100, 0, .2), - SensorConfig("temperature", 100, 0, 60), + SensorConfig("acceleration", 5, 15), + SensorConfig("gyroUncalibrated", 0, .2), + SensorConfig("temperature", 0, 60), }, Sensor.bmx055: { - SensorConfig("acceleration", 100, 5, 15), - SensorConfig("gyroUncalibrated", 100, 0, .2), - SensorConfig("magneticUncalibrated", 100, 0, 300), - SensorConfig("temperature", 100, 0, 60), + SensorConfig("acceleration", 5, 15), + SensorConfig("gyroUncalibrated", 0, .2), + SensorConfig("magneticUncalibrated", 0, 300), + SensorConfig("temperature", 0, 60), }, Sensor.mmc5603nj: { - SensorConfig("magneticUncalibrated", 100, 0, 300), + SensorConfig("magneticUncalibrated", 0, 300), } } @@ -96,7 +94,6 @@ def read_sensor_events(duration_sec): return events def get_proc_interrupts(int_pin): - with open("/proc/interrupts") as f: lines = f.read().split("\n") @@ -117,12 +114,18 @@ class TestSensord(unittest.TestCase): HARDWARE.initialize_hardware() # read initial sensor values every test case can use + os.system("pkill -f ./_sensord") + cls.sample_secs = 5 managed_processes["sensord"].start() - cls.events = read_sensor_events(5) + time.sleep(2) + cls.events = read_sensor_events(cls.sample_secs) + managed_processes["sensord"].stop() + + @classmethod + def tearDownClass(cls): managed_processes["sensord"].stop() def tearDown(self): - # interrupt check might leave sensord running managed_processes["sensord"].stop() def test_sensors_present(self): @@ -138,34 +141,32 @@ class TestSensord(unittest.TestCase): self.assertIn(seen, SENSOR_CONFIGURATIONS) - def test_lsm6ds3_100Hz(self): - # verify measurements are sampled and published at a 100Hz rate + def test_lsm6ds3_timing(self): + # verify measurements are sampled and published at 104Hz - data_points = set() + sensor_t = { + 1: [], # accel + 5: [], # gyro + } for event in self.events: for measurement in event.sensorEvents: + if str(measurement.source).startswith("lsm6ds3") and measurement.sensor in sensor_t: + sensor_t[measurement.sensor].append(measurement.timestamp) - # skip lsm6ds3 temperature measurements - if measurement.which() == 'temperature': - continue - - if str(measurement.source).startswith("lsm6ds3"): - data_points.add(measurement.timestamp) - - assert len(data_points) != 0, "No lsm6ds3 sensor events" + for s, vals in sensor_t.items(): + with self.subTest(sensor=s): + assert len(vals) > 0 + tdiffs = np.diff(vals) / 1e6 # millis - data_list = list(data_points) - data_list.sort() - tdiffs = np.diff(data_list) + high_delay_diffs = list(filter(lambda d: d >= 20., tdiffs)) + assert len(high_delay_diffs) < 15, f"Too many large diffs: {high_delay_diffs}" - high_delay_diffs = set(filter(lambda d: d >= 10.1*10**6, tdiffs)) - assert len(high_delay_diffs) < 10, f"Too many high delay packages: {high_delay_diffs}" + # 100-108Hz, expected 104Hz + avg_diff = sum(tdiffs)/len(tdiffs) + assert 9.3 < avg_diff < 10., f"avg difference {avg_diff}, below threshold" - avg_diff = sum(tdiffs)/len(tdiffs) - assert avg_diff > 9.6*10**6, f"avg difference {avg_diff}, below threshold" - - stddev = np.std(tdiffs) - assert stddev < 1.5*10**6, f"Standard-dev to big {stddev}" + stddev = np.std(tdiffs) + assert stddev < 2.0, f"Standard-dev to big {stddev}" def test_events_check(self): # verify if all sensors produce events @@ -217,13 +218,9 @@ class TestSensord(unittest.TestCase): stddev = np.std(tdiffs) assert stddev < 2*10**6, f"Timing diffs have to high stddev: {stddev}" - @with_processes(['sensord']) def test_sensor_values_sanity_check(self): - - events = read_sensor_events(2) - sensor_values = dict() - for event in events: + for event in self.events: for m in event.sensorEvents: # filter unset events (bmx magn) @@ -250,8 +247,9 @@ class TestSensord(unittest.TestCase): key = (sensor, s.type) val_cnt = len(sensor_values[key]) - err_msg = f"Sensor {sensor} {s.type} got {val_cnt} measurements, expected {s.min_samples}" - assert val_cnt > s.min_samples, err_msg + min_samples = self.sample_secs * 100 # Hz + err_msg = f"Sensor {sensor} {s.type} got {val_cnt} measurements, expected {min_samples}" + assert min_samples*0.9 < val_cnt < min_samples*1.1, err_msg mean_norm = np.mean(np.linalg.norm(sensor_values[key], axis=1)) err_msg = f"Sensor '{sensor} {s.type}' failed sanity checks {mean_norm} is not between {s.sanity_min} and {s.sanity_max}" @@ -260,26 +258,17 @@ class TestSensord(unittest.TestCase): def test_sensor_verify_no_interrupts_after_stop(self): managed_processes["sensord"].start() - time.sleep(1) - - # check if the interrupts are enableds - with SMBus(SENSOR_BUS, force=True) as bus: - int1_ctrl_reg = bus.read_byte_data(I2C_ADDR_LSM, 0x0D) - assert int1_ctrl_reg == 3, "Interrupts not enabled!" + time.sleep(3) # read /proc/interrupts to verify interrupts are received state_one = get_proc_interrupts(LSM_INT_GPIO) time.sleep(1) state_two = get_proc_interrupts(LSM_INT_GPIO) - assert state_one != state_two, "no Interrupts received after sensord start!" + assert state_one != state_two, f"no interrupts received after sensord start!\n{state_one} {state_two}" managed_processes["sensord"].stop() - - # check if the interrupts got disabled - with SMBus(SENSOR_BUS, force=True) as bus: - int1_ctrl_reg = bus.read_byte_data(I2C_ADDR_LSM, 0x0D) - assert int1_ctrl_reg == 0, "Interrupts not disabled!" + time.sleep(1) # read /proc/interrupts to verify no more interrupts are received state_one = get_proc_interrupts(LSM_INT_GPIO) From f73b041d43a1ece437df38e26b1dd30759a79c9f Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Sat, 17 Sep 2022 02:33:38 +0200 Subject: [PATCH 20/75] Hyundai: match ego speed on dash (#25235) * hyundai: match speed on dash * still needs conversion to m/s * always use CF_Clu_VehicleSpeed2 * clean up, like honda * experiment * to the source * works pretty well on optima (matches exactly on Sonata) * could be 0.5 * clean up test * revert test_moedls revert test_moedls * woops * woops. * . * fix hyst * only CF_Clu_VehicleSpeed * omgomgomg * add all this mess because it always takes a while * set vEgoCluster * fix all rounding errors * stash * clean up * clean up * fix metric conversion * only calculate when updated * try to filter (didn't look great from plots) * Revert "try to filter (didn't look great from plots)" This reverts commit 7e9876c237341d07163985b0718fd9c553372e72. * clean up * update refs Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/carstate.py | 26 ++++++++++++++++++++---- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 23 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index eab6e73f1..61da04d04 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -1,5 +1,6 @@ from collections import deque import copy +import math from cereal import car from common.conversions import Conversions as CV @@ -9,6 +10,7 @@ from selfdrive.car.hyundai.values import HyundaiFlags, DBC, FEATURES, CAMERA_SCC from selfdrive.car.interfaces import CarStateBase PREV_BUTTON_SAMPLES = 8 +CLUSTER_SAMPLE_RATE = 20 # frames class CarState(CarStateBase): @@ -32,6 +34,10 @@ class CarState(CarStateBase): self.park_brake = False self.buttons_counter = 0 + # On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz + self.cluster_speed = 0 + self.cluster_speed_counter = CLUSTER_SAMPLE_RATE + self.params = CarControllerParams(CP) def update(self, cp, cp_cam): @@ -39,8 +45,9 @@ class CarState(CarStateBase): return self.update_canfd(cp, cp_cam) ret = car.CarState.new_message() - cp_cruise = cp_cam if self.CP.carFingerprint in CAMERA_SCC_CAR else cp + is_metric = cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 0 + speed_conv = CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"], cp.vl["CGW2"]["CF_Gway_RLDrSw"], cp.vl["CGW2"]["CF_Gway_RRDrSw"]]) @@ -55,9 +62,19 @@ class CarState(CarStateBase): ) ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) - ret.standstill = ret.vEgoRaw < 0.1 + self.cluster_speed_counter += 1 + if self.cluster_speed_counter > CLUSTER_SAMPLE_RATE: + self.cluster_speed = cp.vl["CLU15"]["CF_Clu_VehicleSpeed"] + self.cluster_speed_counter = 0 + + # mimic how dash converts to imperial + if not is_metric: + self.cluster_speed = math.floor(self.cluster_speed * CV.KPH_TO_MPH + CV.KPH_TO_MPH) + + ret.vEgoCluster = self.cluster_speed * speed_conv + ret.steeringAngleDeg = cp.vl["SAS11"]["SAS_Angle"] ret.steeringRateDeg = cp.vl["SAS11"]["SAS_Speed"] ret.yawRate = cp.vl["ESP12"]["YAW_RATE"] @@ -78,7 +95,6 @@ class CarState(CarStateBase): ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1 ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0 ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4. - speed_conv = CV.MPH_TO_MS if cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] else CV.KPH_TO_MS ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv # TODO: Find brake pressure @@ -227,6 +243,8 @@ class CarState(CarStateBase): ("CF_Clu_AmpInfo", "CLU11"), ("CF_Clu_AliveCnt1", "CLU11"), + ("CF_Clu_VehicleSpeed", "CLU15"), + ("ACCEnable", "TCS13"), ("ACC_REQ", "TCS13"), ("DriverBraking", "TCS13"), @@ -251,6 +269,7 @@ class CarState(CarStateBase): ("TCS13", 50), ("TCS15", 10), ("CLU11", 50), + ("CLU15", 5), ("ESP12", 100), ("CGW1", 10), ("CGW2", 5), @@ -309,7 +328,6 @@ class CarState(CarStateBase): if CP.carFingerprint in FEATURES["use_cluster_gears"]: signals.append(("CF_Clu_Gear", "CLU15")) - checks.append(("CLU15", 5)) elif CP.carFingerprint in FEATURES["use_tcu_gears"]: signals.append(("CUR_GR", "TCU12")) checks.append(("TCU12", 100)) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index b1a2785ba..bca5d0c3e 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a4aa1f37c6d966151d3b43a0b51fffbcfa0187b1 \ No newline at end of file +a9a25795f5d8202f7f4c137f80ae030e790ff974 \ No newline at end of file From 1a7d6665deafc1e35e5f8d56106a81a4686a6e44 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 17 Sep 2022 10:45:51 +0800 Subject: [PATCH 21/75] sensord: remove unnecessary brace pair (#25816) Remove unnecessary brace pair --- selfdrive/sensord/sensors_qcom2.cc | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/selfdrive/sensord/sensors_qcom2.cc b/selfdrive/sensord/sensors_qcom2.cc index a9d6e31d3..aaf79592c 100644 --- a/selfdrive/sensord/sensors_qcom2.cc +++ b/selfdrive/sensord/sensors_qcom2.cc @@ -88,10 +88,8 @@ void interrupt_loop(int fd, std::vector& sensors, PubMaster& pm) { events.adoptWithCaveats(i, kj::mv(collected_events[i])); } - { - std::lock_guard lock(pm_mutex); - pm.send("sensorEvents", msg); - } + std::lock_guard lock(pm_mutex); + pm.send("sensorEvents", msg); } // poweroff sensors, disable interrupts From 467c4f7fb3bd954d7e0d9120ccd1c687532e6cdc Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 17 Sep 2022 11:10:08 +0800 Subject: [PATCH 22/75] camera_qcom2: remove unneeded static keywords (#25780) --- system/camerad/cameras/camera_qcom2.cc | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 544d65367..532b25d6d 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -821,8 +821,8 @@ void cameras_open(MultiCameraState *s) { // query icp for MMU handles LOG("-- Query ICP for MMU handles"); - static struct cam_isp_query_cap_cmd isp_query_cap_cmd = {0}; - static struct cam_query_cap_cmd query_cap_cmd = {0}; + struct cam_isp_query_cap_cmd isp_query_cap_cmd = {0}; + struct cam_query_cap_cmd query_cap_cmd = {0}; query_cap_cmd.handle_type = 1; query_cap_cmd.caps_handle = (uint64_t)&isp_query_cap_cmd; query_cap_cmd.size = sizeof(isp_query_cap_cmd); @@ -835,7 +835,7 @@ void cameras_open(MultiCameraState *s) { // subscribe LOG("-- Subscribing"); - static struct v4l2_event_subscription sub = {0}; + struct v4l2_event_subscription sub = {0}; sub.type = V4L_EVENT_CAM_REQ_MGR_EVENT; sub.id = V4L_EVENT_CAM_REQ_MGR_SOF_BOOT_TS; ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub)); @@ -864,7 +864,7 @@ void CameraState::camera_close() { LOGD("stop csiphy: %d", ret); // link control stop LOG("-- Stop link control"); - static struct cam_req_mgr_link_control req_mgr_link_control = {0}; + struct cam_req_mgr_link_control req_mgr_link_control = {0}; req_mgr_link_control.ops = CAM_REQ_MGR_LINK_DEACTIVATE; req_mgr_link_control.session_hdl = session_handle; req_mgr_link_control.num_links = 1; @@ -874,7 +874,7 @@ void CameraState::camera_close() { // unlink LOG("-- Unlink"); - static struct cam_req_mgr_unlink_info req_mgr_unlink_info = {0}; + struct cam_req_mgr_unlink_info req_mgr_unlink_info = {0}; req_mgr_unlink_info.session_hdl = session_handle; req_mgr_unlink_info.link_hdl = link_handle; ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_UNLINK, &req_mgr_unlink_info, sizeof(req_mgr_unlink_info)); From 25ce997f3768913915e83b72f4b3c2649a83d720 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 17 Sep 2022 11:11:46 +0800 Subject: [PATCH 23/75] CameraBuf: remove unused member 'camera_state' (#25736) --- system/camerad/cameras/camera_common.cc | 4 +--- system/camerad/cameras/camera_common.h | 5 ----- 2 files changed, 1 insertion(+), 8 deletions(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 3dbe97596..b1b4dc7b4 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -65,11 +65,9 @@ private: void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_yuv_type) { vipc_server = v; this->yuv_type = init_yuv_type; - - const CameraInfo *ci = &s->ci; - camera_state = s; frame_buf_count = frame_cnt; + const CameraInfo *ci = &s->ci; // RAW frame const int frame_size = (ci->frame_height + ci->extra_height) * ci->frame_stride; camera_bufs = std::make_unique(frame_buf_count); diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index bb6de9c8f..8b4f5a933 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -81,15 +81,10 @@ class Debayer; class CameraBuf { private: VisionIpcServer *vipc_server; - CameraState *camera_state; Debayer *debayer = nullptr; - VisionStreamType yuv_type; - int cur_buf_idx; - SafeQueue safe_queue; - int frame_buf_count; public: From 5bb230cde4dd61ff7b180a29a0951a44068161c1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 17 Sep 2022 11:18:54 +0800 Subject: [PATCH 24/75] camerad: remove function camera_autoexposure (#25733) --- system/camerad/cameras/camera_common.h | 1 - system/camerad/cameras/camera_qcom2.cc | 15 ++------------- 2 files changed, 2 insertions(+), 14 deletions(-) diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 8b4f5a933..eaefd3c90 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -117,7 +117,6 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i void cameras_open(MultiCameraState *s); void cameras_run(MultiCameraState *s); void cameras_close(MultiCameraState *s); -void camera_autoexposure(CameraState *s, float grey_frac); void camerad_thread(); int open_v4l_by_name_and_index(const char name[], int index = 0, int flags = O_RDWR | O_NONBLOCK); diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 532b25d6d..ce1d0d6f2 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -1180,10 +1180,6 @@ void CameraState::set_camera_exposure(float grey_frac) { } } -void camera_autoexposure(CameraState *s, float grey_frac) { - s->set_camera_exposure(grey_frac); -} - static float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_reg) { // See AR0231 Developer Guide - page 36 float slope = (125.0 - 55.0) / ((float)calib1 - (float)calib2); @@ -1210,15 +1206,8 @@ static void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal framed.setTemperaturesC({temp_0, temp_1}); } -static void driver_cam_auto_exposure(CameraState *c) { - struct ExpRect {int x1, x2, x_skip, y1, y2, y_skip;}; - const CameraBuf *b = &c->buf; - static ExpRect rect = {96, 1832, 2, 242, 1148, 4}; - camera_autoexposure(c, set_exposure_target(b, rect.x1, rect.x2, rect.x_skip, rect.y1, rect.y2, rect.y_skip)); -} - static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) { - driver_cam_auto_exposure(c); + c->set_camera_exposure(set_exposure_target(&c->buf, 96, 1832, 2, 242, 1148, 4)); MessageBuilder msg; auto framed = msg.initEvent().initDriverCameraState(); @@ -1254,7 +1243,7 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) { const auto [x, y, w, h] = (c == &s->wide_road_cam) ? std::tuple(96, 250, 1734, 524) : std::tuple(96, 160, 1734, 986); const int skip = 2; - camera_autoexposure(c, set_exposure_target(b, x, x + w, skip, y, y + h, skip)); + c->set_camera_exposure(set_exposure_target(b, x, x + w, skip, y, y + h, skip)); } void cameras_run(MultiCameraState *s) { From 78fd303d50b78dbb99992bb3ee4938eec8913575 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 17 Sep 2022 11:50:10 +0800 Subject: [PATCH 25/75] camerad: cleanup CameraBuf::acquire (#25737) * cleanup * add that back * less indent Co-authored-by: Comma Device --- system/camerad/cameras/camera_common.cc | 23 ++++++----------------- system/camerad/cameras/camera_common.h | 1 - 2 files changed, 6 insertions(+), 18 deletions(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index b1b4dc7b4..787fd9930 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -116,30 +116,24 @@ bool CameraBuf::acquire() { if (camera_bufs_metadata[cur_buf_idx].frame_id == -1) { LOGE("no frame data? wtf"); - release(); return false; } cur_frame_data = camera_bufs_metadata[cur_buf_idx]; cur_yuv_buf = vipc_server->get_buffer(yuv_type); - cl_mem camrabuf_cl = camera_bufs[cur_buf_idx].buf_cl; - cl_event event; - - double start_time = millis_since_boot(); - cur_camera_buf = &camera_bufs[cur_buf_idx]; - debayer->queue(q, camrabuf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, &event); - + double start_time = millis_since_boot(); + cl_event event; + debayer->queue(q, camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, &event); clWaitForEvents(1, &event); CL_CHECK(clReleaseEvent(event)); - cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0; VisionIpcBufExtra extra = { - cur_frame_data.frame_id, - cur_frame_data.timestamp_sof, - cur_frame_data.timestamp_eof, + cur_frame_data.frame_id, + cur_frame_data.timestamp_sof, + cur_frame_data.timestamp_eof, }; cur_yuv_buf->set_frame_id(cur_frame_data.frame_id); vipc_server->send(cur_yuv_buf, &extra); @@ -147,10 +141,6 @@ bool CameraBuf::acquire() { return true; } -void CameraBuf::release() { - // Empty -} - void CameraBuf::queue(size_t buf_idx) { safe_queue.push(buf_idx); } @@ -328,7 +318,6 @@ void *processing_thread(MultiCameraState *cameras, CameraState *cs, process_thre // this takes 10ms??? publish_thumbnail(cameras->pm, &(cs->buf)); } - cs->buf.release(); ++cnt; } return NULL; diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index eaefd3c90..e5580a7a9 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -102,7 +102,6 @@ public: ~CameraBuf(); void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType yuv_type); bool acquire(); - void release(); void queue(size_t buf_idx); }; From 8ae3199578b3f771396cd35315ce51b7cce27e49 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 17 Sep 2022 12:10:26 +0800 Subject: [PATCH 26/75] camerad: make sure cl_context is valid for lifetime of camerad (#25735) --- system/camerad/cameras/camera_common.cc | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 787fd9930..580c4bc5e 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -336,15 +336,17 @@ void camerad_thread() { cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); #endif - MultiCameraState cameras = {}; - VisionIpcServer vipc_server("camerad", device_id, context); + { + MultiCameraState cameras = {}; + VisionIpcServer vipc_server("camerad", device_id, context); - cameras_open(&cameras); - cameras_init(&vipc_server, &cameras, device_id, context); + cameras_open(&cameras); + cameras_init(&vipc_server, &cameras, device_id, context); - vipc_server.start_listener(); + vipc_server.start_listener(); - cameras_run(&cameras); + cameras_run(&cameras); + } CL_CHECK(clReleaseContext(context)); } From aa0d12842202ddf63d9a5998ccd04f865b6e9d6a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 17 Sep 2022 13:17:30 +0800 Subject: [PATCH 27/75] ui: always show SetupWidget (#25742) * always show SetupWidget update translations * delete hide --- selfdrive/ui/qt/widgets/prime.cc | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc index 1d765d094..04684fc76 100644 --- a/selfdrive/ui/qt/widgets/prime.cc +++ b/selfdrive/ui/qt/widgets/prime.cc @@ -277,7 +277,7 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) { primeUser = new PrimeUserWidget; mainLayout->addWidget(primeUser); - mainLayout->setCurrentWidget(primeAd); + mainLayout->setCurrentWidget(uiState()->prime_type ? (QWidget*)primeUser : (QWidget*)primeAd); setFixedWidth(750); setStyleSheet(R"( @@ -299,11 +299,9 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) { QObject::connect(repeater, &RequestRepeater::requestDone, this, &SetupWidget::replyFinished); } - hide(); // Only show when first request comes back } void SetupWidget::replyFinished(const QString &response, bool success) { - show(); if (!success) return; QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8()); From 407448bbfb79ad9d9d235bc3d098887ea0d045fb Mon Sep 17 00:00:00 2001 From: cydia2020 <12470297+cydia2020@users.noreply.github.com> Date: Sat, 17 Sep 2022 16:28:05 +1000 Subject: [PATCH 28/75] Toyota: go into standstill if interceptor detected (#25024) * Toyota: go into standstill if interceptor detected * or --- selfdrive/car/toyota/carcontroller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index b34a31a01..faea08ed3 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -81,7 +81,7 @@ class CarController: pcm_cancel_cmd = 1 # on entering standstill, send standstill request - if CS.out.standstill and not self.last_standstill and self.CP.carFingerprint not in NO_STOP_TIMER_CAR: + if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor): self.standstill_req = True if CS.pcm_acc_status != 8: # pcm entered standstill or it's disabled From 85ed5c4cb5d9b0132ab0e3eb5bcb096026f70b22 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Sat, 17 Sep 2022 00:07:54 -0700 Subject: [PATCH 29/75] Torque Refactor (#25822) * add torque gains refactor * update refs * avoid dict, use cereal struct * bugfix * no as_builder * address final comments --- selfdrive/car/interfaces.py | 30 ++++++++++++++---- selfdrive/controls/lib/latcontrol_torque.py | 35 ++++++++++----------- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 41 insertions(+), 26 deletions(-) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index bc6c31e12..87720f875 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -2,24 +2,27 @@ import yaml import os import time from abc import abstractmethod, ABC -from typing import Any, Dict, Optional, Tuple, List +from typing import Any, Dict, Optional, Tuple, List, Callable from cereal import car from common.basedir import BASEDIR from common.conversions import Conversions as CV from common.kalman.simple_kalman import KF1D +from common.numpy_fast import interp from common.realtime import DT_CTRL from selfdrive.car import apply_hysteresis, create_button_enable_events, gen_empty_fingerprint -from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX +from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_deadzone from selfdrive.controls.lib.events import Events from selfdrive.controls.lib.vehicle_model import VehicleModel GearShifter = car.CarState.GearShifter EventName = car.CarEvent.EventName +TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, bool], float] MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS ACCEL_MAX = 2.0 ACCEL_MIN = -3.5 +FRICTION_THRESHOLD = 0.2 TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml') TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml') @@ -101,6 +104,20 @@ class CarInterfaceBase(ABC): def get_steer_feedforward_function(self): return self.get_steer_feedforward_default + @staticmethod + def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, friction_compensation): + # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction) + friction_interp = interp( + apply_deadzone(lateral_accel_error, lateral_accel_deadzone), + [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], + [-torque_params.friction, torque_params.friction] + ) + friction = friction_interp if friction_compensation else 0.0 + return (lateral_accel_value / torque_params.latAccelFactor) + friction + + def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType: + return self.torque_from_lateral_accel_linear + # returns a set of default params to avoid repetition in car specific params @staticmethod def get_std_params(candidate, fingerprint): @@ -144,11 +161,12 @@ class CarInterfaceBase(ABC): tune.init('torque') tune.torque.useSteeringAngle = use_steering_angle - tune.torque.kp = 1.0 / params['LAT_ACCEL_FACTOR'] - tune.torque.kf = 1.0 / params['LAT_ACCEL_FACTOR'] - tune.torque.ki = 0.1 / params['LAT_ACCEL_FACTOR'] + tune.torque.kp = 1.0 + tune.torque.kf = 1.0 + tune.torque.ki = 0.1 tune.torque.friction = params['FRICTION'] - tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg + tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR'] + tune.torque.latAccelOffset = 0.0 @abstractmethod def _update(self, c: car.CarControl) -> car.CarState: diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index c4604d90e..f65a58275 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -4,7 +4,6 @@ from cereal import log from common.numpy_fast import interp from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED from selfdrive.controls.lib.pid import PIDController -from selfdrive.controls.lib.drive_helpers import apply_deadzone from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY # At higher speeds (25+mph) we can assume: @@ -19,19 +18,20 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY # move it at all, this is compensated for too. -FRICTION_THRESHOLD = 0.2 - - class LatControlTorque(LatControl): def __init__(self, CP, CI): super().__init__(CP, CI) - self.pid = PIDController(CP.lateralTuning.torque.kp, CP.lateralTuning.torque.ki, - k_f=CP.lateralTuning.torque.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max) - self.get_steer_feedforward = CI.get_steer_feedforward_function() - self.use_steering_angle = CP.lateralTuning.torque.useSteeringAngle - self.friction = CP.lateralTuning.torque.friction - self.kf = CP.lateralTuning.torque.kf - self.steering_angle_deadzone_deg = CP.lateralTuning.torque.steeringAngleDeadzoneDeg + self.torque_params = CP.lateralTuning.torque + self.pid = PIDController(self.torque_params.kp, self.torque_params.ki, + k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max) + self.torque_from_lateral_accel = CI.torque_from_lateral_accel() + self.use_steering_angle = self.torque_params.useSteeringAngle + self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg + + def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction): + self.torque_params.latAccelFactor = latAccelFactor + self.torque_params.latAccelOffset = latAccelOffset + self.torque_params.friction = friction def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): pid_log = log.ControlsState.LateralTorqueState.new_message() @@ -55,19 +55,16 @@ class LatControlTorque(LatControl): actual_lateral_accel = actual_curvature * CS.vEgo ** 2 lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 - low_speed_factor = interp(CS.vEgo, [0, 10, 20], [500, 500, 200]) setpoint = desired_lateral_accel + low_speed_factor * desired_curvature measurement = actual_lateral_accel + low_speed_factor * actual_curvature error = setpoint - measurement - pid_log.error = error + gravity_adjusted_lateral_accel = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY + pid_log.error = self.torque_from_lateral_accel(error, self.torque_params, error, lateral_accel_deadzone, friction_compensation=False) + ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params, error, lateral_accel_deadzone, friction_compensation=True) - ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY - # convert friction into lateral accel units for feedforward - friction_compensation = interp(apply_deadzone(error, lateral_accel_deadzone), [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction]) - ff += friction_compensation / self.kf freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5 - output_torque = self.pid.update(error, + output_torque = self.pid.update(pid_log.error, feedforward=ff, speed=CS.vEgo, freeze_integrator=freeze_integrator) @@ -78,9 +75,9 @@ class LatControlTorque(LatControl): pid_log.d = self.pid.d pid_log.f = self.pid.f pid_log.output = -output_torque - pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited) pid_log.actualLateralAccel = actual_lateral_accel pid_log.desiredLateralAccel = desired_lateral_accel + pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited) # TODO left is positive in this convention return -output_torque, 0.0, pid_log diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index bca5d0c3e..afde6ec42 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a9a25795f5d8202f7f4c137f80ae030e790ff974 \ No newline at end of file +d14f1a61a4bfde810128a6bb703aa543268fa4a9 \ No newline at end of file From 06fb52c146aa9e00126127ac28fbbd22e9914e6f Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 17 Sep 2022 00:24:57 -0700 Subject: [PATCH 30/75] Kia: update required packages (#25824) * Kia: LKAS is standard on Ceed 2019 https://www.downeys.co.uk/newmodels/Ceed_V3_24_09_2019.pdf * Kia: delete Forte 2018 It doesn't appear that this vehicle has Adaptive/Smart Cruise Control in any form, which was later added in 2019. https://cdn.dealereprocess.org/cdn/brochures/kia/2018-forte.pdf https://cdn.dealereprocess.org/cdn/brochures/kia/2019-forte.pdf * Kia: LKAS is standard on Forte 2019+ https://cdn.dealereprocess.org/cdn/brochures/kia/2019-forte.pdf https://cdn.dealereprocess.org/cdn/brochures/kia/2020-forte.pdf * Kia: rename Niro Electric to EV https://www.kia.com/us/en/niro Co-authored-by: Shane Smiskol * Kia: LKAS is standard on Niro PHEV 2018+ https://cdn.dealereprocess.org/cdn/brochures/kia/2018-niro.pdf https://cdn.dealereprocess.org/cdn/brochures/kia/2019-niro.pdf * Kia: update required package on Optima 2017 The ACC package on the Optima 2017 is named "Advanced Smart Cruise Control". It also doesn't have an LKAS package, only LDWS is available. https://cdn.dealereprocess.org/cdn/brochures/kia/2017-optima.pdf Co-authored-by: Shane Smiskol * Kia: LKAS is standard on Optima 2019 https://cdn.dealereprocess.org/cdn/brochures/kia/2019-optima.pdf * Kia: revert package change to Seltos 2021 LKAS is NOT a standard package on the Seltos 2021 https://cdn.dealereprocess.org/cdn/brochures/kia/2021-seltos.pdf * Kia: update required package on Sorento 2018 Similar to the Optima 2017, the ACC package on the Sorento 2018 is named "Advanced Smart Cruise Control". It also doesn't have an LKAS package, only LDWS. SCC and LKAS were introduced in MY2019. https://cdn.dealereprocess.org/cdn/brochures/kia/2018-sorento.pdf Co-authored-by: Shane Smiskol * Kia: SCC is standard on Kia Niro PHEV 2018-19 https://cdn.dealereprocess.org/cdn/brochures/kia/2018-niro.pdf Co-authored-by: Shane Smiskol * Kia: update required package on Optima Hybrid 2017 Similar to the Optima 2017, the ACC package on he Optima Hybrid 2017 is named "Advanced Smart Cruise Control". It also doesn't have an LKAS pacakge, only LDWS. https://cdn.dealereprocess.org/cdn/brochures/kia/2017-optimahybrid.pdf * update docs Co-authored-by: Shane Smiskol --- docs/CARS.md | 25 ++++++++++++------------- selfdrive/car/hyundai/values.py | 30 +++++++++++++++--------------- selfdrive/car/tests/test_docs.py | 3 ++- 3 files changed, 29 insertions(+), 29 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 510500dab..9df3b803d 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. -# 205 Supported Cars +# 204 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:| @@ -82,22 +82,21 @@ A supported vehicle is one that just works when you install a comma three. All s |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 (ACC)|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 (ACC)|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|Ceed 2019|Smart Cruise Control (SCC)|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|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| -|Kia|Forte 2019-21|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| +|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| |Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| -|Kia|Niro Electric 2019|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Kia|Niro Electric 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| -|Kia|Niro Electric 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|Kia|Niro Electric 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| +|Kia|Niro EV 2019|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| +|Kia|Niro EV 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| +|Kia|Niro EV 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| +|Kia|Niro EV 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|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Kia|Niro Plug-in Hybrid 2018-19|Smart Cruise Control (SCC) & LKAS|openpilot|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|Kia|Optima 2017|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| -|Kia|Optima 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| -|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| -|Kia|Sorento 2018|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| +|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| +|Kia|Optima 2017|Advanced Smart Cruise Control & LDWS|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)|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) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| +|Kia|Sorento 2018|Advanced Smart Cruise Control & LDWS|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| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index b81661487..3bc206297 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -143,34 +143,34 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { 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", harness=Harness.hyundai_g), - ], + CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", "Smart Cruise Control (SCC)", 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: [ - HyundaiCarInfo("Kia Niro Electric 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), - HyundaiCarInfo("Kia Niro Electric 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f), - 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), + HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), + HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f), + HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c), + HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), ], - 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_PHEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", 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), ], CAR.KIA_OPTIMA: [ - HyundaiCarInfo("Kia Optima 2017", min_steer_speed=32. * CV.MPH_TO_MS, harness=Harness.hyundai_b), - HyundaiCarInfo("Kia Optima 2019", harness=Harness.hyundai_g), + HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control & LDWS", min_steer_speed=32. * CV.MPH_TO_MS, harness=Harness.hyundai_b), + HyundaiCarInfo("Kia Optima 2019", "Smart Cruise Control (SCC)", harness=Harness.hyundai_g), + ], + CAR.KIA_OPTIMA_H: [ + HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control & LDWS"), # TODO: info may be incorrect + HyundaiCarInfo("Kia Optima Hybrid 2019"), ], - CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima Hybrid 2017, 2019"), # TODO: info may be incorrect - CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a), + CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a), CAR.KIA_SORENTO: [ - HyundaiCarInfo("Kia Sorento 2018", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c), + HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LDWS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c), HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e), ], CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c), - CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e), + CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", "Smart Cruise Control (SCC)", harness=Harness.hyundai_e), CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "Highway Driving Assist II", harness=Harness.hyundai_p), # Genesis diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py index af58bb5e5..191b36b8f 100755 --- a/selfdrive/car/tests/test_docs.py +++ b/selfdrive/car/tests/test_docs.py @@ -34,9 +34,10 @@ class TestCarDocs(unittest.TestCase): if car.car_name == "hyundai": self.assertNotIn("phev", tokens, "Use `Plug-in Hybrid`") self.assertNotIn("hev", tokens, "Use `Hybrid`") - self.assertNotIn("ev", tokens, "Use `Electric`") if "plug-in hybrid" in car.model.lower(): self.assertIn("Plug-in Hybrid", car.model, "Use correct capitalization") + if car.make != "Kia": + self.assertNotIn("ev", tokens, "Use `Electric`") elif car.car_name == "toyota": if "rav4" in tokens: self.assertIn("RAV4", car.model, "Use correct capitalization") From 35f624c628c0e8f2e936ba945bdc516a8d17517e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 17 Sep 2022 15:51:49 -0700 Subject: [PATCH 31/75] translations: remove locations (#25826) * Remove locations * no line nos --- selfdrive/ui/tests/test_translations.py | 12 +- selfdrive/ui/translations/main_en.ts | 4 - selfdrive/ui/translations/main_ja.ts | 248 ----------------------- selfdrive/ui/translations/main_ko.ts | 248 ----------------------- selfdrive/ui/translations/main_pt-BR.ts | 248 ----------------------- selfdrive/ui/translations/main_zh-CHS.ts | 248 ----------------------- selfdrive/ui/translations/main_zh-CHT.ts | 248 ----------------------- selfdrive/ui/update_translations.py | 2 +- 8 files changed, 9 insertions(+), 1249 deletions(-) diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index d8609f110..11ecd30ae 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -29,10 +29,7 @@ class TestTranslations(unittest.TestCase): def _read_translation_file(path, file): tr_file = os.path.join(path, f"{file}.ts") with open(tr_file, "r") as f: - # ignore locations when checking if translations are updated - lines = [line for line in f.read().splitlines() if - not line.strip().startswith(LOCATION_TAG)] - return "\n".join(lines) + return f.read() def test_missing_translation_files(self): for name, file in self.translation_files.items(): @@ -93,6 +90,13 @@ class TestTranslations(unittest.TestCase): 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)) + def test_no_locations(self): + for name, file in self.translation_files.items(): + with self.subTest(name=name, file=file): + for line in self._read_translation_file(TRANSLATIONS_DIR, file).splitlines(): + self.assertFalse(line.strip().startswith(LOCATION_TAG), + f"Line contains location tag: {line.strip()}, remove all line numbers.") + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/ui/translations/main_en.ts b/selfdrive/ui/translations/main_en.ts index 42e30a59a..3f9692e5f 100644 --- a/selfdrive/ui/translations/main_en.ts +++ b/selfdrive/ui/translations/main_en.ts @@ -4,7 +4,6 @@ InputDialog - Need at least %n character(s)! Need at least %n character! @@ -15,7 +14,6 @@ QObject - %n minute(s) ago %n minute ago @@ -23,7 +21,6 @@ - %n hour(s) ago %n hour ago @@ -31,7 +28,6 @@ - %n day(s) ago %n day ago diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index b41e1bff7..543893d44 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -4,17 +4,14 @@ 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 +19,42 @@ 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 +62,10 @@ ConfirmationDialog - - Ok OK - Cancel キャンセル @@ -90,17 +73,14 @@ 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 +88,122 @@ 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 +211,26 @@ 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 +238,6 @@ DriverViewScene - camera starting ｶﾒﾗを起動しています @@ -302,12 +245,10 @@ 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 +258,18 @@ 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 +277,22 @@ 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 +300,18 @@ MapInstructions - km ｷﾛﾒｰﾄﾙ - m ﾒｰﾄﾙ - mi ﾏｲﾙ - ft ﾌｨｰﾄ @@ -391,48 +319,40 @@ 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 +360,10 @@ 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 +371,10 @@ location set MultiOptionDialog - Select 選択 - Cancel キャンセル @@ -466,23 +382,18 @@ 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 +401,22 @@ location set NvgWindow - km/h km/h - mph mph - - MAX 最高速度 - - SPEED 速度 - - LIMIT 制限速度 @@ -521,17 +424,14 @@ location set OffroadHome - UPDATE 更新 - ALERTS 警告 - ALERT 警告 @@ -539,22 +439,18 @@ 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 +458,26 @@ 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 +485,18 @@ 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 +504,34 @@ 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 +541,38 @@ 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 +580,6 @@ location set RichTextDialog - Ok OK @@ -718,33 +587,26 @@ 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 +614,82 @@ 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 +697,14 @@ 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 +712,82 @@ 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 @@ -983,63 +795,50 @@ location set SoftwarePanel - Updates are only downloaded while the car is off. 車の電源がオフの間のみ、アップデートのダウンロードが行われます。 - Current Version 現在のバージョン - Download ダウンロード - Install Update アップデート - INSTALL インストール - Target Branch 対象のブランチ - SELECT 選択 - Select a branch ブランチを選択 - 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？ - - CHECK 確認 @@ -1047,48 +846,38 @@ 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 @@ -1096,7 +885,6 @@ location set SshToggle - Enable SSH SSH を有効化 @@ -1104,22 +892,18 @@ 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 @@ -1127,102 +911,82 @@ 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、ウインカー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) 🌮 🌮 エンドツーエンドのアクセル制御 (超アルファ版) 🌮 - Experimental openpilot longitudinal control 実験段階のopenpilotによるアクセル制御 - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> <b>警告: openpilotによるアクセル制御は実験段階であり、AEBを無効化します。</b> - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. アクセルとブレーキの制御をopenpilotに任せます。openpilotが人間と同じように運転します。最初期の実験段階です。 - openpilot longitudinal control is not currently available for this car. openpilotによるアクセル制御は、この車では現在利用できません。 - Enable experimental longitudinal control to enable this. ここ機能を使う為には、「実験段階のopenpilotによるアクセル制御」を先に有効化してください。 - 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。 @@ -1230,42 +994,34 @@ 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 @@ -1273,22 +1029,18 @@ 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 17914f21d..2a806aaed 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -4,17 +4,14 @@ AbstractAlert - Close 닫기 - Snooze Update 업데이트 일시중지 - Reboot and Update 업데이트 및 재부팅 @@ -22,53 +19,42 @@ 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 자동설정하려면 공백으로 두세요 @@ -76,13 +62,10 @@ ConfirmationDialog - - Ok 확인 - Cancel 취소 @@ -90,17 +73,14 @@ DeclinePage - You must accept the Terms and Conditions in order to use openpilot. openpilot을 사용하려면 이용약관에 동의해야 합니다. - Back 뒤로 - Decline, uninstall %1 거절, %1 제거 @@ -108,152 +88,122 @@ 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 - RESET 재설정 - Are you sure you want to reset calibration? 캘리브레이션을 재설정하시겠습니까? - Review Training Guide 트레이닝 가이드 - 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 좌우측은 4° 이내, 위쪽은 5° 아래쪽은 8° 이내로 장치를 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋은 거의 필요하지 않습니다. - Your device is pointed %1° %2 and %3° %4. 사용자의 장치가 %1° %2 및 %3° %4 위치에 설치되어있습니다. - 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 +211,26 @@ DriveStats - Drives 주행 - Hours 시간 - ALL TIME 전체 - PAST WEEK 지난주 - KM Km - Miles Miles @@ -294,7 +238,6 @@ DriverViewScene - camera starting 카메라 시작중 @@ -302,12 +245,10 @@ InputDialog - Cancel 취소 - Need at least %n character(s)! 최소 %n 자가 필요합니다! @@ -317,22 +258,18 @@ Installer - Installing... 설치중... - Receiving objects: 수신중： - Resolving deltas: 델타병합： - Updating files: 파일갱신： @@ -340,27 +277,22 @@ MapETA - eta 도착 - min 분 - hr 시간 - km km - mi mi @@ -368,22 +300,18 @@ MapInstructions - km km - m m - mi mi - ft ft @@ -391,48 +319,40 @@ 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 +360,10 @@ location set MapWindow - Map Loading 지도 로딩 - Waiting for GPS GPS를 기다리는 중 @@ -453,12 +371,10 @@ location set MultiOptionDialog - Select 선택 - Cancel 취소 @@ -466,23 +382,18 @@ location set Networking - Advanced 고급 설정 - Enter password 비밀번호를 입력하세요 - - for "%1" "%1"에 접속하려면 인증이 필요합니다 - Wrong password 비밀번호가 틀렸습니다 @@ -490,30 +401,22 @@ location set NvgWindow - km/h km/h - mph mph - - MAX MAX - - SPEED SPEED - - LIMIT LIMIT @@ -521,17 +424,14 @@ location set OffroadHome - UPDATE 업데이트 - ALERTS 알림 - ALERT 알림 @@ -539,22 +439,18 @@ 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 +458,26 @@ 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 +485,18 @@ location set PrimeUserWidget - ✓ SUBSCRIBED ✓ 구독함 - comma prime comma prime - CONNECT.COMMA.AI CONNECT.COMMA.AI - COMMA POINTS COMMA POINTS @@ -618,41 +504,34 @@ 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 +541,38 @@ 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. 부팅을 재개하려면 취소를 누르세요. - 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 +580,6 @@ location set RichTextDialog - Ok 확인 @@ -718,33 +587,26 @@ location set SettingsWindow - × × - Device 장치 - - Network 네트워크 - Toggles 토글 - Software 소프트웨어 - Navigation 네비게이션 @@ -752,105 +614,82 @@ 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 연결없이 계속하기 - 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 네트워크 연결이 잘 되어 있는지 확인하세요. - Reboot device 재부팅 - Start over 다시 시작 @@ -858,17 +697,14 @@ 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 +712,82 @@ 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 @@ -983,63 +795,50 @@ location set SoftwarePanel - Updates are only downloaded while the car is off. 업데이트는 차량 연결이 해제되어 있는 동안에만 다운로드됩니다. - Current Version 현재 버전 - Download 다운로드 - Install Update 업데이트 설치 - INSTALL 설치 - Target Branch 대상 브랜치 - SELECT 선택 - Select a branch 브랜치 선택 - UNINSTALL 제거 - Uninstall %1 %1 제거 - Are you sure you want to uninstall? 제거하시겠습니까? - - CHECK 확인 @@ -1047,48 +846,38 @@ 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: 허용으로 설정하면 GitHub 설정의 모든 공용 키에 대한 SSH 액세스 권한이 부여됩니다. GitHub 사용자 ID 이외에는 입력하지 마십시오. comma에서는 GitHub ID를 추가하라는 요청을 하지 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 @@ -1096,7 +885,6 @@ location set SshToggle - Enable SSH SSH 사용 @@ -1104,22 +892,18 @@ location set TermsPage - Terms & Conditions 약관 - Decline 거절 - Scroll to accept 허용하려면 아래로 스크롤하세요 - Agree 동의 @@ -1127,102 +911,82 @@ 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. 설정변경은 장치 재부팅후 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 방향지시등 없이 감지된 차선 위를 주행할 경우 차선이탈 경고를 표시합니다. - 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 롱컨트롤 사용 (매우 실험적) 🌮 - Experimental openpilot longitudinal control openpilot 롱컨트롤 (실험적) - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> <b>경고: openpilot 롱컨트롤은 실험적인 기능으로 차량의 AEB를 비활성화합니다.</b> - 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) - openpilot longitudinal control is not currently available for this car. - Enable experimental longitudinal control to enable this. - 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. @@ -1230,42 +994,34 @@ 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 연결하면 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 @@ -1273,22 +1029,18 @@ 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-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index a490b4088..ff6f27dd4 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -4,17 +4,14 @@ AbstractAlert - Close Fechar - Snooze Update Adiar Atualização - Reboot and Update Reiniciar e Atualizar @@ -22,53 +19,42 @@ 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 @@ -76,13 +62,10 @@ ConfirmationDialog - - Ok OK - Cancel Cancelar @@ -90,17 +73,14 @@ 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 @@ -108,152 +88,122 @@ 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 @@ -261,32 +211,26 @@ DriveStats - Drives Dirigidas - Hours Horas - ALL TIME TOTAL - PAST WEEK SEMANA PASSADA - KM KM - Miles Milhas @@ -294,7 +238,6 @@ DriverViewScene - camera starting câmera iniciando @@ -302,12 +245,10 @@ InputDialog - Cancel Cancelar - Need at least %n character(s)! Necessita no mínimo %n caractere! @@ -318,22 +259,18 @@ Installer - Installing... Instalando... - Receiving objects: Recebendo objetos: - Resolving deltas: Resolvendo deltas: - Updating files: Atualizando arquivos: @@ -341,27 +278,22 @@ MapETA - eta eta - min min - hr hr - km km - mi mi @@ -369,22 +301,18 @@ MapInstructions - km km - m m - mi milha - ft pés @@ -392,48 +320,40 @@ 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 @@ -441,12 +361,10 @@ trabalho definido MapWindow - Map Loading Carregando Mapa - Waiting for GPS Esperando por GPS @@ -454,12 +372,10 @@ trabalho definido MultiOptionDialog - Select Selecione - Cancel Cancelar @@ -467,23 +383,18 @@ trabalho definido Networking - Advanced Avançado - Enter password Insira a senha - - for "%1" para "%1" - Wrong password Senha incorreta @@ -491,30 +402,22 @@ trabalho definido NvgWindow - km/h km/h - mph mph - - MAX LIMITE - - SPEED MAX - - LIMIT VELO @@ -522,17 +425,14 @@ trabalho definido OffroadHome - UPDATE ATUALIZAÇÃO - ALERTS ALERTAS - ALERT ALERTA @@ -540,22 +440,18 @@ trabalho definido 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 @@ -563,32 +459,26 @@ trabalho definido 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 @@ -596,22 +486,18 @@ trabalho definido PrimeUserWidget - ✓ SUBSCRIBED ✓ INSCRITO - comma prime comma prime - CONNECT.COMMA.AI CONNECT.COMMA.AI - COMMA POINTS PONTOS COMMA @@ -619,27 +505,22 @@ trabalho definido QObject - Reboot Reiniciar - Exit Sair - dashcam dashcam - openpilot openpilot - %n minute(s) ago há %n minuto @@ -647,7 +528,6 @@ trabalho definido - %n hour(s) ago há %n hora @@ -655,7 +535,6 @@ trabalho definido - %n day(s) ago há %n dia @@ -666,47 +545,38 @@ trabalho definido 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. @@ -714,7 +584,6 @@ trabalho definido RichTextDialog - Ok Ok @@ -722,33 +591,26 @@ trabalho definido SettingsWindow - × × - Device Dispositivo - - Network Rede - Toggles Ajustes - Software Software - Navigation Navegação @@ -756,105 +618,82 @@ trabalho definido 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 @@ -862,17 +701,14 @@ trabalho definido 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 @@ -880,106 +716,82 @@ trabalho definido Sidebar - - CONNECT CONEXÃO - OFFLINE OFFLINE - - ONLINE ONLINE - 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 @@ -987,63 +799,50 @@ trabalho definido SoftwarePanel - Updates are only downloaded while the car is off. Atualizações baixadas durante o motor desligado. - Current Version Versao Atual - Download Download - Install Update Instalar Atualização - INSTALL INSTALAR - Target Branch Alterar Branch - SELECT SELECIONE - Select a branch Selecione uma branch - UNINSTALL DESINSTAL - Uninstall %1 Desintalar o %1 - Are you sure you want to uninstall? Tem certeza que quer desinstalar? - - CHECK VERIFICAR @@ -1051,48 +850,38 @@ trabalho definido 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 @@ -1100,7 +889,6 @@ trabalho definido SshToggle - Enable SSH Habilitar SSH @@ -1108,22 +896,18 @@ trabalho definido TermsPage - Terms & Conditions Termos & Condições - Decline Declinar - Scroll to accept Role a tela para aceitar - Agree Concordo @@ -1131,102 +915,82 @@ trabalho definido 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) 🌮 - Experimental openpilot longitudinal control Controle longitudinal experimental openpilot - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> <b>AVISO: o controle longitudinal openpilot é experimental para este carro e irá desabilitar AEB.</b> - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. Deixe o modelo controlar o acelerador e os freios. openpilot irá conduzir como pensa que um humano faria. Super experimental. - openpilot longitudinal control is not currently available for this car. controle longitudinal openpilot não está disponível para este carro. - Enable experimental longitudinal control to enable this. Habilite o controle longitudinal experimental para habilitar isso. - 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. @@ -1234,42 +998,34 @@ trabalho definido 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 @@ -1277,22 +1033,18 @@ trabalho definido 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_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 28008ef06..6300875ee 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -4,17 +4,14 @@ AbstractAlert - Close 关闭 - Snooze Update 暂停更新 - Reboot and Update 重启并更新 @@ -22,53 +19,42 @@ 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 +62,10 @@ ConfirmationDialog - - Ok 好的 - Cancel 取消 @@ -90,17 +73,14 @@ 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 +88,122 @@ 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 +211,26 @@ 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 +238,6 @@ DriverViewScene - camera starting 正在启动相机 @@ -302,12 +245,10 @@ InputDialog - Cancel 取消 - Need at least %n character(s)! 至少需要 %n 个字符！ @@ -317,22 +258,18 @@ 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 +277,22 @@ MapETA - eta 埃塔 - min 分钟 - hr 小时 - km km - mi mi @@ -368,22 +300,18 @@ MapInstructions - km km - m m - mi mi - ft ft @@ -391,46 +319,38 @@ 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 +358,10 @@ location set MapWindow - Map Loading 地图加载中 - Waiting for GPS 等待 GPS @@ -451,12 +369,10 @@ location set MultiOptionDialog - Select 选择 - Cancel 取消 @@ -464,23 +380,18 @@ 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 +399,22 @@ location set NvgWindow - km/h km/h - mph mph - - MAX 最高定速 - - SPEED SPEED - - LIMIT LIMIT @@ -519,17 +422,14 @@ location set OffroadHome - UPDATE 更新 - ALERTS 警报 - ALERT 警报 @@ -537,22 +437,18 @@ 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 +456,26 @@ 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 +483,18 @@ 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 +502,34 @@ 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 +539,38 @@ 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 +578,6 @@ location set RichTextDialog - Ok 好的 @@ -716,33 +585,26 @@ location set SettingsWindow - × × - Device 设备 - - Network 网络 - Toggles 设定 - Software 软件 - Navigation 导航 @@ -750,105 +612,82 @@ 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 +695,14 @@ 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 +710,82 @@ 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 @@ -981,63 +793,50 @@ location set SoftwarePanel - Updates are only downloaded while the car is off. - Current Version - Download - Install Update - INSTALL - Target Branch - SELECT - Select a branch - UNINSTALL 卸载 - Uninstall %1 卸载 %1 - Are you sure you want to uninstall? 您确定要卸载吗？ - - CHECK 查看 @@ -1045,48 +844,38 @@ 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” @@ -1094,7 +883,6 @@ location set SshToggle - Enable SSH 启用SSH @@ -1102,22 +890,18 @@ location set TermsPage - Terms & Conditions 条款和条件 - Decline 拒绝 - Scroll to accept 滑动以接受 - Agree 同意 @@ -1125,102 +909,82 @@ 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) 🌮 🌮 端对端纵向控制（实验性功能） 🌮 - Experimental openpilot longitudinal control - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. 让驾驶模型直接控制油门和刹车，openpilot将会模仿人类司机的驾驶方式。该功能仍非常实验性。 - openpilot longitudinal control is not currently available for this car. - Enable experimental longitudinal control to enable this. - 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。 @@ -1228,42 +992,34 @@ 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 @@ -1271,22 +1027,18 @@ 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 364508bd1..73faf11f6 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -4,17 +4,14 @@ AbstractAlert - Close 關閉 - Snooze Update 暫停更新 - Reboot and Update 重啟並更新 @@ -22,53 +19,42 @@ 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 +62,10 @@ ConfirmationDialog - - Ok 確定 - Cancel 取消 @@ -90,17 +73,14 @@ 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 +88,122 @@ 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 +211,26 @@ DriveStats - Drives 旅程 - Hours 小時 - ALL TIME 總共 - PAST WEEK 上周 - KM 公里 - Miles 英里 @@ -294,7 +238,6 @@ DriverViewScene - camera starting 開啟相機中 @@ -302,12 +245,10 @@ InputDialog - Cancel 取消 - Need at least %n character(s)! 需要至少 %n 個字元！ @@ -317,22 +258,18 @@ 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 +277,22 @@ MapETA - eta 抵達 - min 分鐘 - hr 小時 - km km - mi mi @@ -368,22 +300,18 @@ MapInstructions - km km - m m - mi mi - ft ft @@ -391,48 +319,40 @@ 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 +360,10 @@ location set MapWindow - Map Loading 地圖加載中 - Waiting for GPS 等待 GPS @@ -453,12 +371,10 @@ location set MultiOptionDialog - Select 選擇 - Cancel 取消 @@ -466,23 +382,18 @@ location set Networking - Advanced 進階 - Enter password 輸入密碼 - - for "%1" 給 "%1" - Wrong password 密碼錯誤 @@ -490,30 +401,22 @@ location set NvgWindow - km/h km/h - mph mph - - MAX 最高 - - SPEED 速度 - - LIMIT 速限 @@ -521,17 +424,14 @@ location set OffroadHome - UPDATE 更新 - ALERTS 提醒 - ALERT 提醒 @@ -539,22 +439,18 @@ 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 +458,26 @@ 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 +485,18 @@ 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 +504,34 @@ 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 +541,38 @@ 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 +580,6 @@ location set RichTextDialog - Ok 確定 @@ -718,33 +587,26 @@ location set SettingsWindow - × × - Device 設備 - - Network 網路 - Toggles 設定 - Software 軟體 - Navigation 導航 @@ -752,105 +614,82 @@ 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 +697,14 @@ 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 +712,82 @@ 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 @@ -983,63 +795,50 @@ location set SoftwarePanel - Updates are only downloaded while the car is off. 系統更新只會在熄火時下載。 - Current Version 當前版本 - Download 下載 - Install Update 安裝更新 - INSTALL 安裝 - Target Branch 目標分支 - SELECT 選取 - Select a branch 選取一個分支 - UNINSTALL 卸載 - Uninstall %1 卸載 %1 - Are you sure you want to uninstall? 您確定您要卸載嗎？ - - CHECK 檢查 @@ -1047,48 +846,38 @@ 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 @@ -1096,7 +885,6 @@ location set SshToggle - Enable SSH 啟用 SSH 服務 @@ -1104,22 +892,18 @@ 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 @@ -1127,102 +911,82 @@ 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) 🌮 🌮 端對端縱向控制（實驗性功能） 🌮 - Experimental openpilot longitudinal control 使用 openpilot 縱向控制（實驗） - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> <b>注意：這台車的 openpilot 縱向控制仍然是實驗中的功能，開啟這功能將會關閉自動緊急煞車 (AEB)。</b> - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. 讓駕駛模型直接控製油門和剎車，openpilot將會模仿人類司機的駕駛方式。該功能仍非常實驗性。 - openpilot longitudinal control is not currently available for this car. openpilot 縱向控制目前不適用於這輛車。 - Enable experimental longitudinal control to enable this. 打開縱向控制（實驗）以啟用此功能。 - 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。 @@ -1230,42 +994,34 @@ 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 @@ -1273,22 +1029,18 @@ 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/update_translations.py b/selfdrive/ui/update_translations.py index afd42c3b3..e15d4c343 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 -locations relative -recursive {UI_DIR} -ts {tr_file}" + args = f"lupdate -locations none -recursive {UI_DIR} -ts {tr_file}" if vanish: args += " -no-obsolete" if file in plural_only: From e4612ac4c48597864dabef6f25b4db0d846426e0 Mon Sep 17 00:00:00 2001 From: royjr Date: Sat, 17 Sep 2022 18:55:12 -0400 Subject: [PATCH 32/75] ui: fix toggle spacing issue (#25831) --- selfdrive/ui/qt/widgets/controls.cc | 2 -- 1 file changed, 2 deletions(-) diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc index b5f646c37..a1ebf57b0 100644 --- a/selfdrive/ui/qt/widgets/controls.cc +++ b/selfdrive/ui/qt/widgets/controls.cc @@ -18,8 +18,6 @@ QFrame *horizontal_line(QWidget *parent) { } AbstractControl::AbstractControl(const QString &title, const QString &desc, const QString &icon, QWidget *parent) : QFrame(parent) { - setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Minimum); - QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setMargin(0); From 583304fc7b5970ec5f079720bf6c6aa7ff91ce5a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 19 Sep 2022 05:01:33 +0800 Subject: [PATCH 33/75] params: cleanup constructor (#25834) --- common/params.cc | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/common/params.cc b/common/params.cc index 7b2d4490e..a64c2f133 100644 --- a/common/params.cc +++ b/common/params.cc @@ -198,10 +198,8 @@ std::unordered_map keys = { Params::Params(const std::string &path) { - const char* env = std::getenv("OPENPILOT_PREFIX"); - prefix = env ? "/" + std::string(env) : "/d"; - std::string default_param_path = ensure_params_path(prefix); - params_path = path.empty() ? default_param_path : ensure_params_path(prefix, path); + prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d"); + params_path = ensure_params_path(prefix, path); } std::vector Params::allKeys() const { From 8870b439dd5f9b0ae1a53d75bab3a1470ea7d372 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 20 Sep 2022 04:24:20 +0800 Subject: [PATCH 34/75] camerad: fix class/struct forward declaration mistake (#25842) --- system/camerad/cameras/camera_common.