Merge remote-tracking branch 'upstream/master' into check-accel

pull/35700/head
Shane Smiskol 4 weeks ago
commit 05ce12ee94
  1. 2
      cereal/log.capnp
  2. 1
      common/params.h
  3. 4
      common/params_keys.h
  4. 1
      common/params_pyx.pyx
  5. 2
      docs/CARS.md
  6. 2
      opendbc_repo
  7. 9
      pyproject.toml
  8. 8
      selfdrive/debug/car/fw_versions.py
  9. 6
      selfdrive/debug/cpu_usage_stat.py
  10. 4
      selfdrive/modeld/models/driving_policy.onnx
  11. 4
      selfdrive/modeld/models/driving_vision.onnx
  12. 10
      selfdrive/modeld/parse_model_outputs.py
  13. 9
      selfdrive/monitoring/helpers.py
  14. 4
      selfdrive/pandad/panda_safety.cc
  15. 19
      selfdrive/pandad/pandad.cc
  16. 2
      selfdrive/pandad/pandad.h
  17. 8
      selfdrive/selfdrived/alerts_offroad.json
  18. 2
      selfdrive/test/process_replay/ref_commit
  19. 6
      selfdrive/ui/SConscript
  20. 2
      selfdrive/ui/layouts/home.py
  21. 22
      selfdrive/ui/layouts/sidebar.py
  22. 3
      selfdrive/ui/onroad/cameraview.py
  23. 4
      selfdrive/ui/onroad/exp_button.py
  24. 141
      selfdrive/ui/qt/setup/reset.cc
  25. 27
      selfdrive/ui/qt/setup/reset.h
  26. 186
      selfdrive/ui/qt/setup/updater.cc
  27. 29
      selfdrive/ui/qt/setup/updater.h
  28. 8
      selfdrive/ui/translations/main_ar.ts
  29. 8
      selfdrive/ui/translations/main_de.ts
  30. 54
      selfdrive/ui/translations/main_es.ts
  31. 8
      selfdrive/ui/translations/main_fr.ts
  32. 8
      selfdrive/ui/translations/main_ja.ts
  33. 8
      selfdrive/ui/translations/main_ko.ts
  34. 8
      selfdrive/ui/translations/main_pt-BR.ts
  35. 8
      selfdrive/ui/translations/main_th.ts
  36. 8
      selfdrive/ui/translations/main_tr.ts
  37. 8
      selfdrive/ui/translations/main_zh-CHS.ts
  38. 8
      selfdrive/ui/translations/main_zh-CHT.ts
  39. 2
      selfdrive/ui/widgets/pairing_dialog.py
  40. 6
      system/athena/athenad.py
  41. 2
      system/athena/registration.py
  42. 26
      system/athena/tests/test_athenad.py
  43. 5
      system/camerad/test/test_camerad.py
  44. 4
      system/camerad/test/test_exposure.py
  45. 3
      system/hardware/base.py
  46. 26
      system/hardware/hardwared.py
  47. 2
      system/hardware/pc/hardware.py
  48. 10
      system/hardware/tici/hardware.py
  49. 3
      system/loggerd/bootlog.cc
  50. 5
      system/loggerd/encoder/ffmpeg_encoder.cc
  51. 17
      system/loggerd/video_writer.cc
  52. 1
      system/loggerd/video_writer.h
  53. 9
      system/manager/manager.py
  54. 2
      system/qcomgpsd/qcomgpsd.py
  55. 2
      tinygrad_repo
  56. 3
      tools/cabana/SConscript
  57. 261
      tools/cabana/cameraview.cc
  58. 64
      tools/cabana/cameraview.h
  59. 88
      tools/cabana/chart/sparkline.cc
  60. 5
      tools/cabana/chart/sparkline.h
  61. 3
      tools/cabana/signalview.cc
  62. 13
      tools/cabana/videowidget.cc
  63. 2
      tools/cabana/videowidget.h
  64. 2
      tools/camerastream/compressed_vipc.py
  65. 2
      tools/lib/comma_car_segments.py
  66. 1
      tools/lib/framereader.py
  67. 4
      tools/lib/url_file.py
  68. 43
      tools/replay/framereader.cc
  69. 1
      tools/replay/framereader.h
  70. 4
      tools/replay/unlog_ci_segment.py
  71. 4
      tools/sim/lib/simulated_sensors.py
  72. 498
      uv.lock

@ -493,7 +493,6 @@ struct DeviceState @0xa4d8b5af2aa492eb {
gpuTempC @27 :List(Float32); gpuTempC @27 :List(Float32);
dspTempC @49 :Float32; dspTempC @49 :Float32;
memoryTempC @28 :Float32; memoryTempC @28 :Float32;
nvmeTempC @35 :List(Float32);
modemTempC @36 :List(Float32); modemTempC @36 :List(Float32);
pmicTempC @39 :List(Float32); pmicTempC @39 :List(Float32);
intakeTempC @46 :Float32; intakeTempC @46 :Float32;
@ -569,6 +568,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
chargingDisabledDEPRECATED @18 :Bool; chargingDisabledDEPRECATED @18 :Bool;
usbOnlineDEPRECATED @12 :Bool; usbOnlineDEPRECATED @12 :Bool;
ambientTempCDEPRECATED @30 :Float32; ambientTempCDEPRECATED @30 :Float32;
nvmeTempCDEPRECATED @35 :List(Float32);
} }
struct PandaState @0xa7649e2575e4591e { struct PandaState @0xa7649e2575e4591e {

@ -16,6 +16,7 @@ enum ParamKeyType {
CLEAR_ON_OFFROAD_TRANSITION = 0x10, CLEAR_ON_OFFROAD_TRANSITION = 0x10,
DONT_LOG = 0x20, DONT_LOG = 0x20,
DEVELOPMENT_ONLY = 0x40, DEVELOPMENT_ONLY = 0x40,
CLEAR_ON_IGNITION_ON = 0x80,
ALL = 0xFFFFFFFF ALL = 0xFFFFFFFF
}; };

@ -34,6 +34,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
{"DoReboot", CLEAR_ON_MANAGER_START}, {"DoReboot", CLEAR_ON_MANAGER_START},
{"DoShutdown", CLEAR_ON_MANAGER_START}, {"DoShutdown", CLEAR_ON_MANAGER_START},
{"DoUninstall", CLEAR_ON_MANAGER_START}, {"DoUninstall", CLEAR_ON_MANAGER_START},
{"DriverTooDistracted", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"AlphaLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY}, {"AlphaLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY},
{"ExperimentalMode", PERSISTENT}, {"ExperimentalMode", PERSISTENT},
{"ExperimentalModeConfirmed", PERSISTENT}, {"ExperimentalModeConfirmed", PERSISTENT},
@ -81,7 +82,6 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
{"NetworkMetered", PERSISTENT}, {"NetworkMetered", PERSISTENT},
{"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
{"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START}, {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
{"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START}, {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
@ -92,7 +92,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
{"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
{"Offroad_StorageMissing", CLEAR_ON_MANAGER_START}, {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
{"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START}, {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
{"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START}, {"Offroad_UnregisteredHardware", CLEAR_ON_MANAGER_START},
{"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START}, {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
{"OnroadCycleRequested", CLEAR_ON_MANAGER_START}, {"OnroadCycleRequested", CLEAR_ON_MANAGER_START},
{"OpenpilotEnabledToggle", PERSISTENT}, {"OpenpilotEnabledToggle", PERSISTENT},

@ -11,6 +11,7 @@ cdef extern from "common/params.h":
CLEAR_ON_ONROAD_TRANSITION CLEAR_ON_ONROAD_TRANSITION
CLEAR_ON_OFFROAD_TRANSITION CLEAR_ON_OFFROAD_TRANSITION
DEVELOPMENT_ONLY DEVELOPMENT_ONLY
CLEAR_ON_IGNITION_ON
ALL ALL
cdef cppclass c_Params "Params": cdef cppclass c_Params "Params":

@ -157,7 +157,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|| |Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
|Kia|Niro EV (with HDA II) 2025[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV (with HDA II) 2025">Buy Here</a></sub></details>||| |Kia|Niro EV (with HDA II) 2025[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV (with HDA II) 2025">Buy Here</a></sub></details>|||
|Kia|Niro EV (without HDA II) 2023-25[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV (without HDA II) 2023-25">Buy Here</a></sub></details>||| |Kia|Niro EV (without HDA II) 2023-25[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV (without HDA II) 2023-25">Buy Here</a></sub></details>|||
|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2018">Buy Here</a></sub></details>||| |Kia|Niro Hybrid 2018|Smart Cruise Control (SCC)|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2018">Buy Here</a></sub></details>|||
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021">Buy Here</a></sub></details>||| |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021">Buy Here</a></sub></details>|||
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2022">Buy Here</a></sub></details>||| |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2022">Buy Here</a></sub></details>|||
|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||| |Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>|||

@ -1 +1 @@
Subproject commit 0783099ac84b9e45a67bd5025137a696f968e4a2 Subproject commit aa08e499ba98d1342bd81270fb83b0c02c6c39e6

@ -26,7 +26,7 @@ dependencies = [
"pycapnp", "pycapnp",
"Cython", "Cython",
"setuptools", "setuptools",
"numpy >=2.0, <2.2", # Linting issues with mypy in 2.2 "numpy >=2.0",
# body / webrtcd # body / webrtcd
"aiohttp", "aiohttp",
@ -42,7 +42,6 @@ dependencies = [
# modeld # modeld
"onnx >= 1.14.0", "onnx >= 1.14.0",
"llvmlite",
# logging # logging
"pyzmq", "pyzmq",
@ -121,7 +120,7 @@ dev = [
tools = [ tools = [
"metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')", "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
"rerun-sdk >= 0.18", #"rerun-sdk >= 0.18", # this is pretty big, so only enable once we use it
] ]
[project.urls] [project.urls]
@ -177,9 +176,6 @@ skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, .
[tool.mypy] [tool.mypy]
python_version = "3.11" python_version = "3.11"
plugins = [
"numpy.typing.mypy_plugin",
]
exclude = [ exclude = [
"cereal/", "cereal/",
"msgq/", "msgq/",
@ -262,6 +258,7 @@ lint.flake8-implicit-str-concat.allow-multiline = false
"pytest.main".msg = "pytest.main requires special handling that is easy to mess up!" "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
"unittest".msg = "Use pytest" "unittest".msg = "Use pytest"
"pyray.measure_text_ex".msg = "Use openpilot.system.ui.lib.text_measure" "pyray.measure_text_ex".msg = "Use openpilot.system.ui.lib.text_measure"
"time.time".msg = "Use time.monotonic"
[tool.ruff.format] [tool.ruff.format]
quote-style = "preserve" quote-style = "preserve"

