diff --git a/.gitignore b/.gitignore
index 334b1b4fed..0092c4dc94 100644
--- a/.gitignore
+++ b/.gitignore
@@ -49,8 +49,8 @@ selfdrive/loggerd/loggerd
selfdrive/loggerd/bootlog
selfdrive/sensord/_gpsd
selfdrive/sensord/_sensord
-selfdrive/camerad/camerad
-selfdrive/camerad/test/ae_gray_test
+system/camerad/camerad
+system/camerad/test/ae_gray_test
selfdrive/modeld/_modeld
selfdrive/modeld/_dmonitoringmodeld
/src/
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 81ce927f65..b901e07721 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -20,7 +20,7 @@ repos:
hooks:
- id: mypy
exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/'
- additional_dependencies: ['lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi']
+ additional_dependencies: ['types-PyYAML', 'lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi']
args:
- --warn-redundant-casts
- --warn-return-any
diff --git a/docs/CARS.md b/docs/CARS.md
index 73ffcc0e0a..fb163b44e0 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -35,7 +35,7 @@ How We Rate The Cars
**All supported cars can move between the tiers as support changes.**
-# Gold - 29 cars
+# Gold - 31 cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -52,9 +52,11 @@ How We Rate The Cars
|Lexus|ES 2019-21|All|
|||||
|Lexus|ES Hybrid 2019-22|All||||||
|Lexus|NX 2020|All||||||
+|Lexus|NX Hybrid 2020|All||||||
|Lexus|RX 2020-22|All||||||
|Lexus|UX Hybrid 2019-21|All||||||
|Toyota|Avalon 2022|All||||||
+|Toyota|Avalon Hybrid 2022|All||||||
|Toyota|Camry 2021-22|All||[4](#footnotes)||||
|Toyota|Camry Hybrid 2021-22|All||||||
|Toyota|Corolla 2020-22|All||||||
@@ -69,13 +71,12 @@ How We Rate The Cars
|Toyota|RAV4 2019-21|All||||||
|Toyota|RAV4 Hybrid 2019-21|All||||||
-# Silver - 76 cars
+# Silver - 67 cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|---|---|---|:---:|:---:|:---:|:---:|:---:|
|Audi|A3 2014-19|ACC + Lane Assist|
|||||
|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist||||||
-|Audi|Q2 2018|ACC + Lane Assist||||||
|Audi|RS3 2018|ACC + Lane Assist||||||
|Audi|S3 2015-17|ACC + Lane Assist||||||
|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise||||||
@@ -104,27 +105,23 @@ How We Rate The Cars
|Kia|Sorento 2018|SCC + LKAS||||||
|Kia|Sorento 2019|SCC + LKAS||||||
|Kia|Stinger 2018|SCC + LKAS||||||
+|Lexus|CT Hybrid 2017-18|LSS|
[3](#footnotes)|||||
+|Lexus|ES Hybrid 2017-18|LSS|[3](#footnotes)|||||
|Lexus|NX 2018-19|All|[3](#footnotes)|||||
|Lexus|NX Hybrid 2018-19|All|[3](#footnotes)|||||
-|Lexus|NX Hybrid 2020|All||||||
|Lexus|RX Hybrid 2020-21|All||||||
-|Mazda|CX-5 2022|All||||||
+|Nissan|Altima 2019-20|ProPILOT||||||
+|Nissan|Leaf 2018-22|ProPILOT||||||
+|Nissan|Rogue 2018-20|ProPILOT||||||
+|Nissan|X-Trail 2017|ProPILOT||||||
|SEAT|Ateca 2018|Driver Assistance||||||
|SEAT|Leon 2014-20|Driver Assistance||||||
+|Subaru|Ascent 2019-20|All||||||
|Subaru|Crosstrek 2020-21|EyeSight||||||
|Subaru|Forester 2019-21|All||||||
|Subaru|Impreza 2020-21|EyeSight||||||
-|Škoda|Kamiq 2021[5](#footnotes)|Driver Assistance||||||
-|Škoda|Karoq 2019|Driver Assistance||||||
-|Škoda|Kodiaq 2018-19|Driver Assistance||||||
-|Škoda|Octavia 2015, 2018-19|Driver Assistance||||||
-|Škoda|Octavia RS 2016|Driver Assistance||||||
-|Škoda|Scala 2020|Driver Assistance||||||
-|Škoda|Superb 2015-18|Driver Assistance||||||
-|Toyota|Alphard 2019-20|All||||||
-|Toyota|Alphard Hybrid 2021|All||||||
-|Toyota|Avalon 2019-21|TSS-P|[3](#footnotes)|||||
-|Toyota|Avalon Hybrid 2022|All||||||
+|Toyota|Alphard 2019-20|All||||||
+|Toyota|Alphard Hybrid 2021|All||||||
|Toyota|Camry 2018-20|All||[4](#footnotes)||||
|Toyota|Camry Hybrid 2018-20|All||[4](#footnotes)||||
|Toyota|Highlander 2017-19|All|[3](#footnotes)|||||
@@ -134,7 +131,6 @@ How We Rate The Cars
|Toyota|RAV4 2022|All||||||
|Toyota|RAV4 Hybrid 2016-18|TSS-P|[3](#footnotes)|||||
|Toyota|RAV4 Hybrid 2022|All||||||
-|Toyota|Sienna 2018-20|All|[3](#footnotes)|||||
|Volkswagen|Atlas 2018-19, 2022[7](#footnotes)|Driver Assistance||||||
|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance||||||
|Volkswagen|Golf 2015-20|Driver Assistance||||||
@@ -144,23 +140,21 @@ How We Rate The Cars
|Volkswagen|Golf R 2016-19|Driver Assistance||||||
|Volkswagen|Golf SportsVan 2016|Driver Assistance||||||
|Volkswagen|Golf SportWagen 2015|Driver Assistance||||||
+|Volkswagen|Passat 2015-19[6](#footnotes)|Driver Assistance||||||
|Volkswagen|Polo 2020|Driver Assistance||||||
-|Volkswagen|T-Cross 2021[7](#footnotes)|Driver Assistance||||||
-|Volkswagen|T-Roc 2021[7](#footnotes)|Driver Assistance||||||
-|Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance||||||
-|Volkswagen|Touran 2017|Driver Assistance||||||
-# Bronze - 71 cars
+# Bronze - 78 cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|---|---|---|:---:|:---:|:---:|:---:|:---:|
|Acura|ILX 2016-19|AcuraWatch Plus||||||
|Acura|RDX 2016-18|AcuraWatch Plus||||||
|Acura|RDX 2019-21|All||||||
+|Audi|Q2 2018|ACC + Lane Assist||||||
|Audi|Q3 2020-21|ACC + Lane Assist||||||
-|Cadillac|Escalade ESV 2016[1](#footnotes)|ACC + LKAS||||||
+|Cadillac|Escalade ESV 2016[1](#footnotes)|ACC + LKAS||||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise||||||
-|Chrysler|Pacifica 2020|Adaptive Cruise||||||
+|Chrysler|Pacifica 2020|Adaptive Cruise||||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise||||||
|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise||||||
|Genesis|G90 2018|All||||||
@@ -185,46 +179,52 @@ How We Rate The Cars
|Honda|Passport 2019-21|All||||||
|Honda|Pilot 2016-21|Honda Sensing||||||
|Honda|Ridgeline 2017-22|Honda Sensing||||||
-|Hyundai|Elantra 2017-19|SCC + LKAS||||||
+|Hyundai|Elantra 2017-19|SCC + LKAS||||||
|Hyundai|Genesis 2015-16|SCC + LKAS||||||
|Hyundai|Ioniq Electric 2019|SCC + LKAS||||||
|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS||||||
|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS||||||
|Hyundai|Sonata 2018-19|SCC + LKAS||||||
|Hyundai|Tucson 2021|SCC + LKAS||||||
-|Hyundai|Veloster 2019-20|SCC + LKAS||||||
+|Hyundai|Veloster 2019-20|SCC + LKAS||||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise||||||
|Jeep|Grand Cherokee 2019-20|Adaptive Cruise||||||
|Kia|Niro Plug-in Hybrid 2019|SCC + LKAS||||||
|Kia|Optima 2017|SCC + LKAS||||||
-|Lexus|CT Hybrid 2017-18|LSS|[3](#footnotes)|||||
-|Lexus|ES Hybrid 2017-18|LSS|[3](#footnotes)|||||
-|Lexus|IS 2017-19|All||||||
-|Lexus|RC 2020|All||||||
+|Lexus|IS 2017-19|All||||||
+|Lexus|RC 2020|All||||||
|Lexus|RX 2016-18|All|[3](#footnotes)|||||
|Lexus|RX Hybrid 2016-19|All|[3](#footnotes)|||||
-|Mazda|CX-9 2021|All||||||
-|Nissan|Altima 2019-20|ProPILOT||||||
-|Nissan|Leaf 2018-22|ProPILOT||||||
-|Nissan|Rogue 2018-20|ProPILOT||||||
-|Nissan|X-Trail 2017|ProPILOT||||||
-|Subaru|Ascent 2019-20|All||||||
+|Mazda|CX-5 2022|All||||||
+|Mazda|CX-9 2021|All||||||
|Subaru|Crosstrek 2018-19|EyeSight||||||
|Subaru|Impreza 2017-19|EyeSight||||||
-|Toyota|Avalon 2016-18|TSS-P|[3](#footnotes)|||||