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index e5580a7a9..088b9f793 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -75,7 +75,7 @@ typedef struct FrameMetadata { } FrameMetadata; struct MultiCameraState; -struct CameraState; +class CameraState; class Debayer; class CameraBuf { From 8b741261cf4538ab88f42f18837ba13d71bcc0de Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 19 Sep 2022 14:06:03 -0700 Subject: [PATCH 35/75] loggerd: add params test cases (#25843) --- selfdrive/loggerd/tests/test_loggerd.py | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/selfdrive/loggerd/tests/test_loggerd.py b/selfdrive/loggerd/tests/test_loggerd.py index b0907c54a..a2138b0aa 100755 --- a/selfdrive/loggerd/tests/test_loggerd.py +++ b/selfdrive/loggerd/tests/test_loggerd.py @@ -83,8 +83,10 @@ class TestLoggerd(unittest.TestCase): ("GitRemote", "gitRemote", "remote"), ] params = Params() + params.clear_all() for k, _, v in fake_params: params.put(k, v) + params.put("LaikadEphemeris", "abc") lr = list(LogReader(str(self._gen_bootlog()))) initData = lr[0].initData @@ -99,8 +101,14 @@ class TestLoggerd(unittest.TestCase): with open("/proc/version") as f: self.assertEqual(initData.kernelVersion, f.read()) - for _, k, v in fake_params: - self.assertEqual(getattr(initData, k), v) + # check params + logged_params = {entry.key: entry.value for entry in initData.params.entries} + expected_params = set(k for k, _, __ in fake_params) | {'LaikadEphemeris'} + assert set(logged_params.keys()) == expected_params, set(logged_params.keys()) ^ expected_params + assert logged_params['LaikadEphemeris'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['LaikadEphemeris'])}" + for param_key, initData_key, v in fake_params: + self.assertEqual(getattr(initData, initData_key), v) + self.assertEqual(logged_params[param_key].decode(), v) def test_rotation(self): os.environ["LOGGERD_TEST"] = "1" From 7b5d8adfb1819799ec635347712a2f9a40278fa3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 19 Sep 2022 14:14:19 -0700 Subject: [PATCH 36/75] Hyundai Elantra 2021: replace VW engine FW 5a4405495d2750ef|2022-09-11--12-37-48 --- selfdrive/car/hyundai/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 3bc206297..ea6fca592 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1200,7 +1200,7 @@ FW_VERSIONS = { ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x82CNCWD0AMFCXCSFFA', - b'\xf1\x82CNCWD0AMFCXCSFFB', + b'\xf1\x81HM6M2_0a0_FF0', b'\xf1\x82CNCVD0AMFCXCSFFB', b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_G80', ], From 4fa62f146426f76c9c1c2867d9729b33ec612b59 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Mon, 19 Sep 2022 15:19:26 -0700 Subject: [PATCH 37/75] Live torque (#25456) * wip torqued * add basic logic * setup in manager * check sanity and publish msg * add first order filter to outputs * wire up controlsd, and update gains * rename intercept to offset * add cloudlog, live values are not updated * fix bugs, do not reset points for now * fix crashes * rename to main * fix bugs, works offline * fix float in cereal bug * add latacc filter * randomly choose points, approx for iid * add variable decay * local param to capnp instead of dict * verify works in replay * use torqued output in controlsd * use in controlsd; use points from past routes * controlsd bugfix * filter before updating gains, needs to be replaced * save all points to ensure smooth transition across routes, revert friction factor to 1.5 * add filters to prevent noisy low-speed data points; improve fit sanity * add engaged buffer * revert lat_acc thresh * use paramsd realtime process config * make latacc-to-torque generic, and overrideable * move freq to 4Hz, avoid storing in np.array, don't publish points in the message * float instead of np * remove constant while storing pts * rename slope, offset to lat_accet_factor, offset * resolve issues * use camelcase in all capnp params * use camelcase everywhere * reduce latacc threshold or sanity, add car_sane todo, save points properly * add and check tag * write param to disk at end of route * remove args * rebase op, cereal * save on exit * restore default handler * cpu usage check * add to process replay * handle reset better, reduce unnecessary computation * always publish raw values - useful for debug * regen routes * update refs * checks on cache restore * check tuning vals too * clean that up * reduce cpu usage * reduce cpu usage by 75% * cleanup * optimize further * handle reset condition better, don't put points in init, use only in corolla * bump cereal after rebasing * update refs * Update common/params.cc Co-authored-by: Adeeb Shihadeh * remove unnecessary checks * Update RELEASES.md Co-authored-by: Adeeb Shihadeh --- RELEASES.md | 2 + common/params.cc | 2 + release/files_common | 1 + selfdrive/car/interfaces.py | 1 + selfdrive/controls/controlsd.py | 8 +- selfdrive/controls/lib/latcontrol_torque.py | 2 +- selfdrive/locationd/torqued.py | 290 ++++++++++++++++++ selfdrive/manager/process_config.py | 1 + .../test/process_replay/process_replay.py | 27 +- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/regen.py | 8 +- selfdrive/test/process_replay/regen_all.py | 11 +- .../test/process_replay/test_processes.py | 10 +- selfdrive/test/test_onroad.py | 1 + selfdrive/test/update_ci_routes.py | 2 +- 15 files changed, 350 insertions(+), 18 deletions(-) create mode 100755 selfdrive/locationd/torqued.py diff --git a/RELEASES.md b/RELEASES.md index 56cffeebe..a749158cb 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -2,6 +2,8 @@ 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. +* torqued + * Learn torque parameters live for each car as opposed to using platform average values, which improves lateral control Version 0.8.16 (2022-08-26) ======================== diff --git a/common/params.cc b/common/params.cc index a64c2f133..63208879b 100644 --- a/common/params.cc +++ b/common/params.cc @@ -144,6 +144,8 @@ std::unordered_map keys = { {"LastUpdateException", CLEAR_ON_MANAGER_START}, {"LastUpdateTime", PERSISTENT}, {"LiveParameters", PERSISTENT}, + {"LiveTorqueCarParams", PERSISTENT}, + {"LiveTorqueParameters", PERSISTENT | DONT_LOG}, {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, {"NavSettingTime24h", PERSISTENT}, {"NavSettingLeftSide", PERSISTENT}, diff --git a/release/files_common b/release/files_common index be0a4f0f0..fa4fa997c 100644 --- a/release/files_common +++ b/release/files_common @@ -240,6 +240,7 @@ selfdrive/locationd/models/live_kf.cc selfdrive/locationd/models/constants.py selfdrive/locationd/models/gnss_helpers.py +selfdrive/locationd/torqued.py selfdrive/locationd/calibrationd.py system/logcatd/.gitignore diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 87720f875..a789fc6ca 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -167,6 +167,7 @@ class CarInterfaceBase(ABC): tune.torque.friction = params['FRICTION'] tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR'] tune.torque.latAccelOffset = 0.0 + tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg @abstractmethod def _update(self, c: car.CarControl) -> car.CarState: diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 308753529..8b41e305f 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -104,7 +104,7 @@ class Controls: ignore += ['roadCameraState'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', - 'managerState', 'liveParameters', 'radarState'] + self.camera_packets + joystick_packet, + 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters'] + self.camera_packets + joystick_packet, ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan']) # set alternative experiences from parameters @@ -578,6 +578,12 @@ class Controls: sr = max(params.steerRatio, 0.1) self.VM.update_params(x, sr) + # Update Torque Params + if self.CP.lateralTuning.which() == 'torque': + torque_params = self.sm['liveTorqueParameters'] + if self.sm.all_checks(['liveTorqueParameters']) and torque_params.useParams: + self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered, torque_params.frictionCoefficientFiltered) + lat_plan = self.sm['lateralPlan'] long_plan = self.sm['longitudinalPlan'] diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index f65a58275..fa1bb480f 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -51,7 +51,7 @@ class LatControlTorque(LatControl): desired_lateral_accel = desired_curvature * CS.vEgo ** 2 # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature - #desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2 + # desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2 actual_lateral_accel = actual_curvature * CS.vEgo ** 2 lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py new file mode 100755 index 000000000..9f0700821 --- /dev/null +++ b/selfdrive/locationd/torqued.py @@ -0,0 +1,290 @@ +#!/usr/bin/env python3 +import os +import sys +import signal +import numpy as np +from collections import deque, defaultdict + +import cereal.messaging as messaging +from cereal import car, log +from common.params import Params +from common.realtime import config_realtime_process, DT_MDL +from common.filter_simple import FirstOrderFilter +from system.swaglog import cloudlog +from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY +from selfdrive.car.toyota.values import CAR as TOYOTA + +HISTORY = 5 # secs +POINTS_PER_BUCKET = 1500 +MIN_POINTS_TOTAL = 4000 +FIT_POINTS_TOTAL = 2000 +MIN_VEL = 15 # m/s +FRICTION_FACTOR = 1.5 # ~85% of data coverage +FACTOR_SANITY = 0.3 +FRICTION_SANITY = 0.5 +STEER_MIN_THRESHOLD = 0.02 +MIN_FILTER_DECAY = 50 +MAX_FILTER_DECAY = 250 +LAT_ACC_THRESHOLD = 1 +STEER_BUCKET_BOUNDS = [(-0.5, -0.3), (-0.3, -0.2), (-0.2, -0.1), (-0.1, 0), (0, 0.1), (0.1, 0.2), (0.2, 0.3), (0.3, 0.5)] +MIN_BUCKET_POINTS = [100, 300, 500, 500, 500, 500, 300, 100] +MAX_RESETS = 5.0 +MAX_INVALID_THRESHOLD = 10 +MIN_ENGAGE_BUFFER = 2 # secs + +VERSION = 1 # bump this to invalidate old parameter caches +ALLOWED_FINGERPRINTS = [TOYOTA.COROLLA_TSS2, TOYOTA.COROLLA, TOYOTA.COROLLAH_TSS2] + + +def slope2rot(slope): + sin = np.sqrt(slope**2 / (slope**2 + 1)) + cos = np.sqrt(1 / (slope**2 + 1)) + return np.array([[cos, -sin], [sin, cos]]) + + +class npqueue: + def __init__(self, maxlen, rowsize): + self.maxlen = maxlen + self.arr = np.empty((0, rowsize)) + + def __len__(self): + return len(self.arr) + + def append(self, pt): + if len(self.arr) < self.maxlen: + self.arr = np.append(self.arr, [pt], axis=0) + else: + self.arr[:-1] = self.arr[1:] + self.arr[-1] = pt + + +class PointBuckets: + def __init__(self, x_bounds, min_points): + self.x_bounds = x_bounds + self.buckets = {bounds: npqueue(maxlen=POINTS_PER_BUCKET, rowsize=3) for bounds in x_bounds} + self.buckets_min_points = {bounds: min_point for bounds, min_point in zip(x_bounds, min_points)} + + def bucket_lengths(self): + return [len(v) for v in self.buckets.values()] + + def __len__(self): + return sum(self.bucket_lengths()) + + def is_valid(self): + return all(len(v) >= min_pts for v, min_pts in zip(self.buckets.values(), self.buckets_min_points.values())) and (self.__len__() >= MIN_POINTS_TOTAL) + + def add_point(self, x, y): + for bound_min, bound_max in self.x_bounds: + if (x >= bound_min) and (x < bound_max): + self.buckets[(bound_min, bound_max)].append([x, 1.0, y]) + break + + def get_points(self, num_points=None): + points = np.concatenate([x.arr for x in self.buckets.values() if len(x) > 0]) + if num_points is None: + return points + return points[np.random.choice(np.arange(len(points)), min(len(points), num_points), replace=False)] + + def load_points(self, points): + for x, y in points: + self.add_point(x, y) + + +class TorqueEstimator: + def __init__(self, CP): + self.hist_len = int(HISTORY / DT_MDL) + self.lag = CP.steerActuatorDelay + .2 # from controlsd + + self.offline_friction = 0.0 + self.offline_latAccelFactor = 0.0 + self.resets = 0.0 + self.use_params = CP.carFingerprint in ALLOWED_FINGERPRINTS + + if CP.lateralTuning.which() == 'torque': + self.offline_friction = CP.lateralTuning.torque.friction + self.offline_latAccelFactor = CP.lateralTuning.torque.latAccelFactor + + self.reset() + + initial_params = { + 'latAccelFactor': self.offline_latAccelFactor, + 'latAccelOffset': 0.0, + 'frictionCoefficient': self.offline_friction, + 'points': [] + } + self.decay = MIN_FILTER_DECAY + self.min_lataccel_factor = (1.0 - FACTOR_SANITY) * self.offline_latAccelFactor + self.max_lataccel_factor = (1.0 + FACTOR_SANITY) * self.offline_latAccelFactor + self.min_friction = (1.0 - FRICTION_SANITY) * self.offline_friction + self.max_friction = (1.0 + FRICTION_SANITY) * self.offline_friction + + # try to restore cached params + params = Params() + params_cache = params.get("LiveTorqueCarParams") + torque_cache = params.get("LiveTorqueParameters") + if params_cache is not None and torque_cache is not None: + try: + cache_ltp = log.Event.from_bytes(torque_cache).liveTorqueParameters + cache_CP = car.CarParams.from_bytes(params_cache) + if self.get_restore_key(cache_CP, cache_ltp.version) == self.get_restore_key(CP, VERSION): + initial_params = { + 'latAccelFactor': cache_ltp.latAccelFactorFiltered, + 'latAccelOffset': cache_ltp.latAccelOffsetFiltered, + 'frictionCoefficient': cache_ltp.frictionCoefficientFiltered, + 'points': cache_ltp.points + } + self.decay = cache_ltp.decay + self.filtered_points.load_points(initial_params['points']) + cloudlog.info("restored torque params from cache") + except Exception: + cloudlog.exception("failed to restore cached torque params") + params.remove("LiveTorqueCarParams") + params.remove("LiveTorqueParameters") + + self.filtered_params = {} + for param in initial_params: + self.filtered_params[param] = FirstOrderFilter(initial_params[param], self.decay, DT_MDL) + + def get_restore_key(self, CP, version): + a, b = None, None + if CP.lateralTuning.which() == 'torque': + a = CP.lateralTuning.torque.friction + b = CP.lateralTuning.torque.latAccelFactor + return (CP.carFingerprint, CP.lateralTuning.which(), a, b, version) + + def reset(self): + self.resets += 1.0 + self.invalid_values_tracker = 0.0 + self.decay = MIN_FILTER_DECAY + self.raw_points = defaultdict(lambda: deque(maxlen=self.hist_len)) + self.filtered_points = PointBuckets(x_bounds=STEER_BUCKET_BOUNDS, min_points=MIN_BUCKET_POINTS) + + def estimate_params(self): + points = self.filtered_points.get_points(FIT_POINTS_TOTAL) + # total least square solution as both x and y are noisy observations + # this is empirically the slope of the hysteresis parallelogram as opposed to the line through the diagonals + try: + _, _, v = np.linalg.svd(points, full_matrices=False) + slope, offset = -v.T[0:2, 2] / v.T[2, 2] + _, spread = np.matmul(points[:, [0, 2]], slope2rot(slope)).T + friction_coeff = np.std(spread) * FRICTION_FACTOR + except np.linalg.LinAlgError as e: + cloudlog.exception(f"Error computing live torque params: {e}") + slope = offset = friction_coeff = np.nan + return slope, offset, friction_coeff + + def update_params(self, params): + self.decay = min(self.decay + DT_MDL, MAX_FILTER_DECAY) + for param, value in params.items(): + self.filtered_params[param].update(value) + self.filtered_params[param].update_alpha(self.decay) + + def is_sane(self, latAccelFactor, latAccelOffset, friction): + if any([val is None or np.isnan(val) for val in [latAccelFactor, latAccelOffset, friction]]): + return False + return (self.max_friction >= friction >= self.min_friction) and\ + (self.max_lataccel_factor >= latAccelFactor >= self.min_lataccel_factor) + + def handle_log(self, t, which, msg): + if which == "carControl": + self.raw_points["carControl_t"].append(t + self.lag) + self.raw_points["steer_torque"].append(-msg.actuatorsOutput.steer) + self.raw_points["active"].append(msg.latActive) + elif which == "carState": + self.raw_points["carState_t"].append(t + self.lag) + self.raw_points["vego"].append(msg.vEgo) + self.raw_points["steer_override"].append(msg.steeringPressed) + elif which == "liveLocationKalman": + if len(self.raw_points['steer_torque']) == self.hist_len: + yaw_rate = msg.angularVelocityCalibrated.value[2] + roll = msg.orientationNED.value[0] + active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carControl_t'], self.raw_points['active']).astype(bool) + steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool) + vego = np.interp(t, self.raw_points['carState_t'], self.raw_points['vego']) + steer = np.interp(t, self.raw_points['carControl_t'], self.raw_points['steer_torque']) + lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY) + if all(active) and (not any(steer_override)) and (vego > MIN_VEL) and (abs(steer) > STEER_MIN_THRESHOLD) and (abs(lateral_acc) <= LAT_ACC_THRESHOLD): + self.filtered_points.add_point(float(steer), float(lateral_acc)) + + def get_msg(self, valid=True, with_points=False): + msg = messaging.new_message('liveTorqueParameters') + msg.valid = valid + liveTorqueParameters = msg.liveTorqueParameters + liveTorqueParameters.version = VERSION + liveTorqueParameters.useParams = self.use_params + + if self.filtered_points.is_valid(): + latAccelFactor, latAccelOffset, friction_coeff = self.estimate_params() + liveTorqueParameters.latAccelFactorRaw = float(latAccelFactor) + liveTorqueParameters.latAccelOffsetRaw = float(latAccelOffset) + liveTorqueParameters.frictionCoefficientRaw = float(friction_coeff) + + if self.is_sane(latAccelFactor, latAccelOffset, friction_coeff): + liveTorqueParameters.liveValid = True + self.update_params({'latAccelFactor': latAccelFactor, 'latAccelOffset': latAccelOffset, 'frictionCoefficient': friction_coeff}) + self.invalid_values_tracker = max(0.0, self.invalid_values_tracker - 0.5) + else: + cloudlog.exception("live torque params are numerically unstable") + liveTorqueParameters.liveValid = False + self.invalid_values_tracker += 1.0 + # Reset when ~10 invalid over 5 secs + if self.invalid_values_tracker > MAX_INVALID_THRESHOLD: + # Do not reset the filter as it may cause a drastic jump, just reset points + self.reset() + else: + liveTorqueParameters.liveValid = False + + if with_points: + liveTorqueParameters.points = self.filtered_points.get_points()[:, [0, 2]].tolist() + + liveTorqueParameters.latAccelFactorFiltered = float(self.filtered_params['latAccelFactor'].x) + liveTorqueParameters.latAccelOffsetFiltered = float(self.filtered_params['latAccelOffset'].x) + liveTorqueParameters.frictionCoefficientFiltered = float(self.filtered_params['frictionCoefficient'].x) + liveTorqueParameters.totalBucketPoints = len(self.filtered_points) + liveTorqueParameters.decay = self.decay + liveTorqueParameters.maxResets = self.resets + return msg + + +def main(sm=None, pm=None): + config_realtime_process([0, 1, 2, 3], 5) + + if sm is None: + sm = messaging.SubMaster(['carControl', 'carState', 'liveLocationKalman'], poll=['liveLocationKalman']) + + if pm is None: + pm = messaging.PubMaster(['liveTorqueParameters']) + + params = Params() + CP = car.CarParams.from_bytes(params.get("CarParams", block=True)) + estimator = TorqueEstimator(CP) + + def cache_params(sig, frame): + signal.signal(sig, signal.SIG_DFL) + cloudlog.warning("caching torque params") + + params = Params() + params.put("LiveTorqueCarParams", CP.as_builder().to_bytes()) + + msg = estimator.get_msg(with_points=True) + params.put("LiveTorqueParameters", msg.to_bytes()) + + sys.exit(0) + if "REPLAY" not in os.environ: + signal.signal(signal.SIGINT, cache_params) + + while True: + sm.update() + if sm.all_checks(): + for which in sm.updated.keys(): + if sm.updated[which]: + t = sm.logMonoTime[which] * 1e-9 + estimator.handle_log(t, which, sm[which]) + + # 4Hz driven by liveLocationKalman + if sm.frame % 5 == 0: + pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks())) + + +if __name__ == "__main__": + main() diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 7702b96ea..06efdbb96 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -38,6 +38,7 @@ procs = [ NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]), NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False), PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"), + PythonProcess("torqued", "selfdrive.locationd.torqued"), PythonProcess("controlsd", "selfdrive.controls.controlsd"), PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True), PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview), diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index b4e3f6265..038b0cf46 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -229,6 +229,15 @@ def calibration_rcv_callback(msg, CP, cfg, fsm): return recv_socks, fsm.frame == 0 or msg.which() == 'cameraOdometry' +def torqued_rcv_callback(msg, CP, cfg, fsm): + # should_recv always true to increment frame + recv_socks = [] + frame = fsm.frame + 1 # incrementing hasn't happened yet in SubMaster + if msg.which() == 'liveLocationKalman' and (frame % 5) == 0: + recv_socks = ["liveTorqueParameters"] + return recv_socks, fsm.frame == 0 or msg.which() == 'liveLocationKalman' + + def ublox_rcv_callback(msg): msg_class, msg_id = msg.ubloxRaw[2:4] if (msg_class, msg_id) in {(1, 7 * 16)}: @@ -251,8 +260,10 @@ CONFIGS = [ proc_name="controlsd", pub_sub={ "can": ["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"], - "deviceState": [], "pandaStates": [], "peripheralState": [], "liveCalibration": [], "driverMonitoringState": [], "longitudinalPlan": [], "lateralPlan": [], "liveLocationKalman": [], "liveParameters": [], "radarState": [], - "modelV2": [], "driverCameraState": [], "roadCameraState": [], "wideRoadCameraState": [], "managerState": [], "testJoystick": [], + "deviceState": [], "pandaStates": [], "peripheralState": [], "liveCalibration": [], "driverMonitoringState": [], + "longitudinalPlan": [], "lateralPlan": [], "liveLocationKalman": [], "liveParameters": [], "radarState": [], + "modelV2": [], "driverCameraState": [], "roadCameraState": [], "wideRoadCameraState": [], "managerState": [], + "testJoystick": [], "liveTorqueParameters": [], }, ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"], init_callback=fingerprint, @@ -374,6 +385,18 @@ CONFIGS = [ tolerance=NUMPY_TOLERANCE, fake_pubsubmaster=True, ), + ProcessConfig( + proc_name="torqued", + pub_sub={ + "liveLocationKalman": ["liveTorqueParameters"], + "carState": [], "controlsState": [], + }, + ignore=["logMonoTime"], + init_callback=get_car_params, + should_recv_callback=torqued_rcv_callback, + tolerance=NUMPY_TOLERANCE, + fake_pubsubmaster=True, + ), ] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index afde6ec42..7b24c04c9 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -d14f1a61a4bfde810128a6bb703aa543268fa4a9 \ No newline at end of file +deb07ca8c5dc021e57e81307764a84aa3d7aef32 \ No newline at end of file diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index 4e1cbfd30..d565e3639 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -269,11 +269,11 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False): return seg_path -def regen_and_save(route, sidx, upload=False, use_route_meta=False, outdir=FAKEDATA, disable_tqdm=False): +def regen_and_save(route, sidx, upload=False, use_route_meta=True, outdir=FAKEDATA, disable_tqdm=False): if use_route_meta: - r = Route(args.route) - lr = LogReader(r.log_paths()[args.seg]) - fr = FrameReader(r.camera_paths()[args.seg]) + r = Route(route) + lr = LogReader(r.log_paths()[sidx]) + fr = FrameReader(r.camera_paths()[sidx]) else: lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2") fr = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc") diff --git a/selfdrive/test/process_replay/regen_all.py b/selfdrive/test/process_replay/regen_all.py index f10d7ea03..f69d07eb6 100755 --- a/selfdrive/test/process_replay/regen_all.py +++ b/selfdrive/test/process_replay/regen_all.py @@ -3,11 +3,12 @@ import argparse import concurrent.futures import os import random +import traceback from tqdm import tqdm from selfdrive.test.process_replay.helpers import OpenpilotPrefix from selfdrive.test.process_replay.regen import regen_and_save -from selfdrive.test.process_replay.test_processes import FAKEDATA, original_segments as segments +from selfdrive.test.process_replay.test_processes import FAKEDATA, source_segments as segments from tools.lib.route import SegmentName @@ -16,11 +17,15 @@ def regen_job(segment, upload, disable_tqdm): sn = SegmentName(segment[1]) fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for _ in range(11)) try: - relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=upload, use_route_meta=False, outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm) + relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=upload, use_route_meta=False, + outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm) relr = '|'.join(relr.split('/')[-2:]) return f' ("{segment[0]}", "{relr}"), ' except Exception as e: - return f" {segment} failed: {str(e)}" + err = f" {segment} failed: {str(e)}" + err += traceback.format_exc() + err += "\n\n" + return err if __name__ == "__main__": diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 0f118971c..ee892a2fd 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -15,22 +15,22 @@ from system.version import get_commit from tools.lib.filereader import FileReader from tools.lib.logreader import LogReader -original_segments = [ +source_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|2022-08-19--17-58-07--2"), # HYUNDAI.KIA_EV6 + ("HYUNDAI", "d824e27e8c60172c|2022-09-13--11-26-50--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 ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.CIVIC (NIDEC) ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.ACCORD (BOSCH) ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.PACIFICA - ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--3"), # CHRYSLER.RAM_1500 - ("SUBARU", "4d70bc5e608678be|2021-01-15--17-02-04--5"), # SUBARU.IMPREZA + ("RAM", "2f4452b03ccb98f0|2022-09-07--13-55-08--10"), # CHRYSLER.RAM_1500 + ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.OUTBACK ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.VOLT ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.XTRAIL ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.GOLF - ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--2"), # MAZDA.CX9_2021 + ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.CX9_2021 # Enable when port is tested and dashcamOnly is no longer set #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"), # TESLA.AP2_MODELS diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 55e1ef161..b29ca5d35 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -36,6 +36,7 @@ PROCS = { "./_dmonitoringmodeld": 5.0, "selfdrive.thermald.thermald": 3.87, "selfdrive.locationd.calibrationd": 2.0, + "selfdrive.locationd.torqued": 5.0, "./_soundd": 1.0, "selfdrive.monitoring.dmonitoringd": 4.0, "./proclogd": 1.54, diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index 99a63b8df..a1e8c35f6 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -4,7 +4,7 @@ import subprocess from azure.storage.blob import BlockBlobService # pylint: disable=import-error from selfdrive.car.tests.routes import routes as test_car_models_routes -from selfdrive.test.process_replay.test_processes import original_segments as replay_segments +from selfdrive.test.process_replay.test_processes import source_segments as replay_segments from xx.chffr.lib import azureutil # pylint: disable=import-error from xx.chffr.lib.storage import _DATA_ACCOUNT_PRODUCTION, _DATA_ACCOUNT_CI, _DATA_BUCKET_PRODUCTION # pylint: disable=import-error From 805a54ad0f24b64bb1253f5aeed6e5b99c3f842e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 19 Sep 2022 17:41:37 -0700 Subject: [PATCH 38/75] updated: commits are always strings --- selfdrive/updated.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 79b759a90..fc51ae799 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -240,7 +240,7 @@ def handle_agnos_update() -> None: class Updater: def __init__(self): self.params = Params() - self.branches = defaultdict(lambda: None) + self.branches = defaultdict(lambda: '') @property def target_branch(self) -> str: From de1882429a20e4d7fd37cdcaf67e54b3649a7fde Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 19 Sep 2022 20:40:03 -0700 Subject: [PATCH 39/75] update release notes --- RELEASES.md | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index a749158cb..5ef2acdd4 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -2,8 +2,12 @@ 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. -* torqued - * Learn torque parameters live for each car as opposed to using platform average values, which improves lateral control +* Self-tuning torque lateral controller parameters + * Parameters are learned live for each car + * Enabled only on Toyota Corolla for now +* UI updates + * Matched speeds shown on car's dash + * Improved update experience Version 0.8.16 (2022-08-26) ======================== From d1c95fb0d4e87c35f5eb8b425de0c054da93a3a0 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 19 Sep 2022 20:43:12 -0700 Subject: [PATCH 40/75] add event flagging too --- RELEASES.md | 1 + 1 file changed, 1 insertion(+) diff --git a/RELEASES.md b/RELEASES.md index 5ef2acdd4..6edd900cb 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -8,6 +8,7 @@ Version 0.8.17 (2022-XX-XX) * UI updates * Matched speeds shown on car's dash * Improved update experience + * Added button to flag events that are shown in comma connect Version 0.8.16 (2022-08-26) ======================== From bcf31aea07c26099aa861ab93c5586e645a25928 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Mon, 19 Sep 2022 21:01:32 -0700 Subject: [PATCH 41/75] sensord: move sensors in lowest power mode on exit/kill (#25787) * add low power modes * add sleep to lsm gyro init * bmx055 gyro has a 30ms wakeup time from deep suspend * Sensord skip init values, first 500ms (#25775) * remove lsm gyro sleep, handled by general cut Co-authored-by: Kurt Nistelberger --- selfdrive/sensord/sensors/bmx055_accel.cc | 18 +++++++++++++ selfdrive/sensord/sensors/bmx055_accel.h | 5 +++- selfdrive/sensord/sensors/bmx055_gyro.cc | 18 +++++++++++++ selfdrive/sensord/sensors/bmx055_gyro.h | 5 +++- selfdrive/sensord/sensors/bmx055_magn.cc | 10 ++++++++ selfdrive/sensord/sensors/bmx055_magn.h | 2 +- selfdrive/sensord/sensors/lsm6ds3_accel.cc | 17 +++++++++++-- selfdrive/sensord/sensors/lsm6ds3_gyro.cc | 17 +++++++++++-- selfdrive/sensord/sensors/mmc5603nj_magn.cc | 28 +++++++++++++++++++++ selfdrive/sensord/sensors/mmc5603nj_magn.h | 2 +- selfdrive/sensord/sensors_qcom2.cc | 17 +++++++++++++ 11 files changed, 131 insertions(+), 8 deletions(-) diff --git a/selfdrive/sensord/sensors/bmx055_accel.cc b/selfdrive/sensord/sensors/bmx055_accel.cc index e191d0d72..c6dcdbd7a 100644 --- a/selfdrive/sensord/sensors/bmx055_accel.cc +++ b/selfdrive/sensord/sensors/bmx055_accel.cc @@ -4,6 +4,7 @@ #include "common/swaglog.h" #include "common/timing.h" +#include "common/util.h" BMX055_Accel::BMX055_Accel(I2CBus *bus) : I2CSensor(bus) {} @@ -23,6 +24,13 @@ int BMX055_Accel::init() { goto fail; } + ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_NORMAL_MODE); + if (ret < 0) { + goto fail; + } + // bmx055 accel has a 1.3ms wakeup time from deep suspend mode + util::sleep_for(10); + // High bandwidth // ret = set_register(BMX055_ACCEL_I2C_REG_HBW, BMX055_ACCEL_HBW_ENABLE); // if (ret < 0) { @@ -43,6 +51,16 @@ fail: return ret; } +int BMX055_Accel::shutdown() { + // enter deep suspend mode (lowest power mode) + int ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_DEEP_SUSPEND); + if (ret < 0) { + LOGE("Could not move BMX055 ACCEL in deep suspend mode!") + } + + return ret; +} + bool BMX055_Accel::get_event(cereal::SensorEventData::Builder &event) { uint64_t start_time = nanos_since_boot(); uint8_t buffer[6]; diff --git a/selfdrive/sensord/sensors/bmx055_accel.h b/selfdrive/sensord/sensors/bmx055_accel.h index 3b6dd536a..6a0f9f1ad 100644 --- a/selfdrive/sensord/sensors/bmx055_accel.h +++ b/selfdrive/sensord/sensors/bmx055_accel.h @@ -10,6 +10,7 @@ #define BMX055_ACCEL_I2C_REG_X_LSB 0x02 #define BMX055_ACCEL_I2C_REG_TEMP 0x08 #define BMX055_ACCEL_I2C_REG_BW 0x10 +#define BMX055_ACCEL_I2C_REG_PMU 0x11 #define BMX055_ACCEL_I2C_REG_HBW 0x13 #define BMX055_ACCEL_I2C_REG_FIFO 0x3F @@ -18,6 +19,8 @@ #define BMX055_ACCEL_HBW_ENABLE 0b10000000 #define BMX055_ACCEL_HBW_DISABLE 0b00000000 +#define BMX055_ACCEL_DEEP_SUSPEND 0b00100000 +#define BMX055_ACCEL_NORMAL_MODE 0b00000000 #define BMX055_ACCEL_BW_7_81HZ 0b01000 #define BMX055_ACCEL_BW_15_63HZ 0b01001 @@ -34,5 +37,5 @@ public: BMX055_Accel(I2CBus *bus); int init(); bool get_event(cereal::SensorEventData::Builder &event); - int shutdown() { return 0; } + int shutdown(); }; diff --git a/selfdrive/sensord/sensors/bmx055_gyro.cc b/selfdrive/sensord/sensors/bmx055_gyro.cc index a7ed8deba..4deb15ec6 100644 --- a/selfdrive/sensord/sensors/bmx055_gyro.cc +++ b/selfdrive/sensord/sensors/bmx055_gyro.cc @@ -4,6 +4,7 @@ #include #include "common/swaglog.h" +#include "common/util.h" #define DEG2RAD(x) ((x) * M_PI / 180.0) @@ -26,6 +27,13 @@ int BMX055_Gyro::init() { goto fail; } + ret = set_register(BMX055_GYRO_I2C_REG_LPM1, BMX055_GYRO_NORMAL_MODE); + if (ret < 0) { + goto fail; + } + // bmx055 gyro has a 30ms wakeup time from deep suspend mode + util::sleep_for(50); + // High bandwidth // ret = set_register(BMX055_GYRO_I2C_REG_HBW, BMX055_GYRO_HBW_ENABLE); // if (ret < 0) { @@ -54,6 +62,16 @@ fail: return ret; } +int BMX055_Gyro::shutdown() { + // enter deep suspend mode (lowest power mode) + int ret = set_register(BMX055_GYRO_I2C_REG_LPM1, BMX055_GYRO_DEEP_SUSPEND); + if (ret < 0) { + LOGE("Could not move BMX055 GYRO in deep suspend mode!") + } + + return ret; +} + bool BMX055_Gyro::get_event(cereal::SensorEventData::Builder &event) { uint64_t start_time = nanos_since_boot(); uint8_t buffer[6]; diff --git a/selfdrive/sensord/sensors/bmx055_gyro.h b/selfdrive/sensord/sensors/bmx055_gyro.h index fea6c3e19..ac5dacc4a 100644 --- a/selfdrive/sensord/sensors/bmx055_gyro.h +++ b/selfdrive/sensord/sensors/bmx055_gyro.h @@ -10,6 +10,7 @@ #define BMX055_GYRO_I2C_REG_RATE_X_LSB 0x02 #define BMX055_GYRO_I2C_REG_RANGE 0x0F #define BMX055_GYRO_I2C_REG_BW 0x10 +#define BMX055_GYRO_I2C_REG_LPM1 0x11 #define BMX055_GYRO_I2C_REG_HBW 0x13 #define BMX055_GYRO_I2C_REG_FIFO 0x3F @@ -18,6 +19,8 @@ #define BMX055_GYRO_HBW_ENABLE 0b10000000 #define BMX055_GYRO_HBW_DISABLE 0b00000000 +#define BMX055_GYRO_DEEP_SUSPEND 0b00100000 +#define BMX055_GYRO_NORMAL_MODE 0b00000000 #define BMX055_GYRO_RANGE_2000 0b000 #define BMX055_GYRO_RANGE_1000 0b001 @@ -34,5 +37,5 @@ public: BMX055_Gyro(I2CBus *bus); int init(); bool get_event(cereal::SensorEventData::Builder &event); - int shutdown() { return 0; } + int shutdown(); }; diff --git a/selfdrive/sensord/sensors/bmx055_magn.cc b/selfdrive/sensord/sensors/bmx055_magn.cc index 9ba6cebd5..74e18b7c8 100644 --- a/selfdrive/sensord/sensors/bmx055_magn.cc +++ b/selfdrive/sensord/sensors/bmx055_magn.cc @@ -155,6 +155,16 @@ int BMX055_Magn::init() { return ret; } +int BMX055_Magn::shutdown() { + // move to suspend mode + int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0); + if (ret < 0) { + LOGE("Could not move BMX055 MAGN in suspend mode!") + } + + return ret; +} + bool BMX055_Magn::perform_self_test() { uint8_t buffer[8]; int16_t x, y; diff --git a/selfdrive/sensord/sensors/bmx055_magn.h b/selfdrive/sensord/sensors/bmx055_magn.h index c762f2c3b..0549e163f 100644 --- a/selfdrive/sensord/sensors/bmx055_magn.h +++ b/selfdrive/sensord/sensors/bmx055_magn.h @@ -60,5 +60,5 @@ public: BMX055_Magn(I2CBus *bus); int init(); bool get_event(cereal::SensorEventData::Builder &event); - int shutdown() { return 0; } + int shutdown(); }; diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.cc b/selfdrive/sensord/sensors/lsm6ds3_accel.cc index 8cc89e457..513125fd5 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_accel.cc +++ b/selfdrive/sensord/sensors/lsm6ds3_accel.cc @@ -71,12 +71,25 @@ int LSM6DS3_Accel::shutdown() { value &= ~(LSM6DS3_ACCEL_INT1_DRDY_XL); ret = set_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value); if (ret < 0) { + LOGE("Could not disable lsm6ds3 acceleration interrupt!") + goto fail; + } + + // enable power-down mode + value = 0; + ret = read_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, &value, 1); + if (ret < 0) { + goto fail; + } + + value &= 0x0F; + ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, value); + if (ret < 0) { + LOGE("Could not power-down lsm6ds3 accelerometer!") goto fail; } - return ret; fail: - LOGE("Could not disable lsm6ds3 acceleration interrupt!") return ret; } diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc index a7321e8fa..fd0436a5f 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc +++ b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc @@ -74,12 +74,25 @@ int LSM6DS3_Gyro::shutdown() { value &= ~(LSM6DS3_GYRO_INT1_DRDY_G); ret = set_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value); if (ret < 0) { + LOGE("Could not disable lsm6ds3 gyroscope interrupt!") + goto fail; + } + + // enable power-down mode + value = 0; + ret = read_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, &value, 1); + if (ret < 0) { + goto fail; + } + + value &= 0x0F; + ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, value); + if (ret < 0) { + LOGE("Could not power-down lsm6ds3 gyroscope!") goto fail; } - return ret; fail: - LOGE("Could not disable lsm6ds3 gyroscope interrupt!") return ret; } diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.cc b/selfdrive/sensord/sensors/mmc5603nj_magn.cc index 2bfd887a7..8af4956ed 100644 --- a/selfdrive/sensord/sensors/mmc5603nj_magn.cc +++ b/selfdrive/sensord/sensors/mmc5603nj_magn.cc @@ -51,6 +51,34 @@ fail: return ret; } +int MMC5603NJ_Magn::shutdown() { + int ret = 0; + + // disable auto reset of measurements + uint8_t value = 0; + ret = read_register(MMC5603NJ_I2C_REG_INTERNAL_0, &value, 1); + if (ret < 0) { + goto fail; + } + + value &= ~(MMC5603NJ_CMM_FREQ_EN | MMC5603NJ_AUTO_SR_EN); + ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_0, value); + if (ret < 0) { + goto fail; + } + + // set ODR to 0 to leave continuous mode + ret = set_register(MMC5603NJ_I2C_REG_ODR, 0); + if (ret < 0) { + goto fail; + } + return ret; + +fail: + LOGE("Could not disable mmc5603nj auto set reset") + return ret; +} + bool MMC5603NJ_Magn::get_event(cereal::SensorEventData::Builder &event) { uint64_t start_time = nanos_since_boot(); diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.h b/selfdrive/sensord/sensors/mmc5603nj_magn.h index 857bd10a5..2c06cab96 100644 --- a/selfdrive/sensord/sensors/mmc5603nj_magn.h +++ b/selfdrive/sensord/sensors/mmc5603nj_magn.h @@ -26,5 +26,5 @@ public: MMC5603NJ_Magn(I2CBus *bus); int init(); bool get_event(cereal::SensorEventData::Builder &event); - int shutdown() { return 0; } + int shutdown(); }; diff --git a/selfdrive/sensord/sensors_qcom2.cc b/selfdrive/sensord/sensors_qcom2.cc index aaf79592c..ded4b5c0b 100644 --- a/selfdrive/sensord/sensors_qcom2.cc +++ b/selfdrive/sensord/sensors_qcom2.cc @@ -28,6 +28,10 @@ ExitHandler do_exit; std::mutex pm_mutex; +// filter first values (0.5sec) as those may contain inaccuracies +uint64_t init_ts = 0; +constexpr uint64_t init_delay = 500*1e6; + void interrupt_loop(int fd, std::vector& sensors, PubMaster& pm) { struct pollfd fd_list[1] = {0}; fd_list[0].fd = fd; @@ -88,6 +92,10 @@ void interrupt_loop(int fd, std::vector& sensors, PubMaster& pm) { events.adoptWithCaveats(i, kj::mv(collected_events[i])); } + if (ts - init_ts < init_delay) { + continue; + } + std::lock_guard lock(pm_mutex); pm.send("sensorEvents", msg); } @@ -167,6 +175,7 @@ int sensor_loop() { } PubMaster pm({"sensorEvents"}); + init_ts = nanos_since_boot(); // thread for reading events via interrupts std::vector lsm_interrupt_sensors = {&lsm6ds3_accel, &lsm6ds3_gyro}; @@ -185,6 +194,10 @@ int sensor_loop() { sensors[i]->get_event(event); } + if (nanos_since_boot() - init_ts < init_delay) { + continue; + } + { std::lock_guard lock(pm_mutex); pm.send("sensorEvents", msg); @@ -194,6 +207,10 @@ int sensor_loop() { std::this_thread::sleep_for(std::chrono::milliseconds(10) - (end - begin)); } + for (Sensor *sensor : sensors) { + sensor->shutdown(); + } + lsm_interrupt_thread.join(); delete i2c_bus_imu; return 0; From fc29147d027e44bebc8c3e74e8798281795d2b84 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 19 Sep 2022 21:21:56 -0700 Subject: [PATCH 42/75] Update RELEASES.md --- RELEASES.md | 1 + 1 file changed, 1 insertion(+) diff --git a/RELEASES.md b/RELEASES.md index 6edd900cb..9a43e642d 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -8,6 +8,7 @@ Version 0.8.17 (2022-XX-XX) * UI updates * Matched speeds shown on car's dash * Improved update experience + * Border turns grey while overriding steering * Added button to flag events that are shown in comma connect Version 0.8.16 (2022-08-26) From 6561c0ca7306a92c4a3b2e037b7e33dde3d8bbf2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 19 Sep 2022 22:05:02 -0700 Subject: [PATCH 43/75] Kia Optima: we support 2020, update packages LDWS comes in the same trim/package as ASCC --- docs/CARS.md | 6 +++--- selfdrive/car/hyundai/values.py | 10 +++++----- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 9df3b803d..d65c27d5b 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -93,10 +93,10 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Kia|Niro Plug-in Hybrid 2018-19|All|openpilot|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|Kia|Optima 2017|Advanced Smart Cruise Control & LDWS|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)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| +|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| +|Kia|Optima 2019-20|Smart Cruise Control (SCC)|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) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| -|Kia|Sorento 2018|Advanced Smart Cruise Control & LDWS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| +|Kia|Sorento 2018|Advanced Smart Cruise Control|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| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index ea6fca592..f3e45873a 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -157,16 +157,16 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h), ], CAR.KIA_OPTIMA: [ - HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control & LDWS", min_steer_speed=32. * CV.MPH_TO_MS, harness=Harness.hyundai_b), - HyundaiCarInfo("Kia Optima 2019", "Smart Cruise Control (SCC)", harness=Harness.hyundai_g), + HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", min_steer_speed=32. * CV.MPH_TO_MS, harness=Harness.hyundai_b), + HyundaiCarInfo("Kia Optima 2019-20", "Smart Cruise Control (SCC)", harness=Harness.hyundai_g), ], CAR.KIA_OPTIMA_H: [ - HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control & LDWS"), # TODO: info may be incorrect - HyundaiCarInfo("Kia Optima Hybrid 2019"), + HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"), # TODO: may support adjacent years + HyundaiCarInfo("Kia Optima Hybrid 2019", "Smart Cruise Control (SCC)"), ], CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a), CAR.KIA_SORENTO: [ - HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LDWS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c), + HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c), HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e), ], CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c), From 2c9f751616d01a695968150c0edccc57cc2f6d4f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 19 Sep 2022 23:33:59 -0700 Subject: [PATCH 44/75] Optima: split into two platforms (#24815) * Add missing fw versions for 2019 Optima * move versions to new platform * add temp fw version notes temp notes * clean up * Update docs * add fw versions from the last 180 days * add tests * fix * remove FPv1 for Optima * seems like the 2016 is the same * revert * add versions from our 2019 Optima * label/move some versions * add some versions from a 2020! (3d96bd05b5513638) * this is from the same 2017 as earlier (4f930156368f7830) * vin lookup isn't perfect * Revert "vin lookup isn't perfect" This reverts commit 62c563bc4549b37160254d45bb90fcbc1f6cd589. * a 2020 (df71aec6e636d7e4) * cleanup, this transmission is also a 2020 version df71aec6e636d7e4|2021-10-07--17-59-28 * this comes with scc * one line * revert * bump panda * add our transmission FW * Add test route --- panda | 2 +- selfdrive/car/hyundai/hyundaican.py | 2 +- selfdrive/car/hyundai/interface.py | 4 +- selfdrive/car/hyundai/values.py | 46 ++++++++++++++--------- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/substitute.yaml | 3 +- 6 files changed, 37 insertions(+), 21 deletions(-) diff --git a/panda b/panda index 046fd58e8..11ea11225 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 046fd58e8d64c58ed80769fcbec5ac2417a04c71 +Subproject commit 11ea112258b66a0969fa340cd5e2d870378e5c5d diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index df5cb6ae6..b3e1aa6b6 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -38,7 +38,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, 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,): + elif car_fingerprint in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_2019): # SysWarning 4 = keep hands on wheel + beep values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0 diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index c32cfbeec..97c1f7a5d 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -202,11 +202,13 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.indi.timeConstantV = [1.4] ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] - elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H): + elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_2019, CAR.KIA_OPTIMA_H): ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 + if candidate == CAR.KIA_OPTIMA: + ret.minSteerSpeed = 32 * CV.MPH_TO_MS CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.KIA_STINGER: ret.lateralTuning.pid.kf = 0.00005 diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index f3e45873a..3afae91e7 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -85,7 +85,8 @@ class CAR: KIA_NIRO_EV = "KIA NIRO EV 2020" KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019" KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021" - KIA_OPTIMA = "KIA OPTIMA SX 2019 & 2016" + KIA_OPTIMA = "KIA OPTIMA 2016" + KIA_OPTIMA_2019 = "KIA OPTIMA 2019" KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019" KIA_SELTOS = "KIA SELTOS 2021" KIA_SORENTO = "KIA SORENTO GT LINE 2018" @@ -156,10 +157,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Niro Hybrid 2021", harness=Harness.hyundai_f), # TODO: could be hyundai_d, verify HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h), ], - CAR.KIA_OPTIMA: [ - HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", min_steer_speed=32. * CV.MPH_TO_MS, harness=Harness.hyundai_b), - HyundaiCarInfo("Kia Optima 2019-20", "Smart Cruise Control (SCC)", harness=Harness.hyundai_g), - ], + CAR.KIA_OPTIMA: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", harness=Harness.hyundai_b), # TODO: may support 2016, 2018 + CAR.KIA_OPTIMA_2019: HyundaiCarInfo("Kia Optima 2019-20", "Smart Cruise Control (SCC)", harness=Harness.hyundai_g), CAR.KIA_OPTIMA_H: [ HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"), # TODO: may support adjacent years HyundaiCarInfo("Kia Optima Hybrid 2019", "Smart Cruise Control (SCC)"), @@ -230,9 +229,6 @@ FINGERPRINTS = { CAR.SONATA_LF: [ {66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1397: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2014: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8}, ], - CAR.KIA_OPTIMA: [{ - 64: 8, 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 558: 8, 593: 8, 608: 8, 640: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1186: 2, 1191: 2, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1268: 8, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1492: 8, 1530: 8, 1532: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 1996: 8, 2000: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8, 1371: 8, 1397: 8, 1961: 8 - }], CAR.KIA_SORENTO: [{ 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1 }], @@ -1144,25 +1140,40 @@ FW_VERSIONS = { }, CAR.KIA_OPTIMA: { (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 ', + b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4100 ', ], (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180', + b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080', ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x89F1JF600AISEIU702\xf1\x82F1JF600AISEIU702', + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21', ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409', + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6J0051\x00\x00\xf1\x006T6J0_C2\x00\x006T6J0051\x00\x00TJF0T20NSB\x00\x00\x00\x00', + ], + }, + CAR.KIA_OPTIMA_2019: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180', + b"\xf1\x00JF ESC \t 11 \x18\x03' 58920-D5260", ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32', - b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.02 95895-D5000 h31', + b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5100 h32', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW', + b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.', + b'\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01', + b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00', b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW', b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.', + b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01', b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00', + b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B8051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B8051\x00\x00TJFSG24NH27\xa7\xc2\xb4', ], }, CAR.ELANTRA_2021: { @@ -1358,7 +1369,7 @@ CHECKSUM = { 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_tcu_gears": {CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_2019, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, "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 @@ -1374,7 +1385,7 @@ HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_N 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 -LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022} +LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_2019, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022} # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points. # If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py @@ -1400,6 +1411,7 @@ DBC = { 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_2019: dbc_dict('hyundai_kia_generic', None), CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None), CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None), CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index e86525baa..3ae3a357c 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -89,6 +89,7 @@ routes = [ 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("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_2019, segment=0), 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), diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index de64a5544..92361d37f 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -17,7 +17,8 @@ LEXUS RC 2020: LEXUS NX 2020 TOYOTA AVALON HYBRID 2019: TOYOTA AVALON 2019 TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022 -KIA OPTIMA SX 2019 & 2016: HYUNDAI SONATA 2020 +KIA OPTIMA 2016: HYUNDAI SONATA 2020 +KIA OPTIMA 2019: HYUNDAI SONATA 2020 KIA OPTIMA HYBRID 2017 & SPORTS 2019: HYUNDAI SONATA 2020 KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020 KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020 From 1379989e0de7f2d5d163879befd32638dc1ebe1b Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 20 Sep 2022 10:45:13 -0700 Subject: [PATCH 45/75] sidebar: add button pressed states (#25848) * add flag img * add image assets * try darker button pressed * remove pressed image, set opacity instead * settings can be pressed too! * cleanup * make settings button white * bookmark --- selfdrive/assets/images/button_flag.png | Bin 0 -> 3305 bytes selfdrive/ui/qt/home.cc | 1 + selfdrive/ui/qt/sidebar.cc | 31 +++++++++++++++++++----- selfdrive/ui/qt/sidebar.h | 5 +++- 4 files changed, 30 insertions(+), 7 deletions(-) create mode 100644 selfdrive/assets/images/button_flag.png diff --git a/selfdrive/assets/images/button_flag.png b/selfdrive/assets/images/button_flag.png new file mode 100644 index 0000000000000000000000000000000000000000..b55620328a77a6672a4fb7e726ecd484bb2af97c GIT binary patch literal 3305 zcmVNc=P)EX>4Tx04R}tkv&MmKpe$iQ>7{u2Q!E`WT;LSL`5963Pq?8YK2xEOfLO`CWa)% z#ZhoAIQX$xb#QUk)xlK|1V2C=otzY1q{ROvg%&X$9QWhhy~o`#EOhoQoa{JX5qX={aJNSSq%$+QzJ8>BN)7F-)CP&_~QAN=mtE=-L3Nznw*`Qo}C!$4#gXw+Qy``C3GCqVcaxH4M)jXE&>NqViN z#g2f!ZQ$a%rKx+sGHG&+-hZ-r00006VoOIv0QUgi08@4%FGc_W010qNS#tmY z3ljhU3ljkVnw%H_000McNliru<_Q!81vre}6oCK$02y>eSad^gZEa<4bO1wgWnpw> zWFU8GbZ8()Nlj2!fese{01ClLL_t(|+U=cRh!y7u8q`2P9kn{N!!5a(P!unrgmRs$>i ze_8=71D5*lm&d+-0NjgxeIK~%zrPFI07YV0}hll8+O`n9yPP`5;9v6cL4_joRCAB)Q_0iyArZ@5-tILC=tso 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z2&^Z1!`A??DuXgV3*7bs-UO~zQ9udVo~Y}Hw#Ka{dQ&U@*JXVAQq1MCuO9&SVqf0} n?)vZV0=I|`c)eD2@tW~}SCLm|)u(RX00000NkvXXu0mjf5f&U4 literal 0 HcmV?d00001 diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index 435ba9056..78bc6aab4 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -41,6 +41,7 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) { setAttribute(Qt::WA_NoSystemBackground); QObject::connect(uiState(), &UIState::uiUpdate, this, &HomeWindow::updateState); QObject::connect(uiState(), &UIState::offroadTransition, this, &HomeWindow::offroadTransition); + QObject::connect(uiState(), &UIState::offroadTransition, sidebar, &Sidebar::offroadTransition); } void HomeWindow::showSidebar(bool show) { diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc index a84542d29..eeb163aa1 100644 --- a/selfdrive/ui/qt/sidebar.cc +++ b/selfdrive/ui/qt/sidebar.cc @@ -32,8 +32,9 @@ void Sidebar::drawMetric(QPainter &p, const QPair &label, QCol p.drawText(label_rect, Qt::AlignCenter, label.second); } -Sidebar::Sidebar(QWidget *parent) : QFrame(parent) { +Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(false), settings_pressed(false) { home_img = loadPixmap("../assets/images/button_home.png", home_btn.size()); + flag_img = loadPixmap("../assets/images/button_flag.png", home_btn.size()); settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio); connect(this, &Sidebar::valueChanged, [=] { update(); }); @@ -47,17 +48,34 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent) { pm = std::make_unique>({"userFlag"}); } +void Sidebar::mousePressEvent(QMouseEvent *event) { + if (onroad && home_btn.contains(event->pos())) { + flag_pressed = true; + update(); + } else if (settings_btn.contains(event->pos())) { + settings_pressed = true; + update(); + } +} + void Sidebar::mouseReleaseEvent(QMouseEvent *event) { + if (flag_pressed || settings_pressed) { + flag_pressed = settings_pressed = false; + update(); + } if (home_btn.contains(event->pos())) { MessageBuilder msg; msg.initEvent().initUserFlag(); pm->send("userFlag", msg); - } - if (settings_btn.contains(event->pos())) { + } else if (settings_btn.contains(event->pos())) { emit openSettings(); } } +void Sidebar::offroadTransition(bool offroad) { + onroad = !offroad; +} + void Sidebar::updateState(const UIState &s) { if (!isVisible()) return; @@ -102,11 +120,12 @@ void Sidebar::paintEvent(QPaintEvent *event) { p.fillRect(rect(), QColor(57, 57, 57)); - // static imgs - p.setOpacity(0.65); + // buttons + p.setOpacity(settings_pressed ? 0.65 : 1.0); p.drawPixmap(settings_btn.x(), settings_btn.y(), settings_img); + p.setOpacity(onroad && flag_pressed ? 0.65 : 1.0); + p.drawPixmap(home_btn.x(), home_btn.y(), onroad ? flag_img : home_img); p.setOpacity(1.0); - 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 621a21444..53ad7467a 100644 --- a/selfdrive/ui/qt/sidebar.h +++ b/selfdrive/ui/qt/sidebar.h @@ -24,14 +24,17 @@ signals: void valueChanged(); public slots: + void offroadTransition(bool offroad); void updateState(const UIState &s); protected: void paintEvent(QPaintEvent *event) override; + void mousePressEvent(QMouseEvent *event) override; void mouseReleaseEvent(QMouseEvent *event) override; void drawMetric(QPainter &p, const QPair &label, QColor c, int y); - QPixmap home_img, settings_img; + QPixmap home_img, flag_img, settings_img; + bool onroad, flag_pressed, settings_pressed; const QMap network_type = { {cereal::DeviceState::NetworkType::NONE, tr("--")}, {cereal::DeviceState::NetworkType::WIFI, tr("Wi-Fi")}, From c5df17cd571cb2bd77bbd13539cd6c773f76d9ad Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 20 Sep 2022 10:54:46 -0700 Subject: [PATCH 46/75] sidebar: updated bookmark image --- selfdrive/assets/images/button_flag.png | Bin 3305 -> 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z+~*&1DilnQ5nS3@b!g%h%F5WFbP~JLrIp9Ps+K3=rDs#{@2hZ^%TqnY{1Z z2&^Z1!`A??DuXgV3*7bs-UO~zQ9udVo~Y}Hw#Ka{dQ&U@*JXVAQq1MCuO9&SVqf0} n?)vZV0=I|`c)eD2@tW~}SCLm|)u(RX00000NkvXXu0mjf5f&U4 From 2cba29eabe58a120d51b398f7d13c1ac4130d52c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 20 Sep 2022 11:19:23 -0700 Subject: [PATCH 47/75] Hyundai: improve EV6 resume reliability (#25847) * Hyundai: improve EV6 resume reliability * this is pretty good Co-authored-by: Comma Device --- selfdrive/car/hyundai/carcontroller.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index db80bcdf4..6f7cc319e 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -97,7 +97,8 @@ class CarController: # cruise standstill resume elif CC.cruiseControl.resume: if not (self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS): - can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL)) + for _ in range(20): + can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL)) self.last_button_frame = self.frame else: From 53959082e7e3e200fb62e1c44219fa4e656eb8de Mon Sep 17 00:00:00 2001 From: Igor Biletskyy Date: Tue, 20 Sep 2022 12:39:12 -0700 Subject: [PATCH 48/75] boardd: add CAN health to pandaStates (#25800) * init * try this * mistake * fix * bump cereal * make obvious * fixes * remove comment * one helath header * .. * preallocate vectors --- cereal | 2 +- selfdrive/boardd/boardd.cc | 46 ++++++++++++++++++++++++++++++++++++-- selfdrive/boardd/panda.cc | 6 +++++ selfdrive/boardd/panda.h | 2 ++ 4 files changed, 53 insertions(+), 3 deletions(-) diff --git a/cereal b/cereal index e4130c905..3baa20e1d 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit e4130c90558dfb491e132992dce36e0e620e070a +Subproject commit 3baa20e1da5d88dcb1d3ae9678471eb8013958f2 diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 0872a9471..7009f28e1 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -295,13 +295,19 @@ void send_empty_panda_state(PubMaster *pm) { std::optional send_panda_states(PubMaster *pm, const std::vector &pandas, bool spoofing_started) { bool ignition_local = false; + const uint32_t pandas_cnt = pandas.size(); // build msg MessageBuilder msg; auto evt = msg.initEvent(); - auto pss = evt.initPandaStates(pandas.size()); + auto pss = evt.initPandaStates(pandas_cnt); std::vector pandaStates; + pandaStates.reserve(pandas_cnt); + + std::vector> pandaCanStates; + pandaCanStates.reserve(pandas_cnt); + for (const auto& panda : pandas){ auto health_opt = panda->get_state(); if (!health_opt) { @@ -310,6 +316,16 @@ std::optional send_panda_states(PubMaster *pm, const std::vector health_t health = *health_opt; + std::array can_health{}; + for (uint32_t i = 0; i < PANDA_CAN_CNT; i++) { + auto can_health_opt = panda->get_can_state(i); + if (!can_health_opt) { + return std::nullopt; + } + can_health[i] = *can_health_opt; + } + pandaCanStates.push_back(can_health); + if (spoofing_started) { health.ignition_line_pkt = 1; } @@ -319,7 +335,7 @@ std::optional send_panda_states(PubMaster *pm, const std::vector pandaStates.push_back(health); } - for (uint32_t i = 0; i < pandas.size(); i++) { + for (uint32_t i = 0; i < pandas_cnt; i++) { auto panda = pandas[i]; const auto &health = pandaStates[i]; @@ -366,6 +382,32 @@ std::optional send_panda_states(PubMaster *pm, const std::vector ps.setInterruptLoad(health.interrupt_load); ps.setFanPower(health.fan_power); + std::array cs = {ps.initCanState0(), ps.initCanState1(), ps.initCanState2()}; + + for (uint32_t j = 0; j < PANDA_CAN_CNT; j++) { + const auto &can_health = pandaCanStates[i][j]; + cs[j].setBusOff((bool)can_health.bus_off); + cs[j].setBusOffCnt(can_health.bus_off_cnt); + cs[j].setErrorWarning((bool)can_health.error_warning); + cs[j].setErrorPassive((bool)can_health.error_passive); + cs[j].setLastError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_error)); + cs[j].setLastStoredError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_stored_error)); + cs[j].setLastDataError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_data_error)); + cs[j].setLastDataStoredError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_data_stored_error)); + cs[j].setReceiveErrorCnt(can_health.receive_error_cnt); + cs[j].setTransmitErrorCnt(can_health.transmit_error_cnt); + cs[j].setTotalErrorCnt(can_health.total_error_cnt); + cs[j].setTotalTxLostCnt(can_health.total_tx_lost_cnt); + cs[j].setTotalRxLostCnt(can_health.total_rx_lost_cnt); + cs[j].setTotalTxCnt(can_health.total_tx_cnt); + cs[j].setTotalRxCnt(can_health.total_rx_cnt); + cs[j].setTotalFwdCnt(can_health.total_fwd_cnt); + cs[j].setCanSpeed(can_health.can_speed); + cs[j].setCanDataSpeed(can_health.can_data_speed); + cs[j].setCanfdEnabled(can_health.canfd_enabled); + cs[j].setBrsEnabled(can_health.canfd_enabled); + } + // Convert faults bitset to capnp list std::bitset fault_bits(health.faults_pkt); auto faults = ps.initFaults(fault_bits.count()); diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index 4d72bc904..7ddf15f9c 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -317,6 +317,12 @@ std::optional Panda::get_state() { return err >= 0 ? std::make_optional(health) : std::nullopt; } +std::optional Panda::get_can_state(uint16_t can_number) { + can_health_t can_health {0}; + int err = usb_read(0xc2, can_number, 0, (unsigned char*)&can_health, sizeof(can_health)); + return err >= 0 ? std::make_optional(can_health) : std::nullopt; +} + void Panda::set_loopback(bool loopback) { usb_write(0xe5, loopback, 0); } diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h index 1cefc3cb4..a4afbdac1 100644 --- a/selfdrive/boardd/panda.h +++ b/selfdrive/boardd/panda.h @@ -16,6 +16,7 @@ #include "panda/board/health.h" #define TIMEOUT 0 +#define PANDA_CAN_CNT 3 #define PANDA_BUS_CNT 4 #define RECV_SIZE (0x4000U) #define USB_TX_SOFT_LIMIT (0x100U) @@ -81,6 +82,7 @@ class Panda { uint16_t get_fan_speed(); void set_ir_pwr(uint16_t ir_pwr); std::optional get_state(); + std::optional get_can_state(uint16_t can_number); void set_loopback(bool loopback); std::optional> get_firmware_version(); std::optional get_serial(); From bae94a007079211c9fbf715ff77bf374c74a37f9 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Tue, 20 Sep 2022 16:00:56 -0700 Subject: [PATCH 49/75] camerad: fix OX page faults (#25853) --- system/camerad/cameras/camera_qcom2.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index ce1d0d6f2..65a0de0a6 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -52,7 +52,8 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = { .frame_width = FRAME_WIDTH, .frame_height = FRAME_HEIGHT, .frame_stride = FRAME_STRIDE, // (0xa80*12//8) - .extra_height = 16, // this right? + .extra_height = 16, // top 2 + bot 14 + .frame_offset = 2, }, }; From e29988ab7b5aad52f8e0c1903cca6ecabd9ed143 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 20 Sep 2022 16:41:20 -0700 Subject: [PATCH 50/75] updater: enable branch switching with installer gitconfig (#25854) --- selfdrive/updated.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index fc51ae799..c806e726c 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -374,8 +374,8 @@ class Updater: cloudlog.info("git reset in progress") cmds = [ - ["git", "checkout", "--force", "--no-recurse-submodules", branch], - ["git", "reset", "--hard", f"origin/{branch}"], + ["git", "checkout", "--force", "--no-recurse-submodules", "-B", branch, "FETCH_HEAD"], + ["git", "reset", "--hard"], ["git", "clean", "-xdf"], ["git", "submodule", "init"], ["git", "submodule", "update"], From 90f0f04d2699b3ad85fc980c35719cd95433ee82 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 21 Sep 2022 11:12:22 +0800 Subject: [PATCH 51/75] sidebar: call update in offroadTransition (#25856) --- selfdrive/ui/qt/sidebar.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc index eeb163aa1..212f19562 100644 --- a/selfdrive/ui/qt/sidebar.cc +++ b/selfdrive/ui/qt/sidebar.cc @@ -74,6 +74,7 @@ void Sidebar::mouseReleaseEvent(QMouseEvent *event) { void Sidebar::offroadTransition(bool offroad) { onroad = !offroad; + update(); } void Sidebar::updateState(const UIState &s) { From 7ef55f3820e02f9c445822b7fa288a29a6cd3177 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 21 Sep 2022 15:04:53 +0800 Subject: [PATCH 52/75] boardd: fix setting wrong value for BrsEnabled (#25858) fix wrong setBrsEnabled --- selfdrive/boardd/boardd.