@ -47,15 +47,15 @@ if __name__ == "__main__":
num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates) num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates)
t = time.time() t = time.monotonic()
print("Getting vin...") print("Getting vin...")
set_obd_multiplexing(True) set_obd_multiplexing(True)
vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1)) vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1))
print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}') print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
print(f"Getting VIN took {time.time() - t:.3f} s") print(f"Getting VIN took {time.monotonic() - t:.3f} s")
print() print()
t = time.time() t = time.monotonic()
fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, progress=True) fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, progress=True)
_, candidates = match_fw_to_car(fw_vers, vin) _, candidates = match_fw_to_car(fw_vers, vin)
@ -71,4 +71,4 @@ if __name__ == "__main__":
print() print()
print("Possible matches:", candidates) print("Possible matches:", candidates)
print(f"Getting fw took {time.time() - t:.3f} s") print(f"Getting fw took {time.monotonic() - t:.3f} s")

@ -37,8 +37,6 @@ monitored_proc_names = [
cpu_time_names = ['user', 'system', 'children_user', 'children_system'] cpu_time_names = ['user', 'system', 'children_user', 'children_system']
timer = getattr(time, 'monotonic', time.time)
def get_arg_parser(): def get_arg_parser():
parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
@ -72,7 +70,7 @@ if __name__ == "__main__":
print('Add monitored proc:', k) print('Add monitored proc:', k)
stats[k] = {'cpu_samples': defaultdict(list), 'min': defaultdict(lambda: None), 'max': defaultdict(lambda: None), stats[k] = {'cpu_samples': defaultdict(list), 'min': defaultdict(lambda: None), 'max': defaultdict(lambda: None),
'avg': defaultdict(float), 'last_cpu_times': None, 'last_sys_time': None} 'avg': defaultdict(float), 'last_cpu_times': None, 'last_sys_time': None}
stats[k]['last_sys_time'] = timer() stats[k]['last_sys_time'] = time.monotonic()
stats[k]['last_cpu_times'] = p.cpu_times() stats[k]['last_cpu_times'] = p.cpu_times()
monitored_procs.append(p) monitored_procs.append(p)
i = 0 i = 0
@ -80,7 +78,7 @@ if __name__ == "__main__":
while True: while True:
for p in monitored_procs: for p in monitored_procs:
k = ' '.join(p.cmdline()) k = ' '.join(p.cmdline())
cur_sys_time = timer() cur_sys_time = time.monotonic()
cur_cpu_times = p.cpu_times() cur_cpu_times = p.cpu_times()
cpu_times = np.subtract(cur_cpu_times, stats[k]['last_cpu_times']) / (cur_sys_time - stats[k]['last_sys_time']) cpu_times = np.subtract(cur_cpu_times, stats[k]['last_cpu_times']) / (cur_sys_time - stats[k]['last_sys_time'])
stats[k]['last_sys_time'] = cur_sys_time stats[k]['last_sys_time'] = cur_sys_time

@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1 version https://git-lfs.github.com/spec/v1
oid sha256:1741cad23f6f451782b5db6182218749ee12072e393d57eac36d8d5c55d9358a oid sha256:cddefa5dbe21c60858f0d321d12d1ed4b126d05a7563f651bdf021674be63d64
size 15583374 size 15701037

@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1 version https://git-lfs.github.com/spec/v1
oid sha256:3d2bd82ba42341dba1bda5426e45c4c646db604c9ac422156eaa2b9ef26194f9 oid sha256:afee02876ed51f21883e731990a252fd57afda6a78700c41fbf22d8cb288b4b5
size 46265993 size 46147818

@ -90,22 +90,22 @@ class Parser:
self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, self.parse_binary_crossentropy('lane_lines_prob', outs)
out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
for k in ['lead_prob', 'lane_lines_prob']:
self.parse_binary_crossentropy(k, outs)
self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
self.parse_binary_crossentropy('meta', outs) self.parse_binary_crossentropy('meta', outs)
return outs return outs
def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
if 'lat_planner_solution' in outs: if 'lat_planner_solution' in outs:
self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH)) self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
if 'desired_curvature' in outs: if 'desired_curvature' in outs:
self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
self.parse_binary_crossentropy('lead_prob', outs)
self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
return outs return outs
def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:

@ -6,6 +6,7 @@ import cereal.messaging as messaging
from openpilot.selfdrive.selfdrived.events import Events from openpilot.selfdrive.selfdrived.events import Events
from openpilot.common.realtime import DT_DMON from openpilot.common.realtime import DT_DMON
from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.params import Params
from openpilot.common.stat_live import RunningStatFilter from openpilot.common.stat_live import RunningStatFilter
from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.transformations.camera import DEVICE_CAMERAS
@ -159,6 +160,9 @@ class DriverMonitoring:
self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME
self.params = Params()
self.too_distracted = self.params.get_bool("DriverTooDistracted")
self._reset_awareness() self._reset_awareness()
self._set_timers(active_monitoring=True) self._set_timers(active_monitoring=True)
self._reset_events() self._reset_events()
@ -309,6 +313,11 @@ class DriverMonitoring:
if self.terminal_alert_cnt >= self.settings._MAX_TERMINAL_ALERTS or \ if self.terminal_alert_cnt >= self.settings._MAX_TERMINAL_ALERTS or \
self.terminal_time >= self.settings._MAX_TERMINAL_DURATION or \ self.terminal_time >= self.settings._MAX_TERMINAL_DURATION or \
self.always_on and self.awareness <= self.threshold_prompt: self.always_on and self.awareness <= self.threshold_prompt:
if not self.too_distracted:
self.params.put_bool_nonblocking("DriverTooDistracted", True)
self.too_distracted = True
if self.too_distracted:
self.current_events.add(EventName.tooDistracted) self.current_events.add(EventName.tooDistracted)
always_on_valid = self.always_on and not wrong_gear always_on_valid = self.always_on and not wrong_gear

@ -2,9 +2,7 @@
#include "cereal/messaging/messaging.h" #include "cereal/messaging/messaging.h"
#include "common/swaglog.h" #include "common/swaglog.h"
void PandaSafety::configureSafetyMode() { void PandaSafety::configureSafetyMode(bool is_onroad) {
bool is_onroad = params_.getBool("IsOnroad");
if (is_onroad && !safety_configured_) { if (is_onroad && !safety_configured_) {
updateMultiplexingMode(); updateMultiplexingMode();

@ -188,7 +188,7 @@ void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const
cs.setCanCoreResetCnt(can_health.can_core_reset_cnt); cs.setCanCoreResetCnt(can_health.can_core_reset_cnt);
} }
std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started) { std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool is_onroad, bool spoofing_started) {
bool ignition_local = false; bool ignition_local = false;
const uint32_t pandas_cnt = pandas.size(); const uint32_t pandas_cnt = pandas.size();
@ -255,8 +255,9 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
panda->set_power_saving(power_save_desired); panda->set_power_saving(power_save_desired);
} }
// set safety mode to NO_OUTPUT when car is off. ELM327 is an alternative if we want to leverage athenad/connect // set safety mode to NO_OUTPUT when car is off or we're not onroad. ELM327 is an alternative if we want to leverage athenad/connect
if (!ignition_local && (health.safety_mode_pkt != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) { bool should_close_relay = !ignition_local || !is_onroad;
if (should_close_relay && (health.safety_mode_pkt != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) {
panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT); panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
} }
@ -323,14 +324,14 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
pm->send("peripheralState", msg); pm->send("peripheralState", msg);
} }
void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool engaged, bool spoofing_started) { void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool engaged, bool is_onroad, bool spoofing_started) {
std::vector<std::string> connected_serials; std::vector<std::string> connected_serials;
for (Panda *p : pandas) { for (Panda *p : pandas) {
connected_serials.push_back(p->hw_serial()); connected_serials.push_back(p->hw_serial());
} }
{ {
auto ignition_opt = send_panda_states(pm, pandas, spoofing_started); auto ignition_opt = send_panda_states(pm, pandas, is_onroad, spoofing_started);
if (!ignition_opt) { if (!ignition_opt) {
LOGE("Failed to get ignition_opt"); LOGE("Failed to get ignition_opt");
return; return;
@ -423,12 +424,14 @@ void pandad_run(std::vector<Panda *> &pandas) {
// Start the CAN send thread // Start the CAN send thread
std::thread send_thread(can_send_thread, pandas, fake_send); std::thread send_thread(can_send_thread, pandas, fake_send);
Params params;
RateKeeper rk("pandad", 100); RateKeeper rk("pandad", 100);
SubMaster sm({"selfdriveState"}); SubMaster sm({"selfdriveState"});
PubMaster pm({"can", "pandaStates", "peripheralState"}); PubMaster pm({"can", "pandaStates", "peripheralState"});
PandaSafety panda_safety(pandas); PandaSafety panda_safety(pandas);
Panda *peripheral_panda = pandas[0]; Panda *peripheral_panda = pandas[0];
bool engaged = false; bool engaged = false;
bool is_onroad = false;
// Main loop: receive CAN data and process states // Main loop: receive CAN data and process states
while (!do_exit && check_all_connected(pandas)) { while (!do_exit && check_all_connected(pandas)) {
@ -443,8 +446,9 @@ void pandad_run(std::vector<Panda *> &pandas) {
if (rk.frame() % 10 == 0) { if (rk.frame() % 10 == 0) {
sm.update(0); sm.update(0);
engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled(); engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
process_panda_state(pandas, &pm, engaged, spoofing_started); is_onroad = params.getBool("IsOnroad");
panda_safety.configureSafetyMode(); process_panda_state(pandas, &pm, engaged, is_onroad, spoofing_started);
panda_safety.configureSafetyMode(is_onroad);
} }
// Send out peripheralState at 2Hz // Send out peripheralState at 2Hz
@ -469,7 +473,6 @@ void pandad_run(std::vector<Panda *> &pandas) {
} }
// Close relay on exit to prevent a fault // Close relay on exit to prevent a fault
const bool is_onroad = Params().getBool("IsOnroad");
if (is_onroad && !engaged) { if (is_onroad && !engaged) {
for (auto &p : pandas) { for (auto &p : pandas) {
if (p->connected()) { if (p->connected()) {