-|Toyota|Avalon Hybrid 2019-21|TSS-P|[3](#footnotes)|||||
+|Škoda|Kamiq 2021[5](#footnotes)|Driver Assistance||||||
+|Škoda|Karoq 2019|Driver Assistance||||||
+|Škoda|Kodiaq 2018-19|Driver Assistance||||||
+|Škoda|Octavia 2015, 2018-19|Driver Assistance||||||
+|Škoda|Octavia RS 2016|Driver Assistance||||||
+|Škoda|Scala 2020|Driver Assistance||||||
+|Škoda|Superb 2015-18|Driver Assistance||||||
+|Toyota|Avalon 2016-18|TSS-P|[3](#footnotes)|||||
+|Toyota|Avalon 2019-21|TSS-P|[3](#footnotes)|||||
+|Toyota|Avalon Hybrid 2019-21|TSS-P|[3](#footnotes)|||||
|Toyota|C-HR 2017-21|All||||||
-|Toyota|C-HR Hybrid 2017-19|All||||||
+|Toyota|C-HR Hybrid 2017-19|All||||||
|Toyota|Corolla 2017-19|All|[3](#footnotes)|||||
|Toyota|Prius v 2017|TSS-P|[3](#footnotes)|||||
|Toyota|RAV4 2016-18|TSS-P|[3](#footnotes)|||||
+|Toyota|Sienna 2018-20|All|[3](#footnotes)|||||
|Volkswagen|Arteon 2018, 2021[7](#footnotes)|Driver Assistance||||||
-|Volkswagen|California 2021[7](#footnotes)|Driver Assistance||||||
-|Volkswagen|Caravelle 2020[7](#footnotes)|Driver Assistance||||||
+|Volkswagen|California 2021[7](#footnotes)|Driver Assistance||||||
+|Volkswagen|Caravelle 2020[7](#footnotes)|Driver Assistance||||||
|Volkswagen|Jetta 2018-21|Driver Assistance||||||
|Volkswagen|Jetta GLI 2021|Driver Assistance||||||
-|Volkswagen|Passat 2015-19[6](#footnotes)|Driver Assistance||||||
+|Volkswagen|T-Cross 2021[7](#footnotes)|Driver Assistance||||||
+|Volkswagen|T-Roc 2021[7](#footnotes)|Driver Assistance||||||
+|Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance||||||
|Volkswagen|Tiguan 2019-22[7](#footnotes)|Driver Assistance||||||
+|Volkswagen|Touran 2017|Driver Assistance||||||
diff --git a/opendbc b/opendbc
index 5e2a820268..82be71072c 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 5e2a82026842a7082e5e81e5823dab6b6616dbf4
+Subproject commit 82be71072c52fc78cf0e1eabc396af26c18ddc11
diff --git a/panda b/panda
index e1b2f1253c..4bc85ad40a 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit e1b2f1253cb7f05f39d4afa21500565bb8b955d2
+Subproject commit 4bc85ad40ad032672008eb75567892ba45e0b932
diff --git a/release/files_common b/release/files_common
index 96649b9f16..0ace73623f 100644
--- a/release/files_common
+++ b/release/files_common
@@ -105,7 +105,9 @@ selfdrive/car/ecu_addrs.py
selfdrive/car/isotp_parallel_query.py
selfdrive/car/tests/__init__.py
selfdrive/car/tests/test_car_interfaces.py
-selfdrive/car/torque_data.json
+selfdrive/car/torque_data/params.yaml
+selfdrive/car/torque_data/substitute.yaml
+selfdrive/car/torque_data/override.yaml
selfdrive/car/body/*.py
selfdrive/car/chrysler/*.py
diff --git a/selfdrive/assets/fonts/opensans_bold.ttf b/selfdrive/assets/fonts/opensans_bold.ttf
deleted file mode 100644
index 7b52945603..0000000000
Binary files a/selfdrive/assets/fonts/opensans_bold.ttf and /dev/null differ
diff --git a/selfdrive/assets/fonts/opensans_regular.ttf b/selfdrive/assets/fonts/opensans_regular.ttf
deleted file mode 100644
index 2e31d02424..0000000000
Binary files a/selfdrive/assets/fonts/opensans_regular.ttf and /dev/null differ
diff --git a/selfdrive/assets/fonts/opensans_semibold.ttf b/selfdrive/assets/fonts/opensans_semibold.ttf
deleted file mode 100644
index 99db86aa02..0000000000
Binary files a/selfdrive/assets/fonts/opensans_semibold.ttf and /dev/null differ
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index e3ee4753cc..f71a300263 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -18,10 +18,10 @@ class CarState(CarStateBase):
self.frame = int(cp.vl["EPS_STATUS"]["COUNTER"])
- ret.doorOpen = any([cp.vl["DOORS"]["DOOR_OPEN_FL"],
- cp.vl["DOORS"]["DOOR_OPEN_FR"],
- cp.vl["DOORS"]["DOOR_OPEN_RL"],
- cp.vl["DOORS"]["DOOR_OPEN_RR"]])
+ ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
+ cp.vl["BCM_1"]["DOOR_OPEN_FR"],
+ cp.vl["BCM_1"]["DOOR_OPEN_RL"],
+ cp.vl["BCM_1"]["DOOR_OPEN_RR"]])
ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"] == 1
# brake pedal
@@ -51,12 +51,12 @@ class CarState(CarStateBase):
ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
- ret.cruiseState.enabled = cp.vl["ACC_2"]["ACC_STATUS_2"] == 7 # ACC is green.
- ret.cruiseState.available = ret.cruiseState.enabled # FIXME: for now same as enabled
+ ret.cruiseState.available = cp.vl["DAS_3"]["ACC_AVAILABLE"] == 1 # ACC is white
+ ret.cruiseState.enabled = cp.vl["DAS_3"]["ACC_ACTIVE"] == 1 # ACC is green
ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
# CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2)
- ret.accFaulted = cp.vl["ACC_2"]["ACC_FAULTED"] != 0
+ ret.accFaulted = cp.vl["DAS_3"]["ACC_FAULTED"] != 0
ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
@@ -82,10 +82,10 @@ class CarState(CarStateBase):
signals = [
# sig_name, sig_address
("PRNDL", "GEAR"),
- ("DOOR_OPEN_FL", "DOORS"),
- ("DOOR_OPEN_FR", "DOORS"),
- ("DOOR_OPEN_RL", "DOORS"),
- ("DOOR_OPEN_RR", "DOORS"),
+ ("DOOR_OPEN_FL", "BCM_1"),
+ ("DOOR_OPEN_FR", "BCM_1"),
+ ("DOOR_OPEN_RL", "BCM_1"),
+ ("DOOR_OPEN_RR", "BCM_1"),
("Brake_Pedal_State", "ESP_1"),
("Accelerator_Position", "ECM_5"),
("SPEED_LEFT", "SPEED_1"),
@@ -97,8 +97,9 @@ class CarState(CarStateBase):
("STEER_ANGLE", "STEERING"),
("STEERING_RATE", "STEERING"),
("TURN_SIGNALS", "STEERING_LEVERS"),
- ("ACC_STATUS_2", "ACC_2"),
- ("ACC_FAULTED", "ACC_2"),
+ ("ACC_AVAILABLE", "DAS_3"),
+ ("ACC_ACTIVE", "DAS_3"),
+ ("ACC_FAULTED", "DAS_3"),
("HIGH_BEAM_FLASH", "STEERING_LEVERS"),
("ACC_SPEED_CONFIG_KPH", "DASHBOARD"),
("CRUISE_STATE", "DASHBOARD"),
@@ -118,14 +119,14 @@ class CarState(CarStateBase):
("SPEED_1", 100),
("WHEEL_SPEEDS", 50),
("STEERING", 100),
- ("ACC_2", 50),
+ ("DAS_3", 50),
("GEAR", 50),
("ECM_5", 50),
("WHEEL_BUTTONS", 50),
("DASHBOARD", 15),
("STEERING_LEVERS", 10),
("SEATBELT_STATUS", 2),
- ("DOORS", 1),
+ ("BCM_1", 1),
("TRACTION_BUTTON", 1),
]
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index 6a1fb2e459..5de29b4f37 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -111,7 +111,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc
acc_hud_values = {
'CRUISE_SPEED': hud.v_cruise,
'ENABLE_MINI_CAR': 1,
- 'HUD_DISTANCE': 3, # max distance setting on display
+ 'HUD_DISTANCE': 0, # max distance setting on display
'IMPERIAL_UNIT': int(not is_metric),
'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0,
'SET_ME_X01_2': 1,
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 2739ebd8cc..7cfce55100 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -204,7 +204,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.80
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
- torque_params = CarInterfaceBase.get_torque_params(CAR.KIA_OPTIMA)
set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
elif candidate == CAR.KIA_STINGER:
ret.lateralTuning.pid.kf = 0.00005
@@ -245,10 +244,7 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)]
tire_stiffness_factor = 0.65
-
- ret.maxLateralAccel = 2.