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 7009f28e1..cfec72f41 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -405,7 +405,7 @@ std::optional send_panda_states(PubMaster *pm, const std::vector cs[j].setCanSpeed(can_health.can_speed); cs[j].setCanDataSpeed(can_health.can_data_speed); cs[j].setCanfdEnabled(can_health.canfd_enabled); - cs[j].setBrsEnabled(can_health.canfd_enabled); + cs[j].setBrsEnabled(can_health.brs_enabled); } // Convert faults bitset to capnp list From db60f6b943b7b07403228e82560ae06f7280d74e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 21 Sep 2022 17:28:52 -0700 Subject: [PATCH 53/75] boardd: mutli pandas can knockout too --- selfdrive/boardd/boardd.cc | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index cfec72f41..884b23bf2 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -114,9 +114,8 @@ bool safety_setter_thread(std::vector pandas) { } // set to ELM327 for fingerprinting - pandas[0]->set_safety_model(cereal::CarParams::SafetyModel::ELM327); - for (int i = 1; i < pandas.size(); i++) { - pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::SILENT); + for (Panda *panda : pandas) { + panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327); } Params p = Params(); @@ -138,7 +137,9 @@ bool safety_setter_thread(std::vector pandas) { } // set to ELM327 for ECU knockouts - pandas[0]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U); + for (Panda *panda : pandas) { + panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327); + } std::string params; LOGW("waiting for params to set safety model"); From 760d4e668ed7ac83a6445fb01e79622b6cffcef4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 21 Sep 2022 21:23:14 -0700 Subject: [PATCH 54/75] set safety param for knockouts --- selfdrive/boardd/boardd.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 884b23bf2..9819944af 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -138,7 +138,7 @@ bool safety_setter_thread(std::vector pandas) { // set to ELM327 for ECU knockouts for (Panda *panda : pandas) { - panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327); + panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U); } std::string params; From 051fa5bea42027c1a756ae61fd0c752c1e911899 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 21 Sep 2022 21:41:17 -0700 Subject: [PATCH 55/75] hyundai: update mando radar dbc path --- opendbc | 2 +- release/files_common | 2 +- selfdrive/car/hyundai/values.py | 16 ++++++++-------- 3 files changed, 10 insertions(+), 10 deletions(-) diff --git a/opendbc b/opendbc index e95ed311c..eaac172af 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit e95ed311c10547026143b539a33341425cbec9ea +Subproject commit eaac172af9cb342204e69ec52339cdf3c6a8ac4e diff --git a/release/files_common b/release/files_common index fa4fa997c..5783edd07 100644 --- a/release/files_common +++ b/release/files_common @@ -535,7 +535,7 @@ opendbc/honda_civic_ex_2022_can_generated.dbc opendbc/hyundai_canfd.dbc opendbc/hyundai_kia_generic.dbc -opendbc/hyundai_kia_mando_front_radar.dbc +opendbc/hyundai_kia_mando_front_radar_generated.dbc opendbc/mazda_2017.dbc diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 3afae91e7..5e46b43f5 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1395,20 +1395,20 @@ DBC = { CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None), CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None), CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None), - CAR.GENESIS_G70_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), + CAR.GENESIS_G70_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None), CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None), CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None), CAR.IONIQ_PHEV_2019: dbc_dict('hyundai_kia_generic', None), CAR.IONIQ_PHEV: dbc_dict('hyundai_kia_generic', None), CAR.IONIQ_EV_2020: dbc_dict('hyundai_kia_generic', None), - CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), + CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.IONIQ: dbc_dict('hyundai_kia_generic', None), CAR.IONIQ_HEV_2022: dbc_dict('hyundai_kia_generic', None), 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_PHEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), + CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), + CAR.KIA_NIRO_PHEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None), CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None), CAR.KIA_OPTIMA_2019: dbc_dict('hyundai_kia_generic', None), @@ -1420,18 +1420,18 @@ DBC = { CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None), CAR.KONA_EV_2022: dbc_dict('hyundai_kia_generic', None), CAR.KONA_HEV: dbc_dict('hyundai_kia_generic', None), - CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), + CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.SANTA_FE_2022: dbc_dict('hyundai_kia_generic', None), CAR.SANTA_FE_HEV_2022: dbc_dict('hyundai_kia_generic', None), CAR.SANTA_FE_PHEV_2022: dbc_dict('hyundai_kia_generic', None), - CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), + CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format CAR.TUCSON: dbc_dict('hyundai_kia_generic', None), - CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), + CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None), CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None), CAR.KIA_EV6: dbc_dict('hyundai_canfd', None), - CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), + CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.IONIQ_5: dbc_dict('hyundai_canfd', None), } From 4693a9d3580db73905ccec525349007a8e3473e7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 22 Sep 2022 10:40:23 -0700 Subject: [PATCH 56/75] update refs --- selfdrive/test/process_replay/ref_commit | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 7b24c04c9..7aad2b291 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -deb07ca8c5dc021e57e81307764a84aa3d7aef32 \ No newline at end of file +051fa5bea42027c1a756ae61fd0c752c1e911899 \ No newline at end of file From 3b9add56025a2807bd7a75d105421f7c276e578b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 23 Sep 2022 01:40:41 +0800 Subject: [PATCH 57/75] V4LEncoder: remove unused member variable buf_in (#25870) --- selfdrive/loggerd/encoder/v4l_encoder.h | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/loggerd/encoder/v4l_encoder.h b/selfdrive/loggerd/encoder/v4l_encoder.h index b7c378be8..c2a53dd6e 100644 --- a/selfdrive/loggerd/encoder/v4l_encoder.h +++ b/selfdrive/loggerd/encoder/v4l_encoder.h @@ -28,7 +28,6 @@ private: static void dequeue_handler(V4LEncoder *e); std::thread dequeue_handler_thread; - VisionBuf buf_in[BUF_IN_COUNT]; VisionBuf buf_out[BUF_OUT_COUNT]; SafeQueue free_buf_in; }; From d4404511bcfb420aaf26ae466654821ba4216b2a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 23 Sep 2022 01:41:09 +0800 Subject: [PATCH 58/75] encoderd: build v4l_encoder.cc on PC (#25872) --- selfdrive/loggerd/SConscript | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/selfdrive/loggerd/SConscript b/selfdrive/loggerd/SConscript index a15aac380..92706c53e 100644 --- a/selfdrive/loggerd/SConscript +++ b/selfdrive/loggerd/SConscript @@ -5,10 +5,8 @@ libs = [common, cereal, messaging, visionipc, 'avformat', 'avcodec', 'swscale', 'avutil', 'yuv', 'OpenCL', 'pthread'] -src = ['logger.cc', 'video_writer.cc', 'encoder/encoder.cc'] -if arch == "larch64": - src += ['encoder/v4l_encoder.cc'] -else: +src = ['logger.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc'] +if arch != "larch64": src += ['encoder/ffmpeg_encoder.cc'] if arch == "Darwin": From cdbb06d45d5c6819319f5b6c2ba8b6f4261e9178 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 23 Sep 2022 01:41:47 +0800 Subject: [PATCH 59/75] locationd: remove redundant break statements (#25873) --- selfdrive/locationd/ublox_msg.cc | 6 ------ 1 file changed, 6 deletions(-) diff --git a/selfdrive/locationd/ublox_msg.cc b/selfdrive/locationd/ublox_msg.cc index c9f732e9a..b45dffae3 100644 --- a/selfdrive/locationd/ublox_msg.cc +++ b/selfdrive/locationd/ublox_msg.cc @@ -103,23 +103,17 @@ std::pair> UbloxMsgParser::gen_msg() { switch (ubx_message.msg_type()) { case 0x0107: return {"gpsLocationExternal", gen_nav_pvt(static_cast(body))}; - break; case 0x0213: return {"ubloxGnss", gen_rxm_sfrbx(static_cast(body))}; - break; case 0x0215: return {"ubloxGnss", gen_rxm_rawx(static_cast(body))}; - break; case 0x0a09: return {"ubloxGnss", gen_mon_hw(static_cast(body))}; - break; case 0x0a0b: return {"ubloxGnss", gen_mon_hw2(static_cast(body))}; - break; default: LOGE("Unknown message type %x", ubx_message.msg_type()); return {"ubloxGnss", kj::Array()}; - break; } } From 4ed0abd19734f5af1f2dbb899fd75686a90afbde Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Thu, 22 Sep 2022 12:52:48 -0700 Subject: [PATCH 60/75] camerad: recalibrate ox colors for HDR (#25874) re --- system/camerad/cameras/real_debayer.cl | 6 +++--- system/camerad/cameras/sensor2_i2c.h | 16 ++++++++-------- 2 files changed, 11 insertions(+), 11 deletions(-) diff --git a/system/camerad/cameras/real_debayer.cl b/system/camerad/cameras/real_debayer.cl index 4a36a03bf..59aa48865 100644 --- a/system/camerad/cameras/real_debayer.cl +++ b/system/camerad/cameras/real_debayer.cl @@ -9,9 +9,9 @@ float3 color_correct(float3 rgb) { // color correction #if IS_OX - float3 x = rgb.x * (float3)(1.81485125, -0.51650643, -0.06985117); - x += rgb.y * (float3)(-0.51681964, 1.85935946, -0.49871889); - x += rgb.z * (float3)(-0.29803161, -0.34285304, 1.56857006); + float3 x = rgb.x * (float3)(1.5664815 , -0.29808738, -0.03973474); + x += rgb.y * (float3)(-0.48672447, 1.41914433, -0.40295248); + x += rgb.z * (float3)(-0.07975703, -0.12105695, 1.44268722); #else float3 x = rgb.x * (float3)(1.82717181, -0.31231438, 0.07307673); x += rgb.y * (float3)(-0.5743977, 1.36858544, -0.53183455); diff --git a/system/camerad/cameras/sensor2_i2c.h b/system/camerad/cameras/sensor2_i2c.h index 209e2d76d..ab51059d9 100644 --- a/system/camerad/cameras/sensor2_i2c.h +++ b/system/camerad/cameras/sensor2_i2c.h @@ -727,10 +727,10 @@ struct i2c_random_wr_payload init_array_ox03c10[] = { // color balance gains // blue - {0x5280, 0x06}, {0x5281, 0x4A}, // hcg - {0x5480, 0x06}, {0x5481, 0x4A}, // lcg - {0x5680, 0x07}, {0x5681, 0xDD}, // spd - {0x5880, 0x06}, {0x5881, 0x4A}, // vs + {0x5280, 0x06}, {0x5281, 0xCB}, // hcg + {0x5480, 0x06}, {0x5481, 0xCB}, // lcg + {0x5680, 0x06}, {0x5681, 0xCB}, // spd + {0x5880, 0x06}, {0x5881, 0xCB}, // vs // green(blue) {0x5282, 0x04}, {0x5283, 0x00}, @@ -745,10 +745,10 @@ struct i2c_random_wr_payload init_array_ox03c10[] = { {0x5884, 0x04}, {0x5885, 0x00}, // red - {0x5286, 0x08}, {0x5287, 0x6C}, - {0x5486, 0x08}, {0x5487, 0x6C}, - {0x5686, 0x08}, {0x5687, 0xAA}, - {0x5886, 0x08}, {0x5887, 0x6C}, + {0x5286, 0x08}, {0x5287, 0xDE}, + {0x5486, 0x08}, {0x5487, 0xDE}, + {0x5686, 0x08}, {0x5687, 0xDE}, + {0x5886, 0x08}, {0x5887, 0xDE}, }; struct i2c_random_wr_payload init_array_ar0231[] = { From f52dea7d8458948331f4a6e27d7848fed3219f8e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 22 Sep 2022 13:42:00 -0700 Subject: [PATCH 61/75] ui: add support for dual cams (#25876) --- selfdrive/ui/qt/onroad.cc | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 3920453a4..0fbfb0cfc 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -26,6 +26,11 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) { split->setSpacing(0); split->addWidget(nvg); + if (getenv("DUAL_CAMERA_VIEW")) { + CameraViewWidget *arCam = new CameraViewWidget("camerad", VISION_STREAM_ROAD, true, this); + split->insertWidget(0, arCam); + } + stacked_layout->addWidget(split_wrapper); alerts = new OnroadAlerts(this); From dcdf9a6eb4d67432ea6e2902b285cc7c97caf56c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 22 Sep 2022 13:43:27 -0700 Subject: [PATCH 62/75] controlsd: ignore irrelevant alerts in dashcam mode (#25875) --- selfdrive/controls/controlsd.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 8b41e305f..5639a1f6c 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -233,6 +233,10 @@ class Controls: self.events.add(EventName.controlsInitializing) return + # no more events while in dashcam mode + if self.read_only: + 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: From dc65f8a60a8a20cb0c93386ef4c6537dce2fbc58 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 22 Sep 2022 15:56:17 -0700 Subject: [PATCH 63/75] agnos 6 (#25864) * agnos 6 * new agnos * no casync for now --- RELEASES.md | 1 + launch_env.sh | 2 +- system/hardware/tici/agnos.json | 12 ++++++------ system/hardware/tici/hardware.py | 11 ----------- 4 files changed, 8 insertions(+), 18 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 9a43e642d..dcea1e72c 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -10,6 +10,7 @@ Version 0.8.17 (2022-XX-XX) * Improved update experience * Border turns grey while overriding steering * Added button to flag events that are shown in comma connect +* AGNOS 6 Version 0.8.16 (2022-08-26) ======================== diff --git a/launch_env.sh b/launch_env.sh index ac84d6dcb..48c5696b9 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="5.2" + export AGNOS_VERSION="6" fi if [ -z "$PASSIVE" ]; then diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 7ccea95ee..dc0fa6f1c 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -1,9 +1,9 @@ [ { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-243ddbb9e2256aa7af7fed0daf8cff4017a3c838c759373a634b8539f271bfb8.img.xz", - "hash": "243ddbb9e2256aa7af7fed0daf8cff4017a3c838c759373a634b8539f271bfb8", - "hash_raw": "243ddbb9e2256aa7af7fed0daf8cff4017a3c838c759373a634b8539f271bfb8", + "url": "https://commadist.azureedge.net/agnosupdate/boot-57626d7737ab2fa1318e8707a202b1295b5da79ad2fa0a36377cc9481ad0d136.img.xz", + "hash": "57626d7737ab2fa1318e8707a202b1295b5da79ad2fa0a36377cc9481ad0d136", + "hash_raw": "57626d7737ab2fa1318e8707a202b1295b5da79ad2fa0a36377cc9481ad0d136", "size": 14780416, "sparse": false, "full_check": true, @@ -41,9 +41,9 @@ }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13.img.xz", - "hash": "44da205d17b44b2be7c94854a6bb3efb2928ec9a9889fe62af8b322d2295b74f", - "hash_raw": "59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13", + "url": "https://commadist.azureedge.net/agnosupdate/system-9db38e27c912005472f3ac02be336af4f82307295118b6db22921479d44a941d.img.xz", + "hash": "05e7ce440b33721b020a249043d9568a5898080e26411ca250fb330ad2e5ed8e", + "hash_raw": "9db38e27c912005472f3ac02be336af4f82307295118b6db22921479d44a941d", "size": 10737418240, "sparse": true, "full_check": false, diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index dd6b79e12..340093b60 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -462,17 +462,6 @@ class Tici(HardwareBase): sudo_write("N", "/sys/kernel/debug/msm_vidc/clock_scaling") sudo_write("Y", "/sys/kernel/debug/msm_vidc/disable_thermal_mitigation") - # *** unexport GPIO for sensors *** - # remove from /userspace/usr/comma/gpio.sh - sudo_write(str(GPIO.BMX055_ACCEL_INT), "/sys/class/gpio/unexport") - sudo_write(str(GPIO.BMX055_GYRO_INT), "/sys/class/gpio/unexport") - sudo_write(str(GPIO.BMX055_MAGN_INT), "/sys/class/gpio/unexport") - sudo_write(str(GPIO.LSM_INT), "/sys/class/gpio/unexport") - - # *** set /dev/gpiochip0 rights to make accessible by sensord - os.system("sudo chmod +r /dev/gpiochip0") - - def configure_modem(self): sim_id = self.get_sim_info().get('sim_id', '') From 9a2d8c420d0f0226390547feb00de4dcefbd1adf Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 22 Sep 2022 18:38:42 -0700 Subject: [PATCH 64/75] docs: update Hyundai packages (#25851) * LKAS is part of same package as SCC for Elantra 2017-2019 https://cdn.dealereprocess.org/cdn/brochures/hyundai/2017-elantra.pdf https://cdn.dealereprocess.org/cdn/brochures/hyundai/2018-elantra.pdf https://cdn.dealereprocess.org/cdn/brochures/hyundai/2019-elantra.pdf * LKAS is standard on all trims for Elantra 2021 https://cdn.dealereprocess.org/cdn/brochures/hyundai/2021-elantra.pdf * LKAS is part of same package as SCC on Genesis 2016 TODO: confirm 2015 https://cdn.dealereprocess.org/cdn/brochures/hyundai/2016-genesis.pdf * LKAS is part of same package as SCC for Ioniq Hybrid 2017-19 Same package 2017-18 https://cdn.dealereprocess.org/cdn/brochures/hyundai/2017-ioniq.pdf https://cdn.dealereprocess.org/cdn/brochures/hyundai/2018-ioniq.pdf SEL and Limited on 2019 https://cdn.dealereprocess.org/cdn/brochures/hyundai/2019-ioniq.pdf * LFA is part of same trim as SCC on Ioniq Hybrid 2020-22 TODO: confirm for 2022 SEL and Limited includes both SCC and LFA https://cdn.dealereprocess.org/cdn/brochures/hyundai/2020-ioniq.pdf https://cdn.dealereprocess.org/cdn/brochures/hyundai/2021-ioniq.pdf * Remove Ioniq Hybrid 2020-21 until harnesses verified All three model years were added in a single PR - need to lookup routes and see if there are users with 2020-21 MY vehicles. https://github.com/commaai/openpilot/pull/22610 * LKAS is on same trim as SCC for Ioniq Electric 2019 https://cdn.dealereprocess.org/cdn/brochures/hyundai/2019-ioniq.pdf * SCC and LKA are on all trims for Ioniq Electric 2020 https://cdn.dealereprocess.org/cdn/brochures/hyundai/2020-ioniq.pdf * LKA and SCC are on same trims for Ioniq Plug-in Hybrid 2019 https://cdn.dealereprocess.org/cdn/brochures/hyundai/2019-ioniq.pdf * SCC and LFA are on all trims for Ioniq Plug-in Hybrid 2020-21 https://cdn.dealereprocess.org/cdn/brochures/hyundai/2020-ioniq.pdf https://cdn.dealereprocess.org/cdn/brochures/hyundai/2021-ioniq.pdf * LKAS is standard on Kona Electric 2018-21 SCC only on Ultimate trim, LKAS on all (2018 UK only) https://www1.hyundai.news/fileadmin/uk/press-kits/20180828_kona_electric/Hyundai_Kona_Electric_-_Technical_data_and_specifications.pdf https://cdn.dealereprocess.org/cdn/brochures/hyundai/2019-kona.pdf https://cdn.dealereprocess.org/cdn/brochures/hyundai/2020-konaelectric.pdf https://cdn.dealereprocess.org/cdn/brochures/hyundai/2021-konaelectric.pdf * LKAS is part of same package as SCC for Sonata 2018-19 Tech Package includes SCC and LKAS https://cdn.dealereprocess.org/cdn/brochures/hyundai/2018-sonata.pdf https://cdn.dealereprocess.org/cdn/brochures/hyundai/2019-sonata.pdf * define LKAS package explicitly * remove package where default * LFA part of same trim as SCC for Seltos 2021 https://cdn.dealereprocess.org/cdn/brochures/kia/2021-seltos.pdf * LKAS is on all trims with SCC for Sorento 2019 https://cdn.dealereprocess.org/cdn/brochures/kia/2019-sorento.pdf * LKAS is on all trims with SCC for Stinger 2018-20 https://cdn.dealereprocess.org/cdn/brochures/kia/2018-stinger.pdf https://cdn.dealereprocess.org/cdn/brochures/kia/2019-stinger.pdf https://cdn.dealereprocess.org/cdn/brochures/kia/2020-stinger.pdf * remove min steer speed definition from docs for Optima 2016 * LFA is included in same trim as SCC for Niro Hybrid 2022 https://cdn.dealereprocess.org/cdn/brochures/kia/2022-niro.pdf * update docs * remove Ioniq Hybrid 2020-21, add note * update docs * remove LKAS for Kona Hybrid 2020 and Niro Hybrid 2021, likely included in SCC trims * update docs * Revert "remove Ioniq Hybrid 2020-21, add note" This reverts commit 62096a8db3fb21771a04e20714ecee906a5c0b34. * Revert "Remove Ioniq Hybrid 2020-21 until harnesses verified" This reverts commit ac773285f76a108c32d8692d12eef18cabcfd023. * update docs --- docs/CARS.md | 34 +++++++++++++++---------------- selfdrive/car/hyundai/values.py | 36 ++++++++++++++++----------------- 2 files changed, 34 insertions(+), 36 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index d65c27d5b..ecd6932e8 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -53,27 +53,27 @@ A supported vehicle is one that just works when you install a comma three. All s |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|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| +|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|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)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| -|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J| +|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|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|openpilot|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| +|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| +|Hyundai|Ioniq Electric 2020|All|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)|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)|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)|openpilot|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| +|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|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)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| -|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| +|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|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|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I| +|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I| |Hyundai|Palisade 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Hyundai|Santa Fe 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D| |Hyundai|Santa Fe 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |Hyundai|Santa Fe Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| -|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| +|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|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)|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| @@ -90,15 +90,15 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|Niro EV 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| |Kia|Niro EV 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Kia|Niro EV 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|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| -|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| +|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| +|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Kia|Niro Plug-in Hybrid 2018-19|All|openpilot|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| |Kia|Optima 2019-20|Smart Cruise Control (SCC)|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) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| +|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Kia|Sorento 2018|Advanced Smart Cruise Control|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|Sorento 2019|Smart Cruise Control (SCC)|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)|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| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 5e46b43f5..f0e78b22b 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -103,27 +103,25 @@ class CAR: @dataclass class HyundaiCarInfo(CarInfo): - # TODO: we can probably remove LKAS. LKAS is standard on many - # HKG and for others, it's likely packaged together with SCC - package: str = "Smart Cruise Control (SCC) & LKAS" + package: str = "Smart Cruise Control (SCC)" CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.ELANTRA: HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b), CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), - CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-22", "Smart Cruise Control (SCC)", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), + CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), CAR.ELANTRA_GT_I30: None, # dashcamOnly and same platform as CAR.ELANTRA - CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), + CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), # TODO: check 2015 packages CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c), - CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", "Smart Cruise Control (SCC) & LFA", harness=Harness.hyundai_h), + CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", "Smart Cruise Control (SCC)", harness=Harness.hyundai_h), # TODO: confirm 2020-21 harness CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c), - CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", harness=Harness.hyundai_h), + CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", harness=Harness.hyundai_h), CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness=Harness.hyundai_c), - CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", "Smart Cruise Control (SCC)", harness=Harness.hyundai_h), - CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", "Smart Cruise Control (SCC)", harness=Harness.hyundai_b), + CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", "All", harness=Harness.hyundai_h), + CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness=Harness.hyundai_b), CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness=Harness.hyundai_g), - 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.