@ -11,7 +11,7 @@ void pandad_main_thread(std::vector<std::string> serials);
class PandaSafety { class PandaSafety {
public: public:
PandaSafety(const std::vector<Panda *> &pandas) : pandas_(pandas) {} PandaSafety(const std::vector<Panda *> &pandas) : pandas_(pandas) {}
void configureSafetyMode(); void configureSafetyMode(bool is_onroad);
private: private:
void updateMultiplexingMode(); void updateMultiplexingMode();

@ -25,18 +25,14 @@
"text": "An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install.", "text": "An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install.",
"severity": 0 "severity": 0
}, },
"Offroad_UnofficialHardware": { "Offroad_UnregisteredHardware": {
"text": "Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.", "text": "Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.",
"severity": 1 "severity": 1
}, },
"Offroad_StorageMissing": { "Offroad_StorageMissing": {
"text": "NVMe drive not mounted.", "text": "NVMe drive not mounted.",
"severity": 1 "severity": 1
}, },
"Offroad_BadNvme": {
"text": "Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.",
"severity": 1
},
"Offroad_CarUnrecognized": { "Offroad_CarUnrecognized": {
"text": "openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.", "text": "openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.",
"severity": 0 "severity": 0

@ -1 +1 @@
fe65c5a2dd24dc0bd92b1f319c6eae64d7e8a54d e5e76533f9c3986d32aed1c7b4b6bb1e5fe08c30

@ -65,14 +65,10 @@ if GetOption('extras'):
qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs) qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs)
# setup and factory resetter # setup
qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs)
qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj], qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj],
LIBS=qt_libs + ['curl', 'common']) LIBS=qt_libs + ['curl', 'common'])
# build updater UI
qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs)
if arch != "Darwin": if arch != "Darwin":
# build installers # build installers
raylib_env = env.Clone() raylib_env = env.Clone()

@ -67,7 +67,7 @@ class HomeLayout(Widget):
self.current_state = state self.current_state = state
def _render(self, rect: rl.Rectangle): def _render(self, rect: rl.Rectangle):
current_time = time.time() current_time = time.monotonic()
if current_time - self.last_refresh >= REFRESH_INTERVAL: if current_time - self.last_refresh >= REFRESH_INTERVAL:
self._refresh() self._refresh()
self.last_refresh = current_time self.last_refresh = current_time

@ -12,6 +12,7 @@ SIDEBAR_WIDTH = 300
METRIC_HEIGHT = 126 METRIC_HEIGHT = 126
METRIC_WIDTH = 240 METRIC_WIDTH = 240
METRIC_MARGIN = 30 METRIC_MARGIN = 30
FONT_SIZE = 35
SETTINGS_BTN = rl.Rectangle(50, 35, 200, 117) SETTINGS_BTN = rl.Rectangle(50, 35, 200, 117)
HOME_BTN = rl.Rectangle(60, 860, 180, 180) HOME_BTN = rl.Rectangle(60, 860, 180, 180)
@ -175,7 +176,7 @@ class Sidebar(Widget):
# Network type text # Network type text
text_y = rect.y + 247 text_y = rect.y + 247
text_pos = rl.Vector2(rect.x + 58, text_y) text_pos = rl.Vector2(rect.x + 58, text_y)
rl.draw_text_ex(self._font_regular, self._net_type, text_pos, 35, 0, Colors.WHITE) rl.draw_text_ex(self._font_regular, self._net_type, text_pos, FONT_SIZE, 0, Colors.WHITE)
def _draw_metrics(self, rect: rl.Rectangle): def _draw_metrics(self, rect: rl.Rectangle):
metrics = [(self._temp_status, 338), (self._panda_status, 496), (self._connect_status, 654)] metrics = [(self._temp_status, 338), (self._panda_status, 496), (self._connect_status, 654)]
@ -194,11 +195,14 @@ class Sidebar(Widget):
# Draw border # Draw border
rl.draw_rectangle_rounded_lines_ex(metric_rect, 0.15, 10, 2, Colors.METRIC_BORDER) rl.draw_rectangle_rounded_lines_ex(metric_rect, 0.15, 10, 2, Colors.METRIC_BORDER)
# Draw text # Draw label and value
text = f"{metric.label}\n{metric.value}" labels = [metric.label, metric.value]
text_size = measure_text_cached(self._font_bold, text, 35) text_y = metric_rect.y + (metric_rect.height / 2 - len(labels) * FONT_SIZE)
text_pos = rl.Vector2( for text in labels:
metric_rect.x + 22 + (metric_rect.width - 22 - text_size.x) / 2, text_size = measure_text_cached(self._font_bold, text, FONT_SIZE)
metric_rect.y + (metric_rect.height - text_size.y) / 2 text_y += text_size.y
) text_pos = rl.Vector2(
rl.draw_text_ex(self._font_bold, text, text_pos, 35, 0, Colors.WHITE) metric_rect.x + 22 + (metric_rect.width - 22 - text_size.x) / 2,
text_y
)
rl.draw_text_ex(self._font_bold, text, text_pos, FONT_SIZE, 0, Colors.WHITE)

@ -179,6 +179,9 @@ class CameraView(Widget):
transform = self._calc_frame_matrix(rect) transform = self._calc_frame_matrix(rect)
src_rect = rl.Rectangle(0, 0, float(self.frame.width), float(self.frame.height)) src_rect = rl.Rectangle(0, 0, float(self.frame.width), float(self.frame.height))
# Flip driver camera horizontally
if self._stream_type == VisionStreamType.VISION_STREAM_DRIVER:
src_rect.width = -src_rect.width
# Calculate scale # Calculate scale
scale_x = rect.width * transform[0, 0] # zx scale_x = rect.width * transform[0, 0] # zx

@ -41,7 +41,7 @@ class ExpButton(Widget):
# Hold new state temporarily # Hold new state temporarily
self._held_mode = new_mode self._held_mode = new_mode
self._hold_end_time = time.time() + self._hold_duration self._hold_end_time = time.monotonic() + self._hold_duration
return True return True
return False return False
@ -58,7 +58,7 @@ class ExpButton(Widget):
rl.draw_texture(texture, center_x - texture.width // 2, center_y - texture.height // 2, self._white_color) rl.draw_texture(texture, center_x - texture.width // 2, center_y - texture.height // 2, self._white_color)
def _held_or_actual_mode(self): def _held_or_actual_mode(self):
now = time.time() now = time.monotonic()
if self._hold_end_time and now < self._hold_end_time: if self._hold_end_time and now < self._hold_end_time:
return self._held_mode return self._held_mode

@ -1,141 +0,0 @@
#include <QApplication>
#include <QHBoxLayout>
#include <QLabel>
#include <QPushButton>
#include <QTimer>
#include <QVBoxLayout>
#include "selfdrive/ui/qt/qt_window.h"
#include "selfdrive/ui/qt/setup/reset.h"
#define NVME "/dev/nvme0n1"
#define USERDATA "/dev/disk/by-partlabel/userdata"
void Reset::doErase() {
// best effort to wipe nvme
std::system("sudo umount " NVME);
std::system("yes | sudo mkfs.ext4 " NVME);
int rm = std::system("sudo rm -rf /data/*");
std::system("sudo umount " USERDATA);
int fmt = std::system("yes | sudo mkfs.ext4 " USERDATA);
if (rm == 0 || fmt == 0) {
std::system("sudo reboot");
}
body->setText(tr("Reset failed. Reboot to try again."));
rebootBtn->show();
}
void Reset::startReset() {
body->setText(tr("Resetting device...\nThis may take up to a minute."));
rejectBtn->hide();
rebootBtn->hide();
confirmBtn->hide();
#ifdef __aarch64__
QTimer::singleShot(100, this, &Reset::doErase);
#endif
}
void Reset::confirm() {
const QString confirm_txt = tr("Are you sure you want to reset your device?");
if (body->text() != confirm_txt) {
body->setText(confirm_txt);
} else {
startReset();
}
}
Reset::Reset(ResetMode mode, QWidget *parent) : QWidget(parent) {
QVBoxLayout *main_layout = new QVBoxLayout(this);
main_layout->setContentsMargins(45, 220, 45, 45);
main_layout->setSpacing(0);
QLabel *title = new QLabel(tr("System Reset"));
title->setStyleSheet("font-size: 90px; font-weight: 600;");
main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
main_layout->addSpacing(60);
body = new QLabel(tr("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot."));
body->setWordWrap(true);
body->setStyleSheet("font-size: 80px; font-weight: light;");
main_layout->addWidget(body, 1, Qt::AlignTop | Qt::AlignLeft);
QHBoxLayout *blayout = new QHBoxLayout();
main_layout->addLayout(blayout);
blayout->setSpacing(50);
rejectBtn = new QPushButton(tr("Cancel"));
blayout->addWidget(rejectBtn);
QObject::connect(rejectBtn, &QPushButton::clicked, QCoreApplication::instance(), &QCoreApplication::quit);
rebootBtn = new QPushButton(tr("Reboot"));
blayout->addWidget(rebootBtn);
#ifdef __aarch64__
QObject::connect(rebootBtn, &QPushButton::clicked, [=]{
std::system("sudo reboot");
});
#endif
confirmBtn = new QPushButton(tr("Confirm"));
confirmBtn->setStyleSheet(R"(
QPushButton {
background-color: #465BEA;
}
QPushButton:pressed {
background-color: #3049F4;
}
)");
blayout->addWidget(confirmBtn);
QObject::connect(confirmBtn, &QPushButton::clicked, this, &Reset::confirm);
bool recover = mode == ResetMode::RECOVER;
rejectBtn->setVisible(!recover);
rebootBtn->setVisible(recover);
if (recover) {
body->setText(tr("Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device."));
}
// automatically start if we're just finishing up an ABL reset
if (mode == ResetMode::FORMAT) {
startReset();
}
setStyleSheet(R"(
* {
font-family: Inter;
color: white;
background-color: black;
}
QLabel {
margin-left: 140;
}
QPushButton {
height: 160;
font-size: 55px;
font-weight: 400;
border-radius: 10px;
background-color: #333333;
}
QPushButton:pressed {
background-color: #444444;
}
)");
}
int main(int argc, char *argv[]) {
ResetMode mode = ResetMode::USER_RESET;
if (argc > 1) {
if (strcmp(argv[1], "--recover") == 0) {
mode = ResetMode::RECOVER;
} else if (strcmp(argv[1], "--format") == 0) {
mode = ResetMode::FORMAT;
}
}
QApplication a(argc, argv);
Reset reset(mode);
setMainWindow(&reset);
return a.exec();
}