- # TODO override until there is more data
- set_torque_tune(ret.lateralTuning, 2.0, 0.05)
+ set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
# Genesis
elif candidate == CAR.GENESIS_G70:
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 9220aee522..ced2ce8e61 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -1,4 +1,4 @@
-import json
+import yaml
import os
import time
from abc import abstractmethod, ABC
@@ -20,7 +20,9 @@ EventName = car.CarEvent.EventName
MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
ACCEL_MAX = 2.0
ACCEL_MIN = -3.5
-TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data.json')
+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')
+TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml')
# generic car and radar interfaces
@@ -109,9 +111,27 @@ class CarInterfaceBase(ABC):
@staticmethod
def get_torque_params(candidate, default=float('NaN')):
+ with open(TORQUE_SUBSTITUTE_PATH) as f:
+ sub = yaml.load(f, Loader=yaml.FullLoader)
+ if candidate in sub:
+ candidate = sub[candidate]
+
with open(TORQUE_PARAMS_PATH) as f:
- data = json.load(f)
- return {key: data[key].get(candidate, default) for key in data}
+ params = yaml.load(f, Loader=yaml.FullLoader)
+ with open(TORQUE_OVERRIDE_PATH) as f:
+ override = yaml.load(f, Loader=yaml.FullLoader)
+
+ # Ensure no overlap
+ if sum([candidate in x for x in [sub, params, override]]) > 1:
+ raise RuntimeError(f'{candidate} is defined twice in torque config')
+
+ if candidate in override:
+ out = override[candidate]
+ elif candidate in params:
+ out = params[candidate]
+ else:
+ raise NotImplementedError(f"Did not find torque params for {candidate}")
+ return {key:out[i] for i, key in enumerate(params['legend'])}
@abstractmethod
def _update(self, c: car.CarControl) -> car.CarState:
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 45358eb3a4..9badc3ca50 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -41,7 +41,7 @@ class SubaruCarInfo(CarInfo):
CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
- CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20", "All"),
+ CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20", "All", good_torque=True),
CAR.IMPREZA: [
SubaruCarInfo("Subaru Impreza 2017-19"),
SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 15df1aafef..412874c813 100755
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -33,6 +33,7 @@ class TestCarInterfaces(unittest.TestCase):
assert car_interface
self.assertGreater(car_params.mass, 1)
+ self.assertGreater(car_params.maxLateralAccel, 0)
if car_params.steerControlType != car.CarParams.SteerControlType.angle:
tuning = car_params.lateralTuning.which()
diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py
index b4bc14ef00..98c909a9be 100755
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@@ -16,32 +16,37 @@ class TestCarDocs(unittest.TestCase):
current_cars_md = f.read()
self.assertEqual(generated_cars_md, current_cars_md,
- "Run selfdrive/car/docs.py to generate new supported cars documentation")
+ "Run selfdrive/car/docs.py to update the compatibility documentation")
def test_missing_car_info(self):
all_car_info_platforms = get_interface_attr("CAR_INFO", combine_brands=True).keys()
for platform in sorted(interfaces.keys()):
- if platform not in all_car_info_platforms:
- self.fail("Platform: {} doesn't exist in CarInfo".format(platform))
+ with self.subTest(platform=platform):
+ self.assertTrue(platform in all_car_info_platforms, "Platform: {} doesn't exist in CarInfo".format(platform))
def test_naming_conventions(self):
- # Asserts market-standard car naming conventions by make
+ # Asserts market-standard car naming conventions by brand
for car in self.all_cars:
- tokens = car.model.lower().split(" ")
- 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")
- elif car.car_name == "toyota":
- if "rav4" in tokens:
- self.assertIn("RAV4", car.model, "Use correct capitalization")
+ with self.subTest(car=car):
+ tokens = car.model.lower().split(" ")
+ 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")
+ elif car.car_name == "toyota":
+ if "rav4" in tokens:
+ self.assertIn("RAV4", car.model, "Use correct capitalization")
def test_torque_star(self):
+ # Asserts brand-specific assumptions around steering torque star
for car in self.all_cars:
- if car.car_name == "honda":
- self.assertTrue(car.row[Column.STEERING_TORQUE] in (Star.EMPTY, Star.HALF), f"{car.name} has full torque star")
+ with self.subTest(car=car):
+ if car.car_name == "honda":
+ self.assertIn(car.row[Column.STEERING_TORQUE], (Star.EMPTY, Star.HALF), f"{car.name} has full torque star")
+ elif car.car_name in ("toyota", "hyundai"):
+ self.assertNotEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has no torque star")
if __name__ == "__main__":
diff --git a/selfdrive/car/torque_data.json b/selfdrive/car/torque_data.json
deleted file mode 100644
index 63ee0e9bcd..0000000000
--- a/selfdrive/car/torque_data.json
+++ /dev/null
@@ -1 +0,0 @@
-{"LAT_ACCEL_FACTOR": {"HONDA PILOT 2017": 1.682289482065265, "HONDA CIVIC 2016": 1.5248128495527884, "TOYOTA CAMRY 2018": 2.1115709806216447, "TOYOTA COROLLA HYBRID TSS2 2019": 2.3250600977240077, "TOYOTA RAV4 2019": 2.625504029066767, "HYUNDAI PALISADE 2020": 2.5250855675875634, "TOYOTA SIENNA 2018": 1.8254254785341577, "ACURA RDX 2020": 1.3998101622214894, "TOYOTA RAV4 2017": 1.948190869577896, "HONDA RIDGELINE 2017": 1.4158181862793415, "TOYOTA PRIUS 2017": 1.9142926195557595, "TOYOTA HIGHLANDER HYBRID 2020": 2.1097056247344392, "HYUNDAI SONATA 2020": 3.2488989629905944, "KIA STINGER GT2 2018": 2.7592622336517834, "TOYOTA HIGHLANDER 2020": 2.0408544157877055, "HONDA ACCORD 2018": 1.6374118241564064, "TOYOTA PRIUS TSS2 2021": 2.3207270770298365, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 1.46050785084946, "LEXUS NX 2020": 2.29533657249232, "TOYOTA RAV4 HYBRID 2019": 2.4003012079562085, "HONDA CIVIC (BOSCH) 2019": 1.6523031416671652, "KIA NIRO HYBRID 2021": 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0.17840321248608593, "TOYOTA AVALON HYBRID 2022": 0.16159049452515487, "SUBARU IMPREZA LIMITED 2019": 0.20322553080306893, "GENESIS G80 2017": 0.07934444681782107, "VOLKSWAGEN TAOS 1ST GEN": 0.18276122764341485, "KIA FORTE E 2018 & GT 2021": 0.11406160665068436, "CADILLAC ESCALADE ESV 2016": 0.15063766975884627, "TOYOTA C-HR 2021": 0.22798633346500694, "TOYOTA C-HR HYBRID 2018": 0.2036375866375624}, "ERROR_RATIO": {"HONDA PILOT 2017": 0.6158457247286419, "HONDA CIVIC 2016": 2.0785618623350928, "TOYOTA CAMRY 2018": 0.17356565057429169, "TOYOTA COROLLA HYBRID TSS2 2019": 0.10094741777075293, "TOYOTA RAV4 2019": 0.11812042718338775, "HYUNDAI PALISADE 2020": 0.30639442561268304, "TOYOTA SIENNA 2018": 0.1117307389748361, "ACURA RDX 2020": 1.9801454495960717, "TOYOTA RAV4 2017": 0.08589486116378196, "HONDA RIDGELINE 2017": 0.4319851914417577, "TOYOTA PRIUS 2017": 0.17281316158588575, "TOYOTA HIGHLANDER HYBRID 2020": 0.046325388721577, "HYUNDAI SONATA 2020": 0.4109860794021653, "KIA STINGER GT2 2018": 0.3517628781488943, "TOYOTA HIGHLANDER 2020": 0.14155072865224166, "HONDA ACCORD 2018": 2.510398061115294, "TOYOTA PRIUS TSS2 2021": 