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", harness=Harness.hyundai_o), + CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i), # TODO: check packages 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", 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), @@ -131,21 +129,21 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a), CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e), CAR.TUCSON: [ - HyundaiCarInfo("Hyundai Tucson 2021", "Smart Cruise Control (SCC)", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l), - HyundaiCarInfo("Hyundai Tucson Diesel 2019", "Smart Cruise Control (SCC)", harness=Harness.hyundai_l), + HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l), + HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l), ], CAR.PALISADE: [ HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h), HyundaiCarInfo("Kia Telluride 2020", "All", harness=Harness.hyundai_h), ], - CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", "Smart Cruise Control (SCC)", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e), + CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", 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 2019-21", "Smart Cruise Control (SCC)", harness=Harness.hyundai_g), - CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a), + CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g), + CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", harness=Harness.hyundai_a), CAR.KIA_NIRO_EV: [ HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f), @@ -158,10 +156,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h), ], CAR.KIA_OPTIMA: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", harness=Harness.hyundai_b), # TODO: may support 2016, 2018 - CAR.KIA_OPTIMA_2019: HyundaiCarInfo("Kia Optima 2019-20", "Smart Cruise Control (SCC)", harness=Harness.hyundai_g), + CAR.KIA_OPTIMA_2019: HyundaiCarInfo("Kia Optima 2019-20", harness=Harness.hyundai_g), CAR.KIA_OPTIMA_H: [ HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"), # TODO: may support adjacent years - HyundaiCarInfo("Kia Optima Hybrid 2019", "Smart Cruise Control (SCC)"), + HyundaiCarInfo("Kia Optima Hybrid 2019"), ], CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a), CAR.KIA_SORENTO: [ @@ -169,7 +167,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e), ], CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c), - CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", "Smart Cruise Control (SCC)", harness=Harness.hyundai_e), + CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e), CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "Highway Driving Assist II", harness=Harness.hyundai_p), # Genesis From b3be8636710c3ef4699bbb256f56823302d08397 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Fri, 23 Sep 2022 13:40:15 +0200 Subject: [PATCH 65/75] Tesla FW query (#25785) * early wip * add addresses * cleaned up fw versions * remove CAN fingerprint * Revert "remove CAN fingerprint" This reverts commit 337e8d65ef7ee2724cfe6ff711ee8aeffdbbb22f. * bump panda * Revert "Revert "remove CAN fingerprint"" This reverts commit 12536fa8358438a6d6713c0b7bef0383bbc83588. * bump cereal * fix ecu type * whitelist per rx_offset * bump submodules again Co-authored-by: Comma Device --- cereal | 2 +- panda | 2 +- selfdrive/car/tesla/values.py | 46 ++++++++++++++++++++++++++++++----- 3 files changed, 42 insertions(+), 8 deletions(-) diff --git a/cereal b/cereal index 3baa20e1d..a0c6f28d6 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 3baa20e1da5d88dcb1d3ae9678471eb8013958f2 +Subproject commit a0c6f28d6bce2fd7d7ef2fd29e80d2eab118a6c6 diff --git a/panda b/panda index 11ea11225..10c099166 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 11ea112258b66a0969fa340cd5e2d870378e5c5d +Subproject commit 10c0991666865feb734120f2544586d461292866 diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index 7648a4a50..e28666c62 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -1,9 +1,12 @@ from collections import namedtuple from typing import Dict, List, Union +from cereal import car from selfdrive.car import dbc_dict from selfdrive.car.docs_definitions import CarInfo -from cereal import car +from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries + +Ecu = car.CarParams.Ecu Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values']) AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points']) @@ -20,11 +23,6 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { } FINGERPRINTS = { - CAR.AP2_MODELS: [ - { - 1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 277: 6, 280: 6, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 518: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 538: 8, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 576: 3, 577: 8, 582: 5, 583: 8, 584: 4, 585: 8, 590: 8, 601: 8, 606: 8, 608: 1, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 692: 8, 693: 8, 695: 8, 696: 8, 697: 8, 699: 8, 700: 8, 701: 8, 702: 8, 703: 8, 704: 8, 708: 8, 709: 8, 710: 8, 711: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 811: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 845: 8, 846: 5, 848: 8, 852: 8, 853: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 876: 8, 877: 8, 879: 8, 880: 8, 882: 8, 884: 8, 888: 8, 893: 8, 894: 8, 901: 6, 904: 3, 905: 8, 906: 8, 908: 2, 909: 8, 910: 8, 912: 8, 920: 8, 921: 8, 925: 4, 926: 6, 936: 8, 941: 8, 949: 8, 952: 8, 953: 6, 968: 8, 969: 7, 970: 8, 971: 8, 977: 8, 984: 8, 986: 8, 987: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1007: 8, 1008: 8, 1010: 6, 1014: 1, 1015: 8, 1016: 8, 1017: 8, 1018: 8, 1020: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1049: 8, 1061: 8, 1064: 8, 1065: 8, 1070: 8, 1080: 8, 1081: 8, 1097: 8, 1113: 8, 1129: 8, 1145: 8, 1160: 4, 1177: 8, 1281: 8, 1328: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1353: 8, 1368: 8, 1412: 8, 1436: 8, 1476: 8, 1481: 8, 1497: 8, 1513: 8, 1519: 8, 1601: 8, 1605: 8, 1617: 8, 1621: 8, 1625: 8, 1665: 8, 1792: 8, 1798: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1824: 8, 1825: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1842: 8, 1848: 8, 1864: 8, 1872: 8, 1880: 8, 1888: 8, 1892: 8, 1896: 8, 1912: 8, 1937: 8, 1953: 8, 1960: 8, 1968: 8, 1992: 8, 2001: 8, 2008: 3, 2015: 8, 2016: 8, 2043: 5, 2045: 4 - }, - ], CAR.AP1_MODELS: [ { 1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 267: 5, 277: 6, 280: 6, 283: 5, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 577: 8, 582: 5, 584: 4, 585: 8, 590: 8, 606: 8, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 660: 5, 693: 8, 696: 8, 697: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 809: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 841: 8, 845: 8, 846: 5, 852: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 873: 8, 877: 8, 878: 8, 879: 8, 880: 8, 884: 8, 888: 8, 889: 8, 893: 8, 896: 8, 901: 6, 904: 3, 905: 8, 908: 2, 909: 8, 920: 8, 921: 8, 925: 4, 936: 8, 937: 8, 941: 8, 949: 8, 952: 8, 953: 6, 957: 8, 968: 8, 973: 8, 984: 8, 987: 8, 989: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1016: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1064: 8, 1070: 8, 1080: 8, 1160: 4, 1281: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1368: 8, 1412: 8, 1436: 8, 1465: 8, 1476: 8, 1497: 8, 1524: 8, 1527: 8, 1601: 8, 1605: 8, 1611: 8, 1614: 8, 1617: 8, 1621: 8, 1627: 8, 1630: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2043: 5, 2045: 4 @@ -37,6 +35,42 @@ DBC = { CAR.AP1_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'), } +FW_QUERY_CONFIG = FwQueryConfig( + requests=[ + Request( + [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE], + whitelist_ecus=[Ecu.eps], + rx_offset=0x08, + bus=0, + ), + Request( + [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE], + whitelist_ecus=[Ecu.adas, Ecu.electricBrakeBooster, Ecu.fwdRadar], + rx_offset=0x10, + bus=0, + ), + ] +) + +FW_VERSIONS = { + CAR.AP2_MODELS: { + (Ecu.adas, 0x649, None): [ + b'\x01\x00\x8b\x07\x01\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x11', + ], + (Ecu.electricBrakeBooster, 0x64d, None): [ + b'1037123-00-A', + ], + (Ecu.fwdRadar, 0x671, None): [ + b'\x01\x00W\x00\x00\x00\x07\x00\x00\x00\x00\x08\x01\x00\x00\x00\x07\xff\xfe', + ], + (Ecu.eps, 0x730, None): [ + b'\x10#\x01', + ], + }, +} + class CANBUS: # Lateral harness chassis = 0 From 2f878830c841402cc971b76a3b14e58fc8c69fd9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 24 Sep 2022 01:54:13 +0800 Subject: [PATCH 66/75] modeld: removed extra spaces (#25880) --- selfdrive/modeld/modeld.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc index 653661a3a..cfc71a0e2 100644 --- a/selfdrive/modeld/modeld.cc +++ b/selfdrive/modeld/modeld.cc @@ -35,7 +35,7 @@ mat3 update_calibration(Eigen::Vector3d device_from_calib_euler, bool wide_camer 0.00000000e+00, 7.31372216e-19, 1.00000000e+00, 2.19780220e-03, 4.11497335e-19, -5.62637363e-01, -6.66298828e-20, 2.19780220e-03, -3.33626374e-01).finished(); - + static const auto view_from_device = (Eigen::Matrix() << 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, From f4a4ec8fa21dfef5ef0ebe2eafaadc1c2536d861 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 24 Sep 2022 04:28:25 +0800 Subject: [PATCH 67/75] bootlog: rename bz_file to file (#25881) --- selfdrive/loggerd/bootlog.cc | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/selfdrive/loggerd/bootlog.cc b/selfdrive/loggerd/bootlog.cc index 6ff052655..e882e4cf8 100644 --- a/selfdrive/loggerd/bootlog.cc +++ b/selfdrive/loggerd/bootlog.cc @@ -55,13 +55,11 @@ int main(int argc, char** argv) { bool r = util::create_directories(LOG_ROOT + "/boot/", 0775); assert(r); - RawFile bz_file(path.c_str()); - + RawFile file(path.c_str()); // Write initdata - bz_file.write(logger_build_init_data().asBytes()); - + file.write(logger_build_init_data().asBytes()); // Write bootlog - bz_file.write(build_boot_log().asBytes()); + file.write(build_boot_log().asBytes()); return 0; } From 755f24885aa3e89933cc8ad9784cdaf480156239 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Fri, 23 Sep 2022 18:51:07 -0700 Subject: [PATCH 68/75] pin sensord and lsm interrupt to core 1, for better timing (#25867) Co-authored-by: Kurt Nistelberger --- selfdrive/sensord/sensors_qcom2.cc | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/selfdrive/sensord/sensors_qcom2.cc b/selfdrive/sensord/sensors_qcom2.cc index ded4b5c0b..5e741a89a 100644 --- a/selfdrive/sensord/sensors_qcom2.cc +++ b/selfdrive/sensord/sensors_qcom2.cc @@ -174,6 +174,11 @@ int sensor_loop() { return -1; } + // increase interrupt quality by pinning interrupt and process to core 1 + setpriority(PRIO_PROCESS, 0, -18); + util::set_core_affinity({1}); + std::system("sudo su -c 'echo 1 > /proc/irq/336/smp_affinity_list'"); + PubMaster pm({"sensorEvents"}); init_ts = nanos_since_boot(); @@ -207,7 +212,7 @@ int sensor_loop() { std::this_thread::sleep_for(std::chrono::milliseconds(10) - (end - begin)); } - for (Sensor *sensor : sensors) { + for (Sensor *sensor : sensors) { sensor->shutdown(); } @@ -217,6 +222,5 @@ int sensor_loop() { } int main(int argc, char *argv[]) { - setpriority(PRIO_PROCESS, 0, -18); return sensor_loop(); } From b2376909f4b3c95f27eb11d081d3952566b06815 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 23 Sep 2022 19:44:18 -0700 Subject: [PATCH 69/75] updated: allow reusing overlay (#25883) --- selfdrive/updated.py | 17 +++++++---------- 1 file changed, 7 insertions(+), 10 deletions(-) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index c806e726c..4556876c2 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -52,6 +52,8 @@ OVERLAY_METADATA = os.path.join(STAGING_ROOT, "metadata") OVERLAY_MERGED = os.path.join(STAGING_ROOT, "merged") FINALIZED = os.path.join(STAGING_ROOT, "finalized") +OVERLAY_INIT = Path(os.path.join(BASEDIR, ".overlay_init")) + DAYS_NO_CONNECTIVITY_MAX = 14 # do not allow to engage after this many days DAYS_NO_CONNECTIVITY_PROMPT = 10 # send an offroad prompt after this many days @@ -134,12 +136,10 @@ def dismount_overlay() -> None: def init_overlay() -> None: - overlay_init_file = Path(os.path.join(BASEDIR, ".overlay_init")) - # Re-create the overlay if BASEDIR/.git has changed since we created the overlay - if overlay_init_file.is_file(): + if OVERLAY_INIT.is_file(): git_dir_path = os.path.join(BASEDIR, ".git") - new_files = run(["find", git_dir_path, "-newer", str(overlay_init_file)]) + new_files = run(["find", git_dir_path, "-newer", str(OVERLAY_INIT)]) if not len(new_files.splitlines()): # A valid overlay already exists return @@ -170,7 +170,7 @@ def init_overlay() -> None: consistent_file = Path(os.path.join(BASEDIR, ".overlay_consistent")) if consistent_file.is_file(): consistent_file.unlink() - overlay_init_file.touch() + OVERLAY_INIT.touch() os.sync() overlay_opts = f"lowerdir={BASEDIR},upperdir={OVERLAY_UPPER},workdir={OVERLAY_METADATA}" @@ -419,9 +419,6 @@ def main() -> None: t = datetime.datetime.utcnow().isoformat() params.put("InstallDate", t.encode('utf8')) - overlay_init = Path(os.path.join(BASEDIR, ".overlay_init")) - overlay_init.unlink(missing_ok=True) - updater = Updater() update_failed_count = 0 # TODO: Load from param? @@ -461,11 +458,11 @@ def main() -> None: returncode=e.returncode ) exception = f"command failed: {e.cmd}\n{e.output}" - overlay_init.unlink(missing_ok=True) + OVERLAY_INIT.unlink(missing_ok=True) except Exception as e: cloudlog.exception("uncaught updated exception, shouldn't happen") exception = str(e) - overlay_init.unlink(missing_ok=True) + OVERLAY_INIT.unlink(missing_ok=True) try: params.put("UpdaterState", "idle") From d997d40f17406d079c2f343bcde446be44094021 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Mon, 26 Sep 2022 11:33:35 +0900 Subject: [PATCH 70/75] update system.hardware import path (#25889) --- selfdrive/sensord/pigeond.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/sensord/pigeond.py b/selfdrive/sensord/pigeond.py index e38e2d4c3..e1fa2f4ca 100755 --- a/selfdrive/sensord/pigeond.py +++ b/selfdrive/sensord/pigeond.py @@ -12,9 +12,9 @@ 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 system.hardware import TICI from common.gpio import gpio_init, gpio_set -from selfdrive.hardware.tici.pins import GPIO +from system.hardware.tici.pins import GPIO UBLOX_TTY = "/dev/ttyHS0" From a124fa22e412cd38f68a8e8db998dd786ed9509c Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Tue, 27 Sep 2022 04:01:24 +0900 Subject: [PATCH 71/75] Multilang: kor translation update (#25893) --- selfdrive/ui/translations/main_ko.ts | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 2a806aaed..56524e49f 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -960,11 +960,11 @@ location set openpilot longitudinal control is not currently available for this car. - + 현재 이 차량에는 openpilot 롱컨트롤을 사용할 수 없습니다. Enable experimental longitudinal control to enable this. - + openpilot 롱컨트롤을 활성화합니다. (실험적) Disengage On Accelerator Pedal From d2869f4779495685730c5eb27e90fabf559f68d4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 26 Sep 2022 16:57:21 -0700 Subject: [PATCH 72/75] updated: check overlay mounted --- selfdrive/updated.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 4556876c2..f46cda320 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -137,7 +137,7 @@ def dismount_overlay() -> None: def init_overlay() -> None: # Re-create the overlay if BASEDIR/.git has changed since we created the overlay - if OVERLAY_INIT.is_file(): + if OVERLAY_INIT.is_file() and os.path.ismount(OVERLAY_MERGED): git_dir_path = os.path.join(BASEDIR, ".git") new_files = run(["find", git_dir_path, "-newer", str(OVERLAY_INIT)]) if not len(new_files.splitlines()): From f18773acbea2c54a2edc70d74c35a8dea6cfdf82 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 26 Sep 2022 22:27:30 -0700 Subject: [PATCH 73/75] compressed_vipc: add main() --- tools/camerastream/compressed_vipc.py | 19 +++++++++++-------- 1 file changed, 11 insertions(+), 8 deletions(-) diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py index 4322ce279..42a416985 100755 --- a/tools/camerastream/compressed_vipc.py +++ b/tools/camerastream/compressed_vipc.py @@ -85,6 +85,16 @@ def decoder(addr, sock_name, vipc_server, vst, nvidia): time_q = time_q[1:] 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) +def main(addr, cams, nvidia=False): + vipc_server = VisionIpcServer("camerad") + for vst in cams.values(): + vipc_server.create_buffers(vst, 4, False, W, H) + vipc_server.start_listener() + + for k, v in cams.items(): + multiprocessing.Process(target=decoder, args=(addr, k, vipc_server, v, nvidia)).start() + + if __name__ == "__main__": parser = argparse.ArgumentParser(description="Decode video streams and broadcast on VisionIPC") parser.add_argument("addr", help="Address of comma three") @@ -98,11 +108,4 @@ if __name__ == "__main__": ("driverEncodeData", VisionStreamType.VISION_STREAM_DRIVER), ] cams = dict([all_cams[int(x)] for x in args.cams.split(",")]) - - vipc_server = VisionIpcServer("camerad") - for vst in cams.values(): - vipc_server.create_buffers(vst, 4, False, W, H) - vipc_server.start_listener() - - for k,v in cams.items(): - multiprocessing.Process(target=decoder, args=(args.addr, k, vipc_server, v, args.nvidia)).start() + main(args.addr, cams, args.nvidia) From 29b9a07393bffc6d7915245958e38b9219304aa7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 26 Sep 2022 23:22:50 -0700 Subject: [PATCH 74/75] Log tx addr for IsoTpMessage exceptions --- selfdrive/car/isotp_parallel_query.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 65122ab89..971309439 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -109,7 +109,7 @@ class IsoTpParallelQuery: try: dat: Optional[bytes] = msg.recv() except Exception: - cloudlog.exception("Error processing UDS response") + cloudlog.exception(f"Error processing UDS response: {tx_addr}") request_done[tx_addr] = True continue From 26517a0ef920eb7dc89663ee599c1f1d06166c88 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 26 Sep 2022 23:50:49 -0700 Subject: [PATCH 75/75] replay: set CarParamsPersistent --- tools/replay/replay.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 3e482b547..c6c78f47a 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -290,6 +290,7 @@ void Replay::startStream(const Segment *cur_segment) { auto words = capnp::messageToFlatArray(builder); auto bytes = words.asBytes(); Params().put("CarParams", (const char *)bytes.begin(), bytes.size()); + Params().put("CarParamsPersistent", (const char *)bytes.begin(), bytes.size()); } else { rWarning("failed to read CarParams from current segment"); }