@ -1,27 +0,0 @@
#include <QLabel>
#include <QPushButton>
#include <QWidget>
enum ResetMode {
USER_RESET, // user initiated a factory reset from openpilot
RECOVER, // userdata is corrupt for some reason, give a chance to recover
FORMAT, // finish up a factory reset from a tool that doesn't flash an empty partition to userdata
};
class Reset : public QWidget {
Q_OBJECT
public:
explicit Reset(ResetMode mode, QWidget *parent = 0);
private:
QLabel *body;
QPushButton *rejectBtn;
QPushButton *rebootBtn;
QPushButton *confirmBtn;
void doErase();
void startReset();
private slots:
void confirm();
};

@ -1,186 +0,0 @@
#include <QDebug>
#include <QTimer>
#include <QVBoxLayout>
#include "system/hardware/hw.h"
#include "selfdrive/ui/qt/util.h"
#include "selfdrive/ui/qt/qt_window.h"
#include "selfdrive/ui/qt/setup/updater.h"
#include "selfdrive/ui/qt/network/networking.h"
Updater::Updater(const QString &updater_path, const QString &manifest_path, QWidget *parent)
: updater(updater_path), manifest(manifest_path), QStackedWidget(parent) {
assert(updater.size());
assert(manifest.size());
// initial prompt screen
prompt = new QWidget;
{
QVBoxLayout *layout = new QVBoxLayout(prompt);
layout->setContentsMargins(100, 250, 100, 100);
QLabel *title = new QLabel(tr("Update Required"));
title->setStyleSheet("font-size: 80px; font-weight: bold;");
layout->addWidget(title);
layout->addSpacing(75);
QLabel *desc = new QLabel(tr("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB."));
desc->setWordWrap(true);
desc->setStyleSheet("font-size: 65px;");
layout->addWidget(desc);
layout->addStretch();
QHBoxLayout *hlayout = new QHBoxLayout;
hlayout->setSpacing(30);
layout->addLayout(hlayout);
QPushButton *connect = new QPushButton(tr("Connect to Wi-Fi"));
connect->setObjectName("navBtn");
QObject::connect(connect, &QPushButton::clicked, [=]() {
setCurrentWidget(wifi);
});
hlayout->addWidget(connect);
QPushButton *install = new QPushButton(tr("Install"));
install->setObjectName("navBtn");
install->setStyleSheet(R"(
QPushButton {
background-color: #465BEA;
}
QPushButton:pressed {
background-color: #3049F4;
}
)");
QObject::connect(install, &QPushButton::clicked, this, &Updater::installUpdate);
hlayout->addWidget(install);
}
// wifi connection screen
wifi = new QWidget;
{
QVBoxLayout *layout = new QVBoxLayout(wifi);
layout->setContentsMargins(100, 100, 100, 100);
Networking *networking = new Networking(this, false);
networking->setStyleSheet("Networking { background-color: #292929; border-radius: 13px; }");
layout->addWidget(networking, 1);
QPushButton *back = new QPushButton(tr("Back"));
back->setObjectName("navBtn");
back->setStyleSheet("padding-left: 60px; padding-right: 60px;");
QObject::connect(back, &QPushButton::clicked, [=]() {
setCurrentWidget(prompt);
});
layout->addWidget(back, 0, Qt::AlignLeft);
}
// progress screen
progress = new QWidget;
{
QVBoxLayout *layout = new QVBoxLayout(progress);
layout->setContentsMargins(150, 330, 150, 150);
layout->setSpacing(0);
text = new QLabel(tr("Loading..."));
text->setStyleSheet("font-size: 90px; font-weight: 600;");
layout->addWidget(text, 0, Qt::AlignTop);
layout->addSpacing(100);
bar = new QProgressBar();
bar->setRange(0, 100);
bar->setTextVisible(false);
bar->setFixedHeight(72);
layout->addWidget(bar, 0, Qt::AlignTop);
layout->addStretch();
reboot = new QPushButton(tr("Reboot"));
reboot->setObjectName("navBtn");
reboot->setStyleSheet("padding-left: 60px; padding-right: 60px;");
QObject::connect(reboot, &QPushButton::clicked, [=]() {
Hardware::reboot();
});
layout->addWidget(reboot, 0, Qt::AlignLeft);
reboot->hide();
layout->addStretch();
}
addWidget(prompt);
addWidget(wifi);
addWidget(progress);
setStyleSheet(R"(
* {
color: white;
outline: none;
font-family: Inter;
}
Updater {
color: white;
background-color: black;
}
QPushButton#navBtn {
height: 160;
font-size: 55px;
font-weight: 400;
border-radius: 10px;
background-color: #333333;
}
QPushButton#navBtn:pressed {
background-color: #444444;
}
QProgressBar {
border: none;
background-color: #292929;
}
QProgressBar::chunk {
background-color: #364DEF;
}
)");
}
void Updater::installUpdate() {
setCurrentWidget(progress);
QObject::connect(&proc, &QProcess::readyReadStandardOutput, this, &Updater::readProgress);
QObject::connect(&proc, QOverload<int, QProcess::ExitStatus>::of(&QProcess::finished), this, &Updater::updateFinished);
proc.setProcessChannelMode(QProcess::ForwardedErrorChannel);
proc.start(updater, {"--swap", manifest});
}
void Updater::readProgress() {
auto lines = QString(proc.readAllStandardOutput());
for (const QString &line : lines.trimmed().split("\n")) {
auto parts = line.split(":");
if (parts.size() == 2) {
text->setText(parts[0]);
bar->setValue((int)parts[1].toDouble());
} else {
qDebug() << line;
}
}
update();
}
void Updater::updateFinished(int exitCode, QProcess::ExitStatus exitStatus) {
qDebug() << "finished with " << exitCode;
if (exitCode == 0) {
Hardware::reboot();
} else {
text->setText(tr("Update failed"));
reboot->show();
}
}
int main(int argc, char *argv[]) {
initApp(argc, argv);
QApplication a(argc, argv);
Updater updater(argv[1], argv[2]);
setMainWindow(&updater);
a.installEventFilter(&updater);
return a.exec();
}

@ -1,29 +0,0 @@
#pragma once
#include <QLabel>
#include <QProcess>
#include <QPushButton>
#include <QProgressBar>
#include <QStackedWidget>
#include <QWidget>
class Updater : public QStackedWidget {
Q_OBJECT
public:
explicit Updater(const QString &updater_path, const QString &manifest_path, QWidget *parent = 0);
private slots:
void installUpdate();
void readProgress();
void updateFinished(int exitCode, QProcess::ExitStatus exitStatus);
private:
QProcess proc;
QString updater, manifest;
QLabel *text;
QProgressBar *bar;
QPushButton *reboot;
QWidget *prompt, *wifi, *progress;
};

@ -486,10 +486,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source> <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
<translation>يتم تنزيل تحديث لنظام تشغيل جهازك في الخلفية. سيطلَب منك التحديث عندما يصبح جاهزاً للتثبيت.</translation> <translation>يتم تنزيل تحديث لنظام تشغيل جهازك في الخلفية. سيطلَب منك التحديث عندما يصبح جاهزاً للتثبيت.</translation>
</message> </message>
<message>
<source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
<translation>فشل تسجيل الجهاز. لن يقوم بالاتصال أو تحميل خوادم comma.ai، ولا تلقي الدعم من comma.ai. إذا كان هذا الجهاز نظامياً فيرجى زيارة الموقع https://comma.ai/support.</translation>
</message>
<message> <message>
<source>NVMe drive not mounted.</source> <source>NVMe drive not mounted.</source>
<translation>محرك NVMe غير مثبَّت.</translation> <translation>محرك NVMe غير مثبَّت.</translation>
@ -506,6 +502,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source> <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
<translation>لقد اكتشف openpilot تغييراً في موقع تركيب الجهاز. تأكد من تثبيت الجهاز بشكل كامل في موقعه وتثبيته بإحكام على الزجاج الأمامي.</translation> <translation>لقد اكتشف openpilot تغييراً في موقع تركيب الجهاز. تأكد من تثبيت الجهاز بشكل كامل في موقعه وتثبيته بإحكام على الزجاج الأمامي.</translation>
</message> </message>
<message>
<source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
<translation type="unfinished"></translation>
</message>
</context> </context>
<context> <context>
<name>OffroadHome</name> <name>OffroadHome</name>

@ -474,10 +474,6 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere
<source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source> <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
<translation>Ein Update für das Betriebssystem deines Geräts wird im Hintergrund heruntergeladen. Du wirst aufgefordert, das Update zu installieren, sobald es bereit ist.</translation> <translation>Ein Update für das Betriebssystem deines Geräts wird im Hintergrund heruntergeladen. Du wirst aufgefordert, das Update zu installieren, sobald es bereit ist.</translation>
</message> </message>
<message>
<source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
<translation>Gerät konnte nicht registriert werden. Es wird keine Verbindung zu den comma.ai-Servern herstellen oder Daten hochladen und erhält keinen Support von comma.ai. Wenn dies ein offizielles Gerät ist, besuche https://comma.ai/support.</translation>
</message>
<message> <message>
<source>NVMe drive not mounted.</source> <source>NVMe drive not mounted.</source>
<translation>NVMe-Laufwerk nicht gemounted.</translation> <translation>NVMe-Laufwerk nicht gemounted.</translation>
@ -498,6 +494,10 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere
<source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source> <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
<translation>Gerätetemperatur zu hoch. Das System kühlt ab, bevor es startet. Aktuelle interne Komponententemperatur: %1</translation> <translation>Gerätetemperatur zu hoch. Das System kühlt ab, bevor es startet. Aktuelle interne Komponententemperatur: %1</translation>
</message> </message>
<message>
<source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
<translation type="unfinished"></translation>
</message>
</context> </context>
<context> <context>
<name>OffroadHome</name> <name>OffroadHome</name>