0.13593456264106363, "NISSAN LEAF 2018": NaN, "CHRYSLER PACIFICA HYBRID 2019": 0.08794943266738546, "LEXUS NX 2020": 0.3743942573190866, "TOYOTA RAV4 HYBRID 2019": 0.0845492503791727, "HONDA CIVIC (BOSCH) 2019": 2.4329816697390063, "KIA NIRO HYBRID 2021": NaN, "HONDA ACCORD HYBRID 2018": 2.9252406767451804, "LEXUS NX HYBRID 2018": 0.23060712246809048, "TOYOTA COROLLA TSS2 2019": 0.13822363784977285, "VOLKSWAGEN ARTEON 1ST GEN": 0.009661691674299285, "TOYOTA CAMRY HYBRID 2021": 0.029451711159377333, "VOLKSWAGEN JETTA 7TH GEN": 0.16591473170144055, "HONDA INSIGHT 2019": 1.3398692842898896, "SUBARU FORESTER 2019": 0.5269683780697442, "HYUNDAI ELANTRA 2021": NaN, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": 0.02971857401969039, "HYUNDAI KONA HYBRID 2020": NaN, "HONDA ODYSSEY 2018": 1.0245957242729038, "LEXUS RX 2016": 0.07392586589971588, "TOYOTA COROLLA 2017": 0.31336988069649124, "LEXUS ES 2019": 0.08933657038050916, "HYUNDAI SANTA FE 2019": 0.2276812089092099, "TOYOTA AVALON 2022": 0.07120118798045925, "JEEP GRAND CHEROKEE V6 2018": 0.2065164316228118, "CHEVROLET VOLT PREMIER 2017": 0.2316223989408518, "TOYOTA RAV4 HYBRID 2017": 0.055653752888652736, "LEXUS RX 2020": 0.047792182371008345, "TOYOTA HIGHLANDER HYBRID 2018": 0.019259474082467202, "TOYOTA CAMRY HYBRID 2018": 0.11949733140330816, "TESLA AP2 MODEL S": NaN, "VOLKSWAGEN GOLF 7TH GEN": 0.1996863736436734, "TOYOTA MIRAI 2021": 0.11019259478417197, "LEXUS IS 2018": NaN, "TOYOTA HIGHLANDER 2017": 0.05279963713251727, "HYUNDAI SONATA HYBRID 2021": 0.3543918194389536, "VOLKSWAGEN ATLAS 1ST GEN": 0.21694647502209782, "LEXUS ES HYBRID 2019": 0.14775474433507507, "HYUNDAI GENESIS 2015-2016": 0.0814892037361157, "JEEP GRAND CHEROKEE 2019": 0.3126997097753535, "SUBARU ASCENT LIMITED 2019": NaN, "HONDA CR-V 2017": 5.652613829506629, "HONDA FIT 2018": 1.5217432826711779, "TOYOTA CAMRY 2021": 0.07910435053686729, "AUDI Q3 2ND GEN": 0.13535089102138698, "AUDI A3 3RD GEN": 0.14353941401245793, "LEXUS RX HYBRID 2017": 0.048663813961824696, "HONDA CIVIC 2022": 1.0748206908458815, "GENESIS G70 2018": 0.688303429295532, "CHRYSLER PACIFICA HYBRID 2018": 0.11083725786301112, "VOLKSWAGEN PASSAT 8TH GEN": 0.13315924904555493, "HONDA CR-V 2016": 0.488871482749128, "HYUNDAI IONIQ PHEV 2020": 0.2756096845519595, "GMC ACADIA DENALI 2018": 0.24055364003040136, "HYUNDAI SONATA 2019": 0.4473315280277132, "TOYOTA AVALON 2019": 0.026428086100632363, "TOYOTA C-HR 2018": 0.06075105822970755, "HONDA CR-V HYBRID 2019": 2.9906016360828276, "CHRYSLER PACIFICA 2020": 0.07748732608487266, "HYUNDAI IONIQ ELECTRIC 2020": NaN, "VOLKSWAGEN TIGUAN 2ND GEN": NaN, "LEXUS NX 2018": 0.16318394527060903, "KIA OPTIMA SX 2019 & 2016": 0.4378756841929454, "TOYOTA AVALON HYBRID 2019": NaN, "TOYOTA RAV4 HYBRID 2022": 0.36478548056633514, "HONDA PASSPORT 2021": 0.5993860184637646, "KIA K5 2021": 0.6271500841947655, "ACURA ILX 2016": 0.8435442647921855, "HYUNDAI IONIQ HYBRID 2017-2019": NaN, "KIA NIRO EV 2020": 0.40355577782011604, "SUBARU IMPREZA SPORT 2020": 0.11071291640854522, "CHRYSLER PACIFICA HYBRID 2017": 0.029812269495458284, "HYUNDAI KONA ELECTRIC 2019": NaN, "HYUNDAI ELANTRA HYBRID 2021": NaN, "HYUNDAI SANTA FE HYBRID 2022": NaN, "CHRYSLER PACIFICA 2018": 0.01705753895996445, "NISSAN ROGUE 2019": NaN, "KIA SORENTO GT LINE 2018": NaN, "COMMA BODY": NaN, "NISSAN LEAF 2018 Instrument Cluster": NaN, "LEXUS RX HYBRID 2020": 0.05790668871480552, "MAZDA CX-9 2021": NaN, "HYUNDAI SANTA FE 2022": 0.018126919430513307, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": 0.1331760659016062, "HONDA HRV 2019": 1.599688433820939, "TOYOTA AVALON HYBRID 2022": NaN, "SUBARU IMPREZA LIMITED 2019": 0.2514545160390271, "GENESIS G80 2017": NaN, "VOLKSWAGEN TAOS 1ST GEN": 0.09725484306423876, "KIA FORTE E 2018 & GT 2021": 0.20381871942480628, "CADILLAC ESCALADE ESV 2016": NaN, "TOYOTA C-HR 2021": 0.05016813984196128, "TOYOTA C-HR HYBRID 2018": 0.2521485862766935}}
\ No newline at end of file
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
new file mode 100644
index 0000000000..fb086fd13f
--- /dev/null
+++ b/selfdrive/car/torque_data/override.yaml
@@ -0,0 +1,29 @@
+legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION]
+### angle control
+# Nissan appears to have torque
+NISSAN X-TRAIL 2017: [.nan, 1.5, .nan]
+NISSAN ALTIMA 2020: [.nan, 1.5, .nan]
+NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan]
+NISSAN LEAF 2018: [.nan, 1.5, .nan]
+NISSAN ROGUE 2019: [.nan, 1.5, .nan]
+
+# Tesla has high torque
+TESLA AP1 MODEL S: [.nan, 2.5, .nan]
+TESLA AP2 MODEL S: [.nan, 2.5, .nan]
+
+# Guess
+FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan]
+FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
+###
+
+# No steering wheel
+COMMA BODY: [.nan, 1000, .nan]
+
+# Totally new car
+KIA EV6 2022: [3.0, 2.5, 0.05]
+
+# Dashcam or fallback configured as ideal car
+mock: [10.0, 10, 0.0]
+
+# Manually checked
+HONDA CIVIC 2022: [2.5, 1.2, 0.15]
diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml
new file mode 100644
index 0000000000..160f605488
--- /dev/null
+++ b/selfdrive/car/torque_data/params.yaml
@@ -0,0 +1,96 @@
+ACURA ILX 2016: [1.524988973896102, 0.519011053086259, 0.34236219253028]
+ACURA RDX 2018: [0.9987728568686902, 0.5323765166196301, 0.303218805715844]
+ACURA RDX 2020: [1.4314459806646749, 0.33874701282109954, 0.18048847083897598]
+AUDI A3 3RD GEN: [1.5122414863077502, 1.7443517531719404, 0.15194151892450905]
+AUDI Q3 2ND GEN: [1.4439223359448605, 1.2254955789112076, 0.1413798895978097]
+CHEVROLET VOLT PREMIER 2017: [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
+CHRYSLER PACIFICA 2018: [1.593387270257916, 1.3366521181047952, 0.13776367250652022]
+CHRYSLER PACIFICA 2020: [1.4323553627965695, 1.509076559398423, 0.14328246159386085]
+CHRYSLER PACIFICA HYBRID 2017: [1.3032470208409048, 1.06831764583744, 0.13287170990024627]
+CHRYSLER PACIFICA HYBRID 2018: [1.6068280248761635, 1.2943025830995154, 0.1358557824293823]
+CHRYSLER PACIFICA HYBRID 2019: [1.4624643614072217, 1.1958788168371808, 0.15748488008472716]
+GENESIS G70 2018: [3.8520195946707947, 2.354697063349854, 0.06830285485626221]
+GMC ACADIA DENALI 2018: [1.3181430320331884, 1.1853735340610179, 0.3450592280031644]
+HONDA ACCORD 2018: [1.7135052593468778, 0.3461280068322071, 0.21579936052863807]
+HONDA ACCORD HYBRID 2018: [1.6651615004829625, 0.30322180951193245, 0.2083000440586149]
+HONDA CIVIC (BOSCH) 2019: [1.691708637466905, 0.40132900729454185, 0.25460295304024094]
+HONDA CIVIC 2016: [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
+HONDA CR-V 2016: [0.7667141440182675, 0.5927571534745969, 0.40909087636157127]
+HONDA CR-V 2017: [2.01323205142022, 0.2700612209345081, 0.2238412881331528]
+HONDA CR-V HYBRID 2019: [2.072034634644233, 0.7152085160516978, 0.20237105008376083]
+HONDA FIT 2018: [1.5719981427109775, 0.5712761407108976, 0.110773383324281]
+HONDA HRV 2019: [2.0661212805710205, 0.7521343418694775, 0.17760375789242094]
+HONDA INSIGHT 2019: [1.5201671214069354, 0.5660229120683284, 0.25808042580281876]
+HONDA ODYSSEY 2018: [1.8774809275211801, 0.8394431662987996, 0.2096978613792822]
+HONDA PASSPORT 2021: [1.5305538930036766, 0.7956063674638759, 0.19599407381531284]