@ -84,27 +84,27 @@
</message> </message>
<message> <message>
<source>Prevent large data uploads when on a metered cellular connection</source> <source>Prevent large data uploads when on a metered cellular connection</source>
<translation type="unfinished"></translation> <translation>Evite cargas de grandes cantidades de datos cuando utilice una conexión celular medida</translation>
</message> </message>
<message> <message>
<source>default</source> <source>default</source>
<translation type="unfinished"></translation> <translation>por defecto</translation>
</message> </message>
<message> <message>
<source>metered</source> <source>metered</source>
<translation type="unfinished"></translation> <translation>medido</translation>
</message> </message>
<message> <message>
<source>unmetered</source> <source>unmetered</source>
<translation type="unfinished"></translation> <translation>sin medidor</translation>
</message> </message>
<message> <message>
<source>Wi-Fi Network Metered</source> <source>Wi-Fi Network Metered</source>
<translation type="unfinished"></translation> <translation>Red Wi-Fi medida</translation>
</message> </message>
<message> <message>
<source>Prevent large data uploads when on a metered Wi-Fi connection</source> <source>Prevent large data uploads when on a metered Wi-Fi connection</source>
<translation type="unfinished"></translation> <translation>Evite cargas de grandes cantidades de datos cuando esté en una conexión Wi-Fi medida</translation>
</message> </message>
</context> </context>
<context> <context>
@ -304,35 +304,39 @@
</message> </message>
<message> <message>
<source>Disengage to Reset Calibration</source> <source>Disengage to Reset Calibration</source>
<translation type="unfinished"></translation> <translation>Desactivar para restablecer la calibración</translation>
</message> </message>
<message> <message>
<source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source> <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down.</source>
<translation type="unfinished"></translation> <translation>openpilot requiere que el dispositivo esté montado dentro de los 4° hacia la izquierda o la derecha y dentro de los 5° hacia arriba o 9° hacia abajo.</translation>
</message> </message>
<message> <message>
<source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source> <source>openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on.</source>
<translation type="unfinished"></translation> <translation>Openpilot se calibra continuamente, por lo que rara vez es necesario reiniciarlo. Restablecer la calibración reiniciará Openpilot si el automóvil está encendido.</translation>
</message> </message>
<message> <message>
<source> <source>
Steering lag calibration is %1% complete.</source> Steering lag calibration is %1% complete.</source>
<translation type="unfinished"></translation> <translation>
La calibración del retraso de dirección está %1% completada.</translation>
</message> </message>
<message> <message>
<source> <source>
Steering lag calibration is complete.</source> Steering lag calibration is complete.</source>
<translation type="unfinished"></translation> <translation>
La calibración del retraso de la dirección está completa.</translation>
</message> </message>
<message> <message>
<source> Steering torque response calibration is %1% complete.</source> <source> Steering torque response calibration is %1% complete.</source>
<translation type="unfinished"></translation> <translation> La calibración de la respuesta del par de dirección está %1% completada.</translation>
</message> </message>
<message> <message>
<source> Steering torque response calibration is complete.</source> <source> Steering torque response calibration is complete.</source>
<translation type="unfinished"></translation> <translation> La calibración de la respuesta del par de dirección está completa.</translation>
</message> </message>
</context> </context>
<context> <context>
@ -388,7 +392,7 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para
</message> </message>
<message> <message>
<source>Firehose Mode</source> <source>Firehose Mode</source>
<translation type="unfinished"></translation> <translation>Modo manguera contra incendios</translation>
</message> </message>
</context> </context>
<context> <context>
@ -478,10 +482,6 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para
<source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source> <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
<translation>Se está descargando una actualización del sistema operativo de su dispositivo en segundo plano. Se le pedirá que actualice cuando esté listo para instalarse.</translation> <translation>Se está descargando una actualización del sistema operativo de su dispositivo en segundo plano. Se le pedirá que actualice cuando esté listo para instalarse.</translation>
</message> </message>
<message>
<source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
<translation>El dispositivo no pudo registrarse. No se conectará ni subirá datos a los servidores de comma.ai y no recibe soporte de comma.ai. Si este es un dispositivo oficial, visite https://comma.ai/support.</translation>
</message>
<message> <message>
<source>NVMe drive not mounted.</source> <source>NVMe drive not mounted.</source>
<translation>Unidad NVMe no montada.</translation> <translation>Unidad NVMe no montada.</translation>
@ -498,6 +498,10 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para
<source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source> <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
<translation>openpilot detectó un cambio en la posición de montaje del dispositivo. Asegúrese de que el dispositivo esté completamente asentado en el soporte y que el soporte esté firmemente asegurado al parabrisas.</translation> <translation>openpilot detectó un cambio en la posición de montaje del dispositivo. Asegúrese de que el dispositivo esté completamente asentado en el soporte y que el soporte esté firmemente asegurado al parabrisas.</translation>
</message> </message>
<message>
<source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
<translation type="unfinished"></translation>
</message>
</context> </context>
<context> <context>
<name>OffroadHome</name> <name>OffroadHome</name>
@ -813,13 +817,15 @@ Esto puede tardar un minuto.</translation>
</message> </message>
<message> <message>
<source>WARNING: Custom Software</source> <source>WARNING: Custom Software</source>
<translation type="unfinished"></translation> <translation>ADVERTENCIA: Software personalizado</translation>
</message> </message>
<message> <message>
<source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle. <source>Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle.
If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source> If you&apos;d like to proceed, use https://flash.comma.ai to restore your device to a factory state later.</source>
<translation type="unfinished"></translation> <translation>Tenga cuidado al instalar software de terceros. El software de terceros no ha sido probado por comma y puede causar daños a su dispositivo y/o vehículo.
Si desea continuar, utilice https://flash.comma.ai para restaurar su dispositivo a un estado de fábrica más tarde.</translation>
</message> </message>
</context> </context>
<context> <context>
@ -1160,19 +1166,19 @@ If you&apos;d like to proceed, use https://flash.comma.ai to restore your device
</message> </message>
<message> <message>
<source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source> <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
<translation type="unfinished"></translation> <translation>Utilice el sistema openpilot para el control de crucero adaptativo y la asistencia al conductor para mantenerse en el carril. Se requiere su atención en todo momento para utilizar esta función.</translation>
</message> </message>
<message> <message>
<source> Changing this setting will restart openpilot if the car is powered on.</source> <source> Changing this setting will restart openpilot if the car is powered on.</source>
<translation type="unfinished"></translation> <translation> Cambiar esta configuración reiniciará Openpilot si el automóvil está encendido.</translation>
</message> </message>
<message> <message>
<source>Record and Upload Microphone Audio</source> <source>Record and Upload Microphone Audio</source>
<translation type="unfinished"></translation> <translation>Grabar y cargar audio de micrófono</translation>
</message> </message>
<message> <message>
<source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source> <source>Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.</source>
<translation type="unfinished"></translation> <translation>Graba y almacena el audio del micrófono mientras conduces. El audio se incluirá en el video de la cámara del tablero en comma connect.</translation>
</message> </message>
</context> </context>
<context> <context>

@ -476,10 +476,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source> <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
<translation>Une mise à jour du système d&apos;exploitation de votre appareil est en cours de téléchargement en arrière-plan. Vous serez invité à effectuer la mise à jour lorsqu&apos;elle sera prête à être installée.</translation> <translation>Une mise à jour du système d&apos;exploitation de votre appareil est en cours de téléchargement en arrière-plan. Vous serez invité à effectuer la mise à jour lorsqu&apos;elle sera prête à être installée.</translation>
</message> </message>
<message>
<source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
<translation>L&apos;appareil n&apos;a pas réussi à s&apos;enregistrer. Il ne se connectera pas aux serveurs de comma.ai, n&apos;enverra rien et ne recevra aucune assistance de comma.ai. S&apos;il s&apos;agit d&apos;un appareil officiel, visitez https://comma.ai/support.</translation>
</message>
<message> <message>
<source>NVMe drive not mounted.</source> <source>NVMe drive not mounted.</source>
<translation>Le disque NVMe n&apos;est pas monté.</translation> <translation>Le disque NVMe n&apos;est pas monté.</translation>
@ -496,6 +492,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source> <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
<translation>openpilot a détecté un changement dans la position de montage de l&apos;appareil. Assurez-vous que l&apos;appareil est totalement inséré dans le support et que le support est fermement fixé au pare-brise.</translation> <translation>openpilot a détecté un changement dans la position de montage de l&apos;appareil. Assurez-vous que l&apos;appareil est totalement inséré dans le support et que le support est fermement fixé au pare-brise.</translation>
</message> </message>
<message>
<source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
<translation type="unfinished"></translation>
</message>
</context> </context>
<context> <context>
<name>OffroadHome</name> <name>OffroadHome</name>

@ -476,10 +476,6 @@ Firehoseモードを有効にすると学習データを最大限アップロー
<source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source> <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
<translation></translation> <translation></translation>
</message> </message>
<message>
<source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
<translation>comma.aiのサーバーに接続したりデータをアップロードしたりできませんcomma.aiのサポートも受けられません https://comma.ai/support に問い合わせて下さい。</translation>
</message>
<message> <message>
<source>NVMe drive not mounted.</source> <source>NVMe drive not mounted.</source>
<translation>SSDドライブ(NVMe)</translation> <translation>SSDドライブ(NVMe)</translation>
@ -500,6 +496,10 @@ Firehoseモードを有効にすると学習データを最大限アップロー
<source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source> <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
<translation>: %1</translation> <translation>: %1</translation>
</message> </message>
<message>
<source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
<translation type="unfinished"></translation>
</message>
</context> </context>
<context> <context>
<name>OffroadHome</name> <name>OffroadHome</name>

@ -476,10 +476,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source> <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
<translation> . .</translation> <translation> . .</translation>
</message> </message>
<message>
<source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
<translation> . comma.ai comma.ai에서 . https://comma.ai/support 에 방문하여 문의하세요.</translation>
</message>
<message> <message>
<source>NVMe drive not mounted.</source> <source>NVMe drive not mounted.</source>
<translation>NVMe .</translation> <translation>NVMe .</translation>
@ -500,6 +496,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source> <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
<translation> . . : %1</translation> <translation> . . : %1</translation>
</message> </message>
<message>
<source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
<translation type="unfinished"></translation>
</message>
</context> </context>
<context> <context>
<name>OffroadHome</name> <name>OffroadHome</name>