+HONDA PILOT 2017: [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
+HONDA RIDGELINE 2017: [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
+HYUNDAI GENESIS 2015-2016: [1.8466226943929824, 1.5552063647830634, 0.0984484465421171]
+HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
+HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]
+HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482]
+HYUNDAI KONA ELECTRIC 2019: [4.398306735170212, 3.2961956260770484, 0.08651833437845884]
+HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651]
+HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945]
+HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963]
+HYUNDAI SANTA FE PlUG-IN HYBRID 2022: [1.6953050513611045, 1.5837614296206861, 0.12672855941458458]
+HYUNDAI SONATA 2019: [2.2200457811703953, 1.2967330275895228, 0.14039920986586393]
+HYUNDAI SONATA 2020: [3.284505627881726, 2.1259108157250735, 0.08452048323586728]
+HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
+JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185]
+JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003]
+KIA K5 2021: [2.405339728085138, 1.460032270828705, 0.11650989850813716]
+KIA NIRO EV 2020: [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
+KIA SORENTO GT LINE 2018: [2.464854685101844, 1.5335274218367956, 0.12056170567599558]
+KIA STINGER GT2 2018: [2.7499043387418967, 1.849652021986449, 0.12048334239559202]
+LEXUS ES 2019: [2.0203086922726112, 2.134803912579666, 0.12757526789308554]
+LEXUS ES HYBRID 2019: [2.392442298703042, 1.863360677810788, 0.17690002108856212]
+LEXUS NX 2018: [2.302625600642627, 2.1382378491466625, 0.14986840878892838]
+LEXUS NX 2020: [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
+LEXUS NX HYBRID 2018: [2.4025593501080955, 1.8080446063815507, 0.15349361249519017]
+LEXUS RX 2016: [1.5876816543130423, 1.0427699298523752, 0.21334066732397142]
+LEXUS RX 2020: [1.5228812994274734, 1.431102486563665, 0.2093316728710659]
+LEXUS RX HYBRID 2017: [1.6984261557042386, 1.3211501880159107, 0.1820354534928893]
+LEXUS RX HYBRID 2020: [1.5522309889823778, 1.255230465866663, 0.2220954003055114]
+MAZDA CX-9 2021: [1.7601682915983443, 1.0889677335154337, 0.17713792194297195]
+SKODA SUPERB 3RD GEN: [1.166437404652981, 1.1686163012668165, 0.12194533036948708]
+SUBARU FORESTER 2019: [3.6617001649776793, 2.342197172531713, 0.11075960785398745]
+SUBARU IMPREZA LIMITED 2019: [1.0670704910352047, 0.8234374840709592, 0.20986563268614938]
+SUBARU IMPREZA SPORT 2020: [2.6068223389108303, 2.134872342760203, 0.15261513193561627]
+TOYOTA AVALON 2016: [2.5185770183845646, 1.7153346784214922, 0.10603968787111022]
+TOYOTA AVALON 2019: [1.7036141952825095, 1.239619084240008, 0.08459830394899492]
+TOYOTA AVALON 2022: [2.3154403649717357, 2.7777922854327124, 0.11453999639164605]
+TOYOTA C-HR 2018: [1.5591084333664578, 1.271271459066948, 0.20259087058453193]
+TOYOTA C-HR 2021: [1.7678810166088303, 1.3742176337919942, 0.2319674583741509]
+TOYOTA CAMRY 2018: [2.1172995371905015, 1.7156177222420887, 0.13519250664782062]
+TOYOTA CAMRY 2021: [2.6922769557433055, 2.3476510120007434, 0.1450430192989234]
+TOYOTA CAMRY HYBRID 2018: [2.0974120828287774, 1.7996193116697359, 0.13823613467632756]
+TOYOTA CAMRY HYBRID 2021: [2.6426668350384457, 2.3901492458927986, 0.16103875108816076]
+TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
+TOYOTA COROLLA HYBRID TSS2 2019: [2.3287672277252005, 1.8118712531729109, 0.2215868445753317]
+TOYOTA COROLLA TSS2 2019: [2.4204464833010175, 1.9258612322678952, 0.20670411068012526]
+TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796]
+TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054457]
+TOYOTA HIGHLANDER HYBRID 2018: [1.9421825202382728, 1.6433903296845025, 0.16928956792275918]
+TOYOTA HIGHLANDER HYBRID 2020: [2.103373061114133, 2.104015182965606, 0.14447040132184993]
+TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
+TOYOTA PRIUS 2017: [2.0183401513314294, 1.5023147650693636, 0.20856908464957724]
+TOYOTA PRIUS TSS2 2021: [2.327639738920072, 1.9104337425537743, 0.2030762265549664]
+TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
+TOYOTA RAV4 2019: [2.5038362866776835, 2.0993589721530252, 0.1552425356342368]
+TOYOTA RAV4 2019 8965: [2.5084506298290377, 2.4216520504763475, 0.11992835265067918]
+TOYOTA RAV4 2019 x02: [2.7209621987605024, 2.2148637653781593, 0.10862567142268198]
+TOYOTA RAV4 HYBRID 2017: [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
+TOYOTA RAV4 HYBRID 2019: [2.2271858492309153, 2.074844961405639, 0.14382216826893632]
+TOYOTA RAV4 HYBRID 2019 8965: [2.1077397198131336, 1.8162215166877735, 0.13891369391200137]
+TOYOTA RAV4 HYBRID 2019 x02: [2.803624333289342, 2.272367966572498, 0.11364569214387774]
+TOYOTA RAV4 HYBRID 2022: [2.241883248393209, 1.9304407208090029, 0.1565442715453653]
+TOYOTA RAV4 HYBRID 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736]
+TOYOTA SIENNA 2018: [1.8660896232147548, 1.3208264576110418, 0.18799149615227198]
+VOLKSWAGEN ARTEON 1ST GEN: [1.45136518053819, 1.3639364049316804, 0.23806361745695032]
+VOLKSWAGEN ATLAS 1ST GEN: [1.4677006726964945, 1.6733266634075656, 0.12959584092073367]
+VOLKSWAGEN GOLF 7TH GEN: [1.3750394140491293, 1.5814743077200641, 0.2018321939386586]
+VOLKSWAGEN JETTA 7TH GEN: [1.2271623034089392, 1.216955117387, 0.19437384688370712]
+VOLKSWAGEN PASSAT 8TH GEN: [1.3432120736752917, 1.7087275587362314, 0.19444383787326647]
+VOLKSWAGEN TIGUAN 2ND GEN: [0.9711965500094828, 1.0001565939459098, 0.1465626137072916]
+legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION]
diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml
new file mode 100644
index 0000000000..d368b2c672
--- /dev/null
+++ b/selfdrive/car/torque_data/substitute.yaml
@@ -0,0 +1,75 @@
+MAZDA 3: MAZDA CX-9 2021
+MAZDA 6: MAZDA CX-9 2021
+MAZDA CX-5: MAZDA CX-9 2021
+MAZDA CX-5 2022: MAZDA CX-9 2021
+MAZDA CX-9: MAZDA CX-9 2021
+
+TOYOTA ALPHARD HYBRID 2021 : TOYOTA SIENNA 2018
+TOYOTA ALPHARD 2020: TOYOTA SIENNA 2018
+TOYOTA PRIUS v 2017 : TOYOTA PRIUS 2017
+TOYOTA RAV4 2022: TOYOTA RAV4 HYBRID 2022
+TOYOTA C-HR HYBRID 2018: TOYOTA C-HR 2018
+LEXUS IS 2018: LEXUS NX 2018
+LEXUS CT HYBRID 2018 : LEXUS NX 2018
+LEXUS ES HYBRID 2018: TOYOTA CAMRY HYBRID 2018
+LEXUS NX HYBRID 2020: LEXUS NX 2020
+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 HYBRID 2017 & SPORTS 2019: HYUNDAI SONATA 2020
+KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020
+KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020
+KIA SELTOS 2021: HYUNDAI SONATA 2020
+KIA NIRO HYBRID 2019: KIA NIRO EV 2020
+KIA NIRO HYBRID 2021: KIA NIRO EV 2020
+HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019
+HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019
+HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019
+HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019
+HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
+HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
+HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019
+HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019
+HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020
+HYUNDAI ELANTRA 2021: HYUNDAI SONATA 2020
+HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019
+HYUNDAI SANTA FE 2022: HYUNDAI SANTA FE HYBRID 2022
+GENESIS G90 2017: GENESIS G70 2018
+GENESIS G80 2017: GENESIS G70 2018
+GENESIS G70 2020: HYUNDAI SONATA 2020
+
+HONDA FREED 2020: HONDA ODYSSEY 2018
+HONDA CR-V EU 2016: HONDA CR-V 2016
+HONDA CIVIC SEDAN 1.6 DIESEL 2019: HONDA CIVIC (BOSCH) 2019
+HONDA E 2020: HONDA CIVIC (BOSCH) 2019
+HONDA ODYSSEY CHN 2019: HONDA ODYSSEY 2018
+
+BUICK REGAL ESSENCE 2018: CHEVROLET VOLT PREMIER 2017
+CADILLAC ESCALADE ESV 2016: CHEVROLET VOLT PREMIER 2017
+CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017
+CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017
+HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017
+
+SKODA OCTAVIA 3RD GEN: SKODA SUPERB 3RD GEN
+SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN
+SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN
+SKODA KAROQ 1ST GEN: SKODA SUPERB 3RD GEN
+SKODA KAMIQ 1ST GEN: SKODA SUPERB 3RD GEN
+VOLKSWAGEN T-ROC 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN T-CROSS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN TOURAN 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN TRANSPORTER T6.1: VOLKSWAGEN TIGUAN 2ND GEN
+AUDI Q2 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN TAOS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
+VOLKSWAGEN POLO 6TH GEN: VOLKSWAGEN GOLF 7TH GEN
+SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN
+SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN
+
+# Old subarus don't have much data guessing it's like low torque impreza
+SUBARU OUTBACK 2018 - 2019: SUBARU IMPREZA LIMITED 2019
+SUBARU OUTBACK 2015 - 2017: SUBARU IMPREZA LIMITED 2019
+SUBARU FORESTER 2017 - 2018: SUBARU IMPREZA LIMITED 2019
+SUBARU LEGACY 2015 - 2018: SUBARU IMPREZA LIMITED 2019
+SUBARU ASCENT LIMITED 2019: SUBARU FORESTER 2019
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index d0f4789775..75f2ab3033 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -54,9 +54,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 17.4
tire_stiffness_factor = 0.5533
ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
- # TODO override until there is enough data
- ret.maxLateralAccel = 1.8
- torque_params = CarInterfaceBase.get_torque_params(CAR.PRIUS)
set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
elif candidate in (CAR.RAV4, CAR.RAV4H):
@@ -132,10 +129,6 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
- # TODO: remove once there's data
- if candidate == CAR.RAV4_TSS2_2022:
- ret.maxLateralAccel = CarInterfaceBase.get_torque_params(CAR.RAV4H_TSS2_2022)['MAX_LAT_ACCEL_MEASURED']
-
# 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
# See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
for fw in car_fw:
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index b1c6da922b..32f66b6fa0 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -99,6 +99,7 @@ class Footnote(Enum):
class ToyotaCarInfo(CarInfo):
package: str = "All"
harness: Enum = Harness.toyota
+ good_torque: bool = True
CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py
index 2bd904b575..79c56d6bc0 100755
--- a/selfdrive/controls/tests/test_alerts.py
+++ b/selfdrive/controls/tests/test_alerts.py
@@ -48,20 +48,17 @@ class TestAlerts(unittest.TestCase):
# ensure alert text doesn't exceed allowed width
def test_alert_text_length(self):
font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts")
- regular_font_path = os.path.join(font_path, "opensans_semibold.ttf")
- bold_font_path = os.path.join(font_path, "opensans_semibold.ttf")
- semibold_font_path = os.path.join(font_path, "opensans_semibold.ttf")
-
- max_text_width = 1920 - 300 # full screen width is useable, minus sidebar
- # TODO: get exact scale factor. found this empirically, works well enough
- font_scale_factor = 1.55 # factor to scale from nanovg units to PIL
+ regular_font_path = os.path.join(font_path, "Inter-SemiBold.ttf")
+ bold_font_path = os.path.join(font_path, "Inter-Bold.ttf")
+ semibold_font_path = os.path.join(font_path, "Inter-SemiBold.ttf")
+ max_text_width = 2160 - 300 # full screen width is useable, minus sidebar
draw = ImageDraw.Draw(Image.new('RGB', (0, 0)))
fonts = {
- AlertSize.small: [ImageFont.truetype(semibold_font_path, int(40 * font_scale_factor))],
- AlertSize.mid: [ImageFont.truetype(bold_font_path, int(48 * font_scale_factor)),
- ImageFont.truetype(regular_font_path, int(36 * font_scale_factor))],
+ AlertSize.small: [ImageFont.truetype(semibold_font_path, 74)],
+ AlertSize.mid: [ImageFont.truetype(bold_font_path, 88),
+ ImageFont.truetype(regular_font_path, 66)],
}
for alert in ALERTS:
diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc
index 8c7e14edb2..e7e6d46612 100644
--- a/selfdrive/modeld/models/dmonitoring.cc
+++ b/selfdrive/modeld/models/dmonitoring.cc
@@ -20,7 +20,6 @@ static inline T *get_buffer(std::vector &buf, const size_t size) {
}
void dmonitoring_init(DMonitoringModelState* s) {
- s->is_rhd = Params().getBool("IsRHD");
#ifdef USE_ONNX_MODEL
s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, false, true);
diff --git a/selfdrive/modeld/models/dmonitoring.h b/selfdrive/modeld/models/dmonitoring.h
index 874722cd93..ae2bf05394 100644
--- a/selfdrive/modeld/models/dmonitoring.h
+++ b/selfdrive/modeld/models/dmonitoring.h
@@ -38,7 +38,6 @@ typedef struct DMonitoringModelResult {
typedef struct DMonitoringModelState {
RunModel *m;
- bool is_rhd;
float output[OUTPUT_SIZE];
std::vector net_input_buf;
float calib[CALIB_LEN];
diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
index a691051636..97e65fbc0e 100644
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@@ -245,7 +245,7 @@ struct ModelOutput {
constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float);
#ifdef TEMPORAL
- constexpr int TEMPORAL_SIZE = 512+256;
+ constexpr int TEMPORAL_SIZE = 512;
#else
constexpr int TEMPORAL_SIZE = 0;
#endif
diff --git a/selfdrive/modeld/models/supercombo.dlc b/selfdrive/modeld/models/supercombo.dlc
index 90f7a2e65b..23f6d904fb 100644
--- a/selfdrive/modeld/models/supercombo.dlc
+++ b/selfdrive/modeld/models/supercombo.dlc
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:4c2cb3a3054f3292bbe538d6b793908dc2e234c200802d41b6766d3cb51b0b44
-size 101662751
+oid sha256:027cbb1fabae369878271cb0e3505071a8bdaa07473fad9a0b2e8d695c5dc1ff
+size 76725611
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 0493398560..9023c18dd7 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:96b60d0bfd1386c93b4f79195aa1c5e77b23e0250578a308ee2c58857ed5eb49
-size 102570834
+oid sha256:484976ea5bd4ddcabc82e95faf30d7311a27802c1e337472558699fa2395a499
+size 77472267
diff --git a/selfdrive/modeld/thneed/compile.cc b/selfdrive/modeld/thneed/compile.cc
index a2f55ffd97..f76c63b2b9 100644
--- a/selfdrive/modeld/thneed/compile.cc
+++ b/selfdrive/modeld/thneed/compile.cc
@@ -5,7 +5,7 @@
#include "selfdrive/modeld/thneed/thneed.h"
#include "system/hardware/hw.h"
-#define TEMPORAL_SIZE 512+256
+#define TEMPORAL_SIZE 512
#define DESIRE_LEN 8
#define TRAFFIC_CONVENTION_LEN 2
diff --git a/selfdrive/modeld/thneed/optimizer.cc b/selfdrive/modeld/thneed/optimizer.cc
index 39737d3d76..03d20ff386 100644
--- a/selfdrive/modeld/thneed/optimizer.cc
+++ b/selfdrive/modeld/thneed/optimizer.cc
@@ -9,7 +9,7 @@
extern map g_program_source;
-/*static int is_same_size_image(cl_mem a, cl_mem b) {
+static int is_same_size_image(cl_mem a, cl_mem b) {
size_t a_width, a_height, a_depth, a_array_size, a_row_pitch, a_slice_pitch;
clGetImageInfo(a, CL_IMAGE_WIDTH, sizeof(a_width), &a_width, NULL);
clGetImageInfo(a, CL_IMAGE_HEIGHT, sizeof(a_height), &a_height, NULL);
@@ -29,7 +29,7 @@ extern map g_program_source;
return (a_width == b_width) && (a_height == b_height) &&
(a_depth == b_depth) && (a_array_size == b_array_size) &&
(a_row_pitch == b_row_pitch) && (a_slice_pitch == b_slice_pitch);
-}*/
+}
static cl_mem make_image_like(cl_context context, cl_mem val) {
cl_image_format format;
@@ -138,7 +138,7 @@ int Thneed::optimize() {
// delete useless copy layers
// saves ~0.7 ms
- /*if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") {
+ if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") {
string in = kq[i]->args[kq[i]->get_arg_num("input")];
string out = kq[i]->args[kq[i]->get_arg_num("output")];
if (is_same_size_image(*(cl_mem*)in.data(), *(cl_mem*)out.data())) {
@@ -148,7 +148,7 @@ int Thneed::optimize() {
kq.erase(kq.begin()+i); --i;
}
- }*/
+ }
// NOTE: if activations/accumulation are done in the wrong order, this will be wrong
diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py
index f2d0524422..48d4303aa5 100644
--- a/selfdrive/monitoring/driver_monitor.py
+++ b/selfdrive/monitoring/driver_monitor.py
@@ -120,7 +120,7 @@ class DriverStatus():
self.settings = settings
# init driver status
- # self.wheelpos_learner = RunningStatFilter()
+ self.wheelpos_learner = RunningStatFilter()
self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
self.pose_calibrated = False
self.blink = DriverBlink()
@@ -137,7 +137,8 @@ class DriverStatus():
self.distracted_types = []
self.driver_distracted = False
self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON)
- self.wheel_on_right = rhd
+ self.wheel_on_right = False
+ self.rhd_toggled = rhd
self.face_detected = False
self.terminal_alert_cnt = 0
self.terminal_time = 0
@@ -225,14 +226,14 @@ class DriverStatus():
self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD
def update_states(self, driver_state, cal_rpy, car_speed, op_engaged):
- # rhd_pred = driver_state.wheelOnRightProb
- # if car_speed > 0.01:
- # self.wheelpos_learner.push_and_update(rhd_pred)
- # if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT:
- # self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
- # else:
- # self.wheel_on_right = rhd_pred > self.settings._WHEELPOS_THRESHOLD
- driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData
+ rhd_pred = driver_state.wheelOnRightProb
+ if car_speed > 0.01:
+ self.wheelpos_learner.push_and_update(rhd_pred)
+ if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT:
+ self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
+ else:
+ self.wheel_on_right = rhd_pred > self.settings._WHEELPOS_THRESHOLD
+ driver_data = driver_state.rightDriverData if self.rhd_toggled else driver_state.leftDriverData
if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition,
driver_data.faceOrientationStd, driver_data.facePositionStd,
driver_data.readyProb, driver_data.notReadyProb)):
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 0c4c2305eb..9f9b822693 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-5434b3c1696554e9a889e77f794d80cd1cb0a7ec
+df0ce74929dd6b5fa7a55224baefeff4bac6d785
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 8ed68d5bdd..662f8cc5b8 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-ed1dfb8b155ebcd8fdad4e06462b3bb7869fc67b
+41161c8d151b0c2017214cad0aad3156533ab868
diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
index 99acc050ea..2e5ffeacc6 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@@ -36,6 +36,8 @@ fi
tee $CONTINUE_PATH << EOF
#!/usr/bin/bash
+sudo abctl --set_success
+
while true; do
if ! sudo systemctl is-active -q ssh; then
sudo systemctl start ssh
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index d92cf36b89..2759416236 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -146,18 +146,18 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
p.setPen(QColor(0xff, 0xff, 0xff));
p.setRenderHint(QPainter::TextAntialiasing);
if (alert.size == cereal::ControlsState::AlertSize::SMALL) {
- configFont(p, "Open Sans", 74, "SemiBold");
+ configFont(p, "Inter", 74, "SemiBold");
p.drawText(r, Qt::AlignCenter, alert.text1);
} else if (alert.size == cereal::ControlsState::AlertSize::MID) {
- configFont(p, "Open Sans", 88, "Bold");
+ configFont(p, "Inter", 88, "Bold");
p.drawText(QRect(0, c.y() - 125, width(), 150), Qt::AlignHCenter | Qt::AlignTop, alert.text1);
- configFont(p, "Open Sans", 66, "Regular");
+ configFont(p, "Inter", 66, "Regular");
p.drawText(QRect(0, c.y() + 21, width(), 90), Qt::AlignHCenter, alert.text2);
} else if (alert.size == cereal::ControlsState::AlertSize::FULL) {
bool l = alert.text1.length() > 15;
- configFont(p, "Open Sans", l ? 132 : 177, "Bold");
+ configFont(p, "Inter", l ? 132 : 177, "Bold");
p.drawText(QRect(0, r.y() + (l ? 240 : 270), width(), 600), Qt::AlignHCenter | Qt::TextWordWrap, alert.text1);
- configFont(p, "Open Sans", 88, "Regular");
+ configFont(p, "Inter", 88, "Regular");
p.drawText(QRect(0, r.height() - (l ? 361 : 420), width(), 300), Qt::AlignHCenter | Qt::TextWordWrap, alert.text2);
}
}
@@ -259,10 +259,10 @@ void NvgWindow::drawHud(QPainter &p) {
} else {
p.setPen(QColor(0xa6, 0xa6, 0xa6, 0xff));
}
- configFont(p, "Open Sans", 40, "SemiBold");
+ configFont(p, "Inter", 40, "SemiBold");
QRect max_rect = getTextRect(p, Qt::AlignCenter, "MAX");
max_rect.moveCenter({set_speed_rect.center().x(), 0});
- max_rect.moveTop(set_speed_rect.top() + 23);
+ max_rect.moveTop(set_speed_rect.top() + 27);
p.drawText(max_rect, Qt::AlignCenter, "MAX");
// Draw set speed
@@ -279,10 +279,10 @@ void NvgWindow::drawHud(QPainter &p) {
} else {
p.setPen(QColor(0x72, 0x72, 0x72, 0xff));
}
- configFont(p, "Open Sans", 90, "Bold");
+ configFont(p, "Inter", 90, "Bold");
QRect speed_rect = getTextRect(p, Qt::AlignCenter, setSpeedStr);
speed_rect.moveCenter({set_speed_rect.center().x(), 0});
- speed_rect.moveTop(set_speed_rect.top() + 67);
+ speed_rect.moveTop(set_speed_rect.top() + 77);
p.drawText(speed_rect, Qt::AlignCenter, setSpeedStr);
@@ -306,23 +306,23 @@ void NvgWindow::drawHud(QPainter &p) {
p.drawRoundedRect(sign_rect, 16, 16);
// "SPEED"
- configFont(p, "Open Sans", 28, "SemiBold");
+ configFont(p, "Inter", 28, "SemiBold");
QRect text_speed_rect = getTextRect(p, Qt::AlignCenter, "SPEED");
text_speed_rect.moveCenter({sign_rect.center().x(), 0});
- text_speed_rect.moveTop(sign_rect_outer.top() + 20);
+ text_speed_rect.moveTop(sign_rect_outer.top() + 22);
p.drawText(text_speed_rect, Qt::AlignCenter, "SPEED");
// "LIMIT"
QRect text_limit_rect = getTextRect(p, Qt::AlignCenter, "LIMIT");
text_limit_rect.moveCenter({sign_rect.center().x(), 0});