@ -478,10 +478,6 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar
<source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source> <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
<translation>Uma atualização para o sistema operacional do seu dispositivo está sendo baixada em segundo plano. Você será solicitado a atualizar quando estiver pronto para instalar.</translation> <translation>Uma atualização para o sistema operacional do seu dispositivo está sendo baixada em segundo plano. Você será solicitado a atualizar quando estiver pronto para instalar.</translation>
</message> </message>
<message>
<source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
<translation>Falha ao registrar o dispositivo. Ele não se conectará ou fará upload para os servidores comma.ai e não receberá suporte da comma.ai. Se este for um dispositivo oficial, visite https://comma.ai/support.</translation>
</message>
<message> <message>
<source>NVMe drive not mounted.</source> <source>NVMe drive not mounted.</source>
<translation>Unidade NVMe não montada.</translation> <translation>Unidade NVMe não montada.</translation>
@ -502,6 +498,10 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar
<source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source> <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
<translation>Temperatura do dispositivo muito alta. O sistema está sendo resfriado antes de iniciar. A temperatura atual do componente interno é: %1</translation> <translation>Temperatura do dispositivo muito alta. O sistema está sendo resfriado antes de iniciar. A temperatura atual do componente interno é: %1</translation>
</message> </message>
<message>
<source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
<translation>O dispositivo não conseguiu se registrar no backend da comma.ai. Ele não se conecta nem faz upload para os servidores da comma.ai e não recebe suporte da comma.ai. Se este for um dispositivo adquirido em comma.ai/shop, abra um ticket em https://comma.ai/support.</translation>
</message>
</context> </context>
<context> <context>
<name>OffroadHome</name> <name>OffroadHome</name>

@ -476,10 +476,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source> <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
<translation> </translation> <translation> </translation>
</message> </message>
<message>
<source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
<translation> comma.ai comma.ai https://comma.ai/support</translation>
</message>
<message> <message>
<source>NVMe drive not mounted.</source> <source>NVMe drive not mounted.</source>
<translation> NVMe</translation> <translation> NVMe</translation>
@ -496,6 +492,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source> <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
<translation>openpilot </translation> <translation>openpilot </translation>
</message> </message>
<message>
<source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
<translation type="unfinished"></translation>
</message>
</context> </context>
<context> <context>
<name>OffroadHome</name> <name>OffroadHome</name>

@ -473,10 +473,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source> <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
<translation type="unfinished"></translation> <translation type="unfinished"></translation>
</message> </message>
<message>
<source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
<translation type="unfinished"></translation>
</message>
<message> <message>
<source>NVMe drive not mounted.</source> <source>NVMe drive not mounted.</source>
<translation type="unfinished"></translation> <translation type="unfinished"></translation>
@ -493,6 +489,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source> <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
<translation type="unfinished"></translation> <translation type="unfinished"></translation>
</message> </message>
<message>
<source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
<translation type="unfinished"></translation>
</message>
</context> </context>
<context> <context>
<name>OffroadHome</name> <name>OffroadHome</name>

@ -476,10 +476,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source> <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
<translation></translation> <translation></translation>
</message> </message>
<message>
<source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
<translation> comma.ai comma.ai 访 https://comma.ai/support。</translation>
</message>
<message> <message>
<source>NVMe drive not mounted.</source> <source>NVMe drive not mounted.</source>
<translation>NVMe固态硬盘未被挂载</translation> <translation>NVMe固态硬盘未被挂载</translation>
@ -500,6 +496,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source> <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
<translation>%1</translation> <translation>%1</translation>
</message> </message>
<message>
<source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
<translation> comma.ai comma.ai comma.ai comma.ai/shop 访 https://comma.ai/support 提交工单。</translation>
</message>
</context> </context>
<context> <context>
<name>OffroadHome</name> <name>OffroadHome</name>

@ -476,10 +476,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source> <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
<translation></translation> <translation></translation>
</message> </message>
<message>
<source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
<translation> comma.ai comma.ai https://comma.ai/support 。</translation>
</message>
<message> <message>
<source>NVMe drive not mounted.</source> <source>NVMe drive not mounted.</source>
<translation>NVMe </translation> <translation>NVMe </translation>
@ -500,6 +496,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source> <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
<translation>%1</translation> <translation>%1</translation>
</message> </message>
<message>
<source>Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.</source>
<translation> comma.ai comma.ai comma.ai comma.ai/shop https://comma.ai/support 建立支援請求。</translation>
</message>
</context> </context>
<context> <context>
<name>OffroadHome</name> <name>OffroadHome</name>

@ -55,7 +55,7 @@ class PairingDialog:
self.qr_texture = None self.qr_texture = None
def _check_qr_refresh(self) -> None: def _check_qr_refresh(self) -> None:
current_time = time.time() current_time = time.monotonic()
if current_time - self.last_qr_generation >= self.QR_REFRESH_INTERVAL: if current_time - self.last_qr_generation >= self.QR_REFRESH_INTERVAL:
self._generate_qr_code() self._generate_qr_code()
self.last_qr_generation = current_time self.last_qr_generation = current_time

@ -426,7 +426,7 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo
path=path, path=path,
url=file.url, url=file.url,
headers=file.headers, headers=file.headers,
created_at=int(time.time() * 1000), created_at=int(time.time() * 1000), # noqa: TID251
id=None, id=None,
allow_cellular=file.allow_cellular, allow_cellular=file.allow_cellular,
priority=file.priority, priority=file.priority,
@ -580,7 +580,7 @@ def takeSnapshot() -> str | dict[str, str] | None:
def get_logs_to_send_sorted() -> list[str]: def get_logs_to_send_sorted() -> list[str]:
# TODO: scan once then use inotify to detect file creation/deletion # TODO: scan once then use inotify to detect file creation/deletion
curr_time = int(time.time()) curr_time = int(time.time()) # noqa: TID251
logs = [] logs = []
for log_entry in os.listdir(Paths.swaglog_root()): for log_entry in os.listdir(Paths.swaglog_root()):
log_path = os.path.join(Paths.swaglog_root(), log_entry) log_path = os.path.join(Paths.swaglog_root(), log_entry)
@ -617,7 +617,7 @@ def log_handler(end_event: threading.Event) -> None:
log_entry = log_files.pop() # newest log file log_entry = log_files.pop() # newest log file
cloudlog.debug(f"athena.log_handler.forward_request {log_entry}") cloudlog.debug(f"athena.log_handler.forward_request {log_entry}")
try: try:
curr_time = int(time.time()) curr_time = int(time.time()) # noqa: TID251
log_path = os.path.join(Paths.swaglog_root(), log_entry) log_path = os.path.join(Paths.swaglog_root(), log_entry)
setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder)) setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder))
with open(log_path) as f: with open(log_path) as f:

@ -97,7 +97,7 @@ def register(show_spinner=False) -> str | None:
if dongle_id: if dongle_id:
params.put("DongleId", dongle_id) params.put("DongleId", dongle_id)
set_offroad_alert("Offroad_UnofficialHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC) set_offroad_alert("Offroad_UnregisteredHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC)
return dongle_id return dongle_id

@ -91,8 +91,8 @@ class TestAthenadMethods:
@staticmethod @staticmethod
def _wait_for_upload(): def _wait_for_upload():
now = time.time() now = time.monotonic()
while time.time() - now < 5: while time.monotonic() - now < 5:
if athenad.upload_queue.qsize() == 0: if athenad.upload_queue.qsize() == 0:
break break
@ -190,11 +190,11 @@ class TestAthenadMethods:
fn = self._create_file('qlog', data=os.urandom(10000 * 1024)) fn = self._create_file('qlog', data=os.urandom(10000 * 1024))
upload_fn = fn + ('.zst' if compress else '') upload_fn = fn + ('.zst' if compress else '')
item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='') item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='') # noqa: TID251
with pytest.raises(requests.exceptions.ConnectionError): with pytest.raises(requests.exceptions.ConnectionError):
athenad._do_upload(item) athenad._do_upload(item)
item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='') item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='') # noqa: TID251
resp = athenad._do_upload(item) resp = athenad._do_upload(item)
assert resp.status_code == 201 assert resp.status_code == 201
@ -226,7 +226,7 @@ class TestAthenadMethods:
@with_upload_handler @with_upload_handler
def test_upload_handler(self, host): def test_upload_handler(self, host):
fn = self._create_file('qlog.zst') fn = self._create_file('qlog.zst')
item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) # noqa: TID251
athenad.upload_queue.put_nowait(item) athenad.upload_queue.put_nowait(item)
self._wait_for_upload() self._wait_for_upload()
@ -242,7 +242,7 @@ class TestAthenadMethods:
mock_put = mocker.patch('openpilot.system.athena.athenad.UPLOAD_SESS.put') mock_put = mocker.patch('openpilot.system.athena.athenad.UPLOAD_SESS.put')
mock_put.return_value.__enter__.return_value.status_code = status mock_put.return_value.__enter__.return_value.status_code = status
fn = self._create_file('qlog.zst') fn = self._create_file('qlog.zst')
item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) # noqa: TID251
athenad.upload_queue.put_nowait(item) athenad.upload_queue.put_nowait(item)
self._wait_for_upload() self._wait_for_upload()
@ -257,7 +257,7 @@ class TestAthenadMethods:
def test_upload_handler_timeout(self): def test_upload_handler_timeout(self):
"""When an upload times out or fails to connect it should be placed back in the queue""" """When an upload times out or fails to connect it should be placed back in the queue"""
fn = self._create_file('qlog.zst') fn = self._create_file('qlog.zst')
item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) # noqa: TID251
item_no_retry = replace(item, retry_count=MAX_RETRY_COUNT) item_no_retry = replace(item, retry_count=MAX_RETRY_COUNT)
athenad.upload_queue.put_nowait(item_no_retry) athenad.upload_queue.put_nowait(item_no_retry)
@ -278,7 +278,7 @@ class TestAthenadMethods:
@with_upload_handler @with_upload_handler
def test_cancel_upload(self): def test_cancel_upload(self):
item = athenad.UploadItem(path="qlog.zst", url="http://localhost:44444/qlog.zst", headers={}, item = athenad.UploadItem(path="qlog.zst", url="http://localhost:44444/qlog.zst", headers={},
created_at=int(time.time()*1000), id='id', allow_cellular=True) created_at=int(time.time()*1000), id='id', allow_cellular=True) # noqa: TID251
athenad.upload_queue.put_nowait(item) athenad.upload_queue.put_nowait(item)
dispatcher["cancelUpload"](item.id) dispatcher["cancelUpload"](item.id)
@ -312,7 +312,7 @@ class TestAthenadMethods:
@with_upload_handler @with_upload_handler
def test_list_upload_queue_current(self, host: str): def test_list_upload_queue_current(self, host: str):
fn = self._create_file('qlog.zst') fn = self._create_file('qlog.zst')
item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) # noqa: TID251
athenad.upload_queue.put_nowait(item) athenad.upload_queue.put_nowait(item)
self._wait_for_upload() self._wait_for_upload()
@ -331,7 +331,7 @@ class TestAthenadMethods:
path=fp, path=fp,
url=f"http://localhost:44444/{fn}", url=f"http://localhost:44444/{fn}",
headers={}, headers={},
created_at=int(time.time()*1000), created_at=int(time.time()*1000), # noqa: TID251
id='', id='',
allow_cellular=True, allow_cellular=True,
priority=i priority=i
@ -343,7 +343,7 @@ class TestAthenadMethods:
def test_list_upload_queue(self): def test_list_upload_queue(self):
item = athenad.UploadItem(path="qlog.zst", url="http://localhost:44444/qlog.zst", headers={}, item = athenad.UploadItem(path="qlog.zst", url="http://localhost:44444/qlog.zst", headers={},
created_at=int(time.time()*1000), id='id', allow_cellular=True) created_at=int(time.time()*1000), id='id', allow_cellular=True) # noqa: TID251
athenad.upload_queue.put_nowait(item) athenad.upload_queue.put_nowait(item)
items = dispatcher["listUploadQueue"]() items = dispatcher["listUploadQueue"]()
@ -356,8 +356,8 @@ class TestAthenadMethods:
assert len(items) == 0 assert len(items) == 0
def test_upload_queue_persistence(self): def test_upload_queue_persistence(self):
item1 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id1') item1 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id1') # noqa: TID251
item2 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id2') item2 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id2') # noqa: TID251
athenad.upload_queue.put_nowait(item1) athenad.upload_queue.put_nowait(item1)
athenad.upload_queue.put_nowait(item2) athenad.upload_queue.put_nowait(item2)

@ -84,7 +84,10 @@ class TestCamerad:
# logMonoTime > SOF # logMonoTime > SOF
assert np.all((ts[c]['t'] - ts[c]['timestampSof']/1e9) > 1e-7) assert np.all((ts[c]['t'] - ts[c]['timestampSof']/1e9) > 1e-7)
assert np.all((ts[c]['t'] - ts[c]['timestampEof']/1e9) > 1e-7)
# logMonoTime > EOF, needs some tolerance since EOF is (SOF + readout time) but there is noise in the SOF timestamping (done via IRQ)
assert np.mean((ts[c]['t'] - ts[c]['timestampEof']/1e9) > 1e-7) > 0.7 # should be mostly logMonoTime > EOF
assert np.all((ts[c]['t'] - ts[c]['timestampEof']/1e9) > -0.10) # when EOF > logMonoTime, it should never be more than two frames
def test_stress_test(self): def test_stress_test(self):
os.environ['SPECTRA_ERROR_PROB'] = '0.008' os.environ['SPECTRA_ERROR_PROB'] = '0.008'

@ -33,8 +33,8 @@ class TestCamerad:
@with_processes(['camerad']) @with_processes(['camerad'])
def test_camera_operation(self): def test_camera_operation(self):
passed = 0 passed = 0
start = time.time() start = time.monotonic()
while time.time() - start < TEST_TIME and passed < REPEAT: while time.monotonic() - start < TEST_TIME and passed < REPEAT:
rpic, dpic = get_snapshots(frame="roadCameraState", front_frame="driverCameraState") rpic, dpic = get_snapshots(frame="roadCameraState", front_frame="driverCameraState")
wpic, _ = get_snapshots(frame="wideRoadCameraState") wpic, _ = get_snapshots(frame="wideRoadCameraState")

@ -199,9 +199,6 @@ class HardwareBase(ABC):
def get_modem_temperatures(self): def get_modem_temperatures(self):
pass pass
@abstractmethod
def get_nvme_temperatures(self):
pass
@abstractmethod @abstractmethod
def initialize_hardware(self): def initialize_hardware(self):

@ -19,13 +19,14 @@ from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.params import Params from openpilot.common.params import Params
from openpilot.common.realtime import DT_HW from openpilot.common.realtime import DT_HW
from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
from openpilot.system.hardware import HARDWARE, TICI, AGNOS from openpilot.system.hardware import HARDWARE, TICI, AGNOS, PC
from openpilot.system.loggerd.config import get_available_percent from openpilot.system.loggerd.config import get_available_percent
from openpilot.system.statsd import statlog from openpilot.system.statsd import statlog
from openpilot.common.swaglog import cloudlog from openpilot.common.swaglog import cloudlog
from openpilot.system.hardware.power_monitoring import PowerMonitoring from openpilot.system.hardware.power_monitoring import PowerMonitoring
from openpilot.system.hardware.fan_controller import TiciFanController from openpilot.system.hardware.fan_controller import TiciFanController
from openpilot.system.version import terms_version, training_version from openpilot.system.version import terms_version, training_version
from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
ThermalStatus = log.DeviceState.ThermalStatus ThermalStatus = log.DeviceState.ThermalStatus
NetworkType = log.DeviceState.NetworkType NetworkType = log.DeviceState.NetworkType
@ -38,7 +39,7 @@ ONROAD_CYCLE_TIME = 1 # seconds to wait offroad after requesting an onroad cycl
ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp']) ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats', HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats',
'network_metered', 'nvme_temps', 'modem_temps']) 'network_metered', 'modem_temps'])
# List of thermal bands. We will stay within this region as long as we are within the bounds. # List of thermal bands. We will stay within this region as long as we are within the bounds.
# When exiting the bounds, we'll jump to the lower or higher band. Bands are ordered in the dict. # When exiting the bounds, we'll jump to the lower or higher band. Bands are ordered in the dict.
@ -141,7 +142,6 @@ def hw_state_thread(end_event, hw_queue):
network_strength=HARDWARE.get_network_strength(network_type), network_strength=HARDWARE.get_network_strength(network_type),
network_stats={'wwanTx': tx, 'wwanRx': rx}, network_stats={'wwanTx': tx, 'wwanRx': rx},
network_metered=HARDWARE.get_network_metered(network_type), network_metered=HARDWARE.get_network_metered(network_type),
nvme_temps=HARDWARE.get_nvme_temperatures(),
modem_temps=modem_temps, modem_temps=modem_temps,
) )
@ -188,7 +188,6 @@ def hardware_thread(end_event, hw_queue) -> None:
network_metered=False, network_metered=False,
network_strength=NetworkStrength.unknown, network_strength=NetworkStrength.unknown,
network_stats={'wwanTx': -1, 'wwanRx': -1}, network_stats={'wwanTx': -1, 'wwanRx': -1},
nvme_temps=[],
modem_temps=[], modem_temps=[],
) )
@ -267,7 +266,6 @@ def hardware_thread(end_event, hw_queue) -> None:
if last_hw_state.network_info is not None: if last_hw_state.network_info is not None:
msg.deviceState.networkInfo = last_hw_state.network_info msg.deviceState.networkInfo = last_hw_state.network_info
msg.deviceState.nvmeTempC = last_hw_state.nvme_temps
msg.deviceState.modemTempC = last_hw_state.modem_temps msg.deviceState.modemTempC = last_hw_state.modem_temps
msg.deviceState.screenBrightnessPercent = HARDWARE.get_screen_brightness() msg.deviceState.screenBrightnessPercent = HARDWARE.get_screen_brightness()
@ -325,21 +323,17 @@ def hardware_thread(end_event, hw_queue) -> None:
show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"] show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"]
set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text) set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text)
# *** registration check ***
if not PC:
# we enforce this for our software, but you are welcome
# to make a different decision in your software
startup_conditions["registered_device"] = PC or (params.get("DongleId") != UNREGISTERED_DONGLE_ID)
# TODO: this should move to TICI.initialize_hardware, but we currently can't import params there # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there
if TICI and HARDWARE.get_device_type() == "tici": if TICI and HARDWARE.get_device_type() == "tici":
if not os.path.isfile("/persist/comma/living-in-the-moment"): if not os.path.isfile("/persist/comma/living-in-the-moment"):
if not Path("/data/media").is_mount(): if not Path("/data/media").is_mount():
set_offroad_alert_if_changed("Offroad_StorageMissing", True) set_offroad_alert_if_changed("Offroad_StorageMissing", True)
else:
# check for bad NVMe
try:
with open("/sys/block/nvme0n1/device/model") as f:
model = f.read().strip()
if not model.startswith("Samsung SSD 980") and params.get("Offroad_BadNvme") is None:
set_offroad_alert_if_changed("Offroad_BadNvme", True)
cloudlog.event("Unsupported NVMe", model=model, error=True)
except Exception:
pass
# Handle offroad/onroad transition # Handle offroad/onroad transition
should_start = all(onroad_conditions.values()) should_start = all(onroad_conditions.values())
@ -424,8 +418,6 @@ def hardware_thread(end_event, hw_queue) -> None:
statlog.gauge("memory_temperature", msg.deviceState.memoryTempC) statlog.gauge("memory_temperature", msg.deviceState.memoryTempC)
for i, temp in enumerate(msg.deviceState.pmicTempC): for i, temp in enumerate(msg.deviceState.pmicTempC):
statlog.gauge(f"pmic{i}_temperature", temp) statlog.gauge(f"pmic{i}_temperature", temp)
for i, temp in enumerate(last_hw_state.nvme_temps):
statlog.gauge(f"nvme_temperature{i}", temp)
for i, temp in enumerate(last_hw_state.modem_temps): for i, temp in enumerate(last_hw_state.modem_temps):
statlog.gauge(f"modem_temperature{i}", temp) statlog.gauge(f"modem_temperature{i}", temp)
statlog.gauge("fan_speed_percent_desired", msg.deviceState.fanSpeedPercentDesired) statlog.gauge("fan_speed_percent_desired", msg.deviceState.fanSpeedPercentDesired)

@ -70,8 +70,6 @@ class Pc(HardwareBase):
def get_modem_temperatures(self): def get_modem_temperatures(self):
return [] return []
def get_nvme_temperatures(self):
return []
def initialize_hardware(self): def initialize_hardware(self):
pass pass

@ -1,4 +1,3 @@
import json
import math import math
import os import os
import subprocess import subprocess
@ -291,15 +290,6 @@ class Tici(HardwareBase):
except Exception: except Exception:
return [] return []
def get_nvme_temperatures(self):
ret = []
try:
out = subprocess.check_output("sudo smartctl -aj /dev/nvme0", shell=True)
dat = json.loads(out)
ret = list(map(int, dat["nvme_smart_health_information_log"]["temperature_sensors"]))
except Exception:
pass
return ret
def get_current_power_draw(self): def get_current_power_draw(self):
return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6) return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6)

@ -31,9 +31,6 @@ static kj::Array<capnp::word> build_boot_log() {
"[ -x \"$(command -v journalctl)\" ] && journalctl -o short-monotonic", "[ -x \"$(command -v journalctl)\" ] && journalctl -o short-monotonic",
}; };
if (Hardware::TICI()) {
bootlog_commands.push_back("[ -e /dev/nvme0 ] && sudo nvme smart-log --output-format=json /dev/nvme0");
}
auto commands = boot.initCommands().initEntries(bootlog_commands.size()); auto commands = boot.initCommands().initEntries(bootlog_commands.size());
for (int j = 0; j < bootlog_commands.size(); j++) { for (int j = 0; j < bootlog_commands.size(); j++) {

@ -1,5 +1,3 @@
#pragma clang diagnostic ignored "-Wdeprecated-declarations"
#include "system/loggerd/encoder/ffmpeg_encoder.h" #include "system/loggerd/encoder/ffmpeg_encoder.h"
#include <fcntl.h> #include <fcntl.h>
@ -119,8 +117,7 @@ int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) {
ret = -1; ret = -1;
} }
AVPacket pkt; AVPacket pkt = {};
av_init_packet(&pkt);
pkt.data = NULL; pkt.data = NULL;
pkt.size = 0; pkt.size = 0;
while (ret >= 0) { while (ret >= 0) {

@ -1,4 +1,3 @@
#pragma clang diagnostic ignored "-Wdeprecated-declarations"
#include <cassert> #include <cassert>
#include "system/loggerd/video_writer.h" #include "system/loggerd/video_writer.h"
@ -114,8 +113,7 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc
// input timestamps are in microseconds // input timestamps are in microseconds
AVRational in_timebase = {1, 1000000}; AVRational in_timebase = {1, 1000000};
AVPacket pkt; AVPacket pkt = {};
av_init_packet(&pkt);
pkt.data = data; pkt.data = data;
pkt.size = len; pkt.size = len;
pkt.stream_index = this->out_stream->index; pkt.stream_index = this->out_stream->index;
@ -200,10 +198,23 @@ void VideoWriter::encode_and_write_audio_frame(AVFrame* frame) {
audio_pts += audio_codec_ctx->frame_size; audio_pts += audio_codec_ctx->frame_size;
} }
void VideoWriter::process_remaining_audio() {
// Process remaining audio samples by padding with silence
if (audio_buffer.size() > 0 && audio_buffer.size() < audio_codec_ctx->frame_size) {
audio_buffer.resize(audio_codec_ctx->frame_size, 0.0f);
// Encode final frame
audio_frame->pts = audio_pts;
float *f_samples = reinterpret_cast<float *>(audio_frame->data[0]);
std::copy(audio_buffer.begin(), audio_buffer.end(), f_samples);
encode_and_write_audio_frame(audio_frame);
}
}
VideoWriter::~VideoWriter() { VideoWriter::~VideoWriter() {
if (this->remuxing) { if (this->remuxing) {
if (this->audio_codec_ctx) { if (this->audio_codec_ctx) {
process_remaining_audio();
encode_and_write_audio_frame(NULL); // flush encoder encode_and_write_audio_frame(NULL); // flush encoder
avcodec_free_context(&this->audio_codec_ctx); avcodec_free_context(&this->audio_codec_ctx);
} }

@ -21,6 +21,7 @@ public:
private: private:
void initialize_audio(int sample_rate); void initialize_audio(int sample_rate);
void encode_and_write_audio_frame(AVFrame* frame); void encode_and_write_audio_frame(AVFrame* frame);
void process_remaining_audio();
std::string vid_path, lock_path; std::string vid_path, lock_path;
FILE *of = nullptr; FILE *of = nullptr;

@ -29,6 +29,7 @@ def manager_init() -> None:
params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION) params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION) params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
params.clear_all(ParamKeyType.CLEAR_ON_IGNITION_ON)
if build_metadata.release_channel: if build_metadata.release_channel:
params.clear_all(ParamKeyType.DEVELOPMENT_ONLY) params.clear_all(ParamKeyType.DEVELOPMENT_ONLY)
@ -126,13 +127,14 @@ def manager_thread() -> None:
ignore.append("pandad") ignore.append("pandad")
ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0] ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]
sm = messaging.SubMaster(['deviceState', 'carParams'], poll='deviceState') sm = messaging.SubMaster(['deviceState', 'carParams', 'pandaStates'], poll='deviceState')
pm = messaging.PubMaster(['managerState']) pm = messaging.PubMaster(['managerState'])
write_onroad_params(False, params) write_onroad_params(False, params)
ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore) ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
started_prev = False started_prev = False
ignition_prev = False
while True: while True:
sm.update(1000) sm.update(1000)
@ -144,11 +146,16 @@ def manager_thread() -> None:
elif not started and started_prev: elif not started and started_prev:
params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION) params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
ignition = any(ps.ignitionLine or ps.ignitionCan for ps in sm['pandaStates'] if ps.pandaType != log.PandaState.PandaType.unknown)
if ignition and not ignition_prev:
params.clear_all(ParamKeyType.CLEAR_ON_IGNITION_ON)
# update onroad params, which drives pandad's safety setter thread # update onroad params, which drives pandad's safety setter thread
if started != started_prev: if started != started_prev:
write_onroad_params(started, params) write_onroad_params(started, params)
started_prev = started started_prev = started
ignition_prev = ignition
ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore) ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)

@ -286,7 +286,7 @@ def main() -> NoReturn:
continue continue
if DEBUG: if DEBUG:
print(f"{time.time():.4f}: got log: {log_type} len {len(log_payload)}") print(f"{time.time():.4f}: got log: {log_type} len {len(log_payload)}") # noqa: TID251
if log_type == LOG_GNSS_OEMDRE_MEASUREMENT_REPORT: if log_type == LOG_GNSS_OEMDRE_MEASUREMENT_REPORT:
msg = messaging.new_message('qcomGnss', valid=True) msg = messaging.new_message('qcomGnss', valid=True)

@ -1 +1 @@
Subproject commit 9a573a1d99d53a85be3052a6db82eaf0ce9d84e9 Subproject commit c0c695dd89305a054264f9365c3caa455fd16ed8

@ -29,7 +29,8 @@ cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/socketcans
'streams/routes.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc', 'streams/routes.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
'utils/export.cc', 'utils/util.cc', 'utils/export.cc', 'utils/util.cc',
'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc', 'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc',
'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc', 'tools/routeinfo.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) 'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc',
'cameraview.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc', 'tools/routeinfo.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
if GetOption('extras'): if GetOption('extras'):

@ -0,0 +1,261 @@
#include "tools/cabana/cameraview.h"
#ifdef __APPLE__
#include <OpenGL/gl3.h>
#else
#include <GLES3/gl3.h>
#endif
#include <QApplication>
namespace {
const char frame_vertex_shader[] =
#ifdef __APPLE__
"#version 330 core\n"
#else
"#version 300 es\n"
#endif
"layout(location = 0) in vec4 aPosition;\n"
"layout(location = 1) in vec2 aTexCoord;\n"
"uniform mat4 uTransform;\n"
"out vec2 vTexCoord;\n"
"void main() {\n"
" gl_Position = uTransform * aPosition;\n"
" vTexCoord = aTexCoord;\n"
"}\n";
const char frame_fragment_shader[] =
#ifdef __APPLE__
"#version 330 core\n"
#else
"#version 300 es\n"
"precision mediump float;\n"
#endif
"uniform sampler2D uTextureY;\n"
"uniform sampler2D uTextureUV;\n"
"in vec2 vTexCoord;\n"
"out vec4 colorOut;\n"
"void main() {\n"
" float y = texture(uTextureY, vTexCoord).r;\n"
" vec2 uv = texture(uTextureUV, vTexCoord).rg - 0.5;\n"
" float r = y + 1.402 * uv.y;\n"
" float g = y - 0.344 * uv.x - 0.714 * uv.y;\n"
" float b = y + 1.772 * uv.x;\n"
" colorOut = vec4(r, g, b, 1.0);\n"
"}\n";
} // namespace
CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, QWidget* parent) :
stream_name(stream_name), active_stream_type(type), requested_stream_type(type), QOpenGLWidget(parent) {
setAttribute(Qt::WA_OpaquePaintEvent);
qRegisterMetaType<std::set<VisionStreamType>>("availableStreams");
QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection);
QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection);
QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection);
QObject::connect(QApplication::instance(), &QCoreApplication::aboutToQuit, this, &CameraWidget::stopVipcThread);
}
CameraWidget::~CameraWidget() {
makeCurrent();
stopVipcThread();
if (isValid()) {
glDeleteVertexArrays(1, &frame_vao);
glDeleteBuffers(1, &frame_vbo);
glDeleteBuffers(1, &frame_ibo);
glDeleteTextures(2, textures);
shader_program_.reset();
}
doneCurrent();
}
void CameraWidget::initializeGL() {
initializeOpenGLFunctions();
shader_program_ = std::make_unique<QOpenGLShaderProgram>(context());
shader_program_->addShaderFromSourceCode(QOpenGLShader::Vertex, frame_vertex_shader);
shader_program_->addShaderFromSourceCode(QOpenGLShader::Fragment, frame_fragment_shader);
shader_program_->link();
GLint frame_pos_loc = shader_program_->attributeLocation("aPosition");
GLint frame_texcoord_loc = shader_program_->attributeLocation("aTexCoord");
auto [x1, x2, y1, y2] = requested_stream_type == VISION_STREAM_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f);
const uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3};
const float frame_coords[4][4] = {
{-1.0, -1.0, x2, y1}, // bl
{-1.0, 1.0, x2, y2}, // tl
{ 1.0, 1.0, x1, y2}, // tr
{ 1.0, -1.0, x1, y1}, // br
};
glGenVertexArrays(1, &frame_vao);
glBindVertexArray(frame_vao);
glGenBuffers(1, &frame_vbo);
glBindBuffer(GL_ARRAY_BUFFER, frame_vbo);
glBufferData(GL_ARRAY_BUFFER, sizeof(frame_coords), frame_coords, GL_STATIC_DRAW);
glEnableVertexAttribArray(frame_pos_loc);
glVertexAttribPointer(frame_pos_loc, 2, GL_FLOAT, GL_FALSE,
sizeof(frame_coords[0]), (const void *)0);
glEnableVertexAttribArray(frame_texcoord_loc);
glVertexAttribPointer(