- text_limit_rect.moveTop(sign_rect_outer.top() + 48);
+ text_limit_rect.moveTop(sign_rect_outer.top() + 51);
p.drawText(text_limit_rect, Qt::AlignCenter, "LIMIT");
// Speed limit value
- configFont(p, "Open Sans", 70, "Bold");
+ configFont(p, "Inter", 70, "Bold");
QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr);
speed_limit_rect.moveCenter({sign_rect.center().x(), 0});
- speed_limit_rect.moveTop(sign_rect.top() + 70);
+ speed_limit_rect.moveTop(sign_rect_outer.top() + 85);
p.drawText(speed_limit_rect, Qt::AlignCenter, speedLimitStr);
}
@@ -343,10 +343,8 @@ void NvgWindow::drawHud(QPainter &p) {
p.drawEllipse(center, inner_radius_2, inner_radius_2);
// Speed limit value
- if (speedLimit < 1 ) center -= {0, 2}; // Make sure dash is centered if no speed limit available
-
- int font_size = (speedLimitStr.size() >= 3) ? 62 : 70;
- configFont(p, "Open Sans", font_size, "Bold");
+ int font_size = (speedLimitStr.size() >= 3) ? 60 : 70;
+ configFont(p, "Inter", font_size, "Bold");
QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr);
speed_limit_rect.moveCenter(center);
p.setPen(blackColor());
@@ -354,9 +352,9 @@ void NvgWindow::drawHud(QPainter &p) {
}
// current speed
- configFont(p, "Open Sans", 176, "Bold");
+ configFont(p, "Inter", 176, "Bold");
drawText(p, rect().center().x(), 210, speedStr);
- configFont(p, "Open Sans", 66, "Regular");
+ configFont(p, "Inter", 66, "Regular");
drawText(p, rect().center().x(), 290, speedUnit, 200);
// engage-ability icon
diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index 312d8d8a59..00e72b352c 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -4,13 +4,13 @@
#include "selfdrive/ui/qt/util.h"
-void Sidebar::drawMetric(QPainter &p, const QString &label, QColor c, int y) {
- const QRect rect = {30, y, 240, label.contains("\n") ? 124 : 100};
+void Sidebar::drawMetric(QPainter &p, const QPair &label, QColor c, int y) {
+ const QRect rect = {30, y, 240, 126};
p.setPen(Qt::NoPen);
p.setBrush(QBrush(c));
- p.setClipRect(rect.x() + 6, rect.y(), 18, rect.height(), Qt::ClipOperation::ReplaceClip);
- p.drawRoundedRect(QRect(rect.x() + 6, rect.y() + 6, 100, rect.height() - 12), 10, 10);
+ p.setClipRect(rect.x() + 4, rect.y(), 18, rect.height(), Qt::ClipOperation::ReplaceClip);
+ p.drawRoundedRect(QRect(rect.x() + 4, rect.y() + 4, 100, 118), 18, 18);
p.setClipping(false);
QPen pen = QPen(QColor(0xff, 0xff, 0xff, 0x55));
@@ -20,9 +20,16 @@ void Sidebar::drawMetric(QPainter &p, const QString &label, QColor c, int y) {
p.drawRoundedRect(rect, 20, 20);
p.setPen(QColor(0xff, 0xff, 0xff));
- configFont(p, "Open Sans", 35, "Bold");
- const QRect r = QRect(rect.x() + 30, rect.y(), rect.width() - 40, rect.height());
- p.drawText(r, Qt::AlignCenter, label);
+ configFont(p, "Inter", 35, "SemiBold");
+
+ QRect label_rect = getTextRect(p, Qt::AlignCenter, label.first);
+ label_rect.setWidth(218);
+ label_rect.moveLeft(rect.left() + 22);
+ label_rect.moveTop(rect.top() + 19);
+ p.drawText(label_rect, Qt::AlignCenter, label.first);
+
+ label_rect.moveTop(rect.top() + 65);
+ p.drawText(label_rect, Qt::AlignCenter, label.second);
}
Sidebar::Sidebar(QWidget *parent) : QFrame(parent) {
@@ -57,26 +64,26 @@ void Sidebar::updateState(const UIState &s) {
ItemStatus connectStatus;
auto last_ping = deviceState.getLastAthenaPingTime();
if (last_ping == 0) {
- connectStatus = ItemStatus{"CONNECT\nOFFLINE", warning_color};
+ connectStatus = ItemStatus{{"CONNECT", "OFFLINE"}, warning_color};
} else {
- connectStatus = nanos_since_boot() - last_ping < 80e9 ? ItemStatus{"CONNECT\nONLINE", good_color} : ItemStatus{"CONNECT\nERROR", danger_color};
+ connectStatus = nanos_since_boot() - last_ping < 80e9 ? ItemStatus{{"CONNECT", "ONLINE"}, good_color} : ItemStatus{{"CONNECT", "ERROR"}, danger_color};
}
setProperty("connectStatus", QVariant::fromValue(connectStatus));
- ItemStatus tempStatus = {"TEMP\nHIGH", danger_color};
+ ItemStatus tempStatus = {{"TEMP", "HIGH"}, danger_color};
auto ts = deviceState.getThermalStatus();
if (ts == cereal::DeviceState::ThermalStatus::GREEN) {
- tempStatus = {"TEMP\nGOOD", good_color};
+ tempStatus = {{"TEMP", "GOOD"}, good_color};
} else if (ts == cereal::DeviceState::ThermalStatus::YELLOW) {
- tempStatus = {"TEMP\nOK", warning_color};
+ tempStatus = {{"TEMP", "OK"}, warning_color};
}
setProperty("tempStatus", QVariant::fromValue(tempStatus));
- ItemStatus pandaStatus = {"VEHICLE\nONLINE", good_color};
+ ItemStatus pandaStatus = {{"VEHICLE", "ONLINE"}, good_color};
if (s.scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) {
- pandaStatus = {"NO\nPANDA", danger_color};
+ pandaStatus = {{"NO", "PANDA"}, danger_color};
} else if (s.scene.started && !sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK()) {
- pandaStatus = {"GPS\nSEARCH", warning_color};
+ pandaStatus = {{"GPS", "SEARCH"}, warning_color};
}
setProperty("pandaStatus", QVariant::fromValue(pandaStatus));
}
@@ -103,7 +110,7 @@ void Sidebar::paintEvent(QPaintEvent *event) {
x += 37;
}
- configFont(p, "Open Sans", 35, "Regular");
+ configFont(p, "Inter", 35, "Regular");
p.setPen(QColor(0xff, 0xff, 0xff));
const QRect r = QRect(50, 247, 100, 50);
p.drawText(r, Qt::AlignCenter, net_type);
diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h
index ab3e990e61..98ae6564d6 100644
--- a/selfdrive/ui/qt/sidebar.h
+++ b/selfdrive/ui/qt/sidebar.h
@@ -6,7 +6,7 @@
#include "common/params.h"
#include "selfdrive/ui/ui.h"
-typedef QPair ItemStatus;
+typedef QPair, QColor> ItemStatus;
Q_DECLARE_METATYPE(ItemStatus);
class Sidebar : public QFrame {
@@ -30,7 +30,7 @@ public slots:
protected:
void paintEvent(QPaintEvent *event) override;
void mouseReleaseEvent(QMouseEvent *event) override;
- void drawMetric(QPainter &p, const QString &label, QColor c, int y);
+ void drawMetric(QPainter &p, const QPair &label, QColor c, int y);
QPixmap home_img, settings_img;
const QMap network_type = {
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index d9613df0d0..04ce15ef23 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -45,9 +45,6 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
});
// load fonts
- QFontDatabase::addApplicationFont("../assets/fonts/opensans_regular.ttf");
- QFontDatabase::addApplicationFont("../assets/fonts/opensans_bold.ttf");
- QFontDatabase::addApplicationFont("../assets/fonts/opensans_semibold.ttf");
QFontDatabase::addApplicationFont("../assets/fonts/Inter-Black.ttf");
QFontDatabase::addApplicationFont("../assets/fonts/Inter-Bold.ttf");
QFontDatabase::addApplicationFont("../assets/fonts/Inter-ExtraBold.ttf");
diff --git a/tools/sim/lib/can.py b/tools/sim/lib/can.py
index 2b1048fef2..939d081a80 100755
--- a/tools/sim/lib/can.py
+++ b/tools/sim/lib/can.py
@@ -63,7 +63,7 @@ def can_function(pm, speed, angle, idx, cruise_button, is_engaged):
msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}, idx))
msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)}, idx))
msg.append(packer.make_can_msg("HUD_SETTING", 0, {}))
- msg.append(packer.make_can_msg("CAR_SPEED", 0, {}))
+ msg.append(packer.make_can_msg("CAR_SPEED", 0, {}, idx))
# *** cam bus ***
msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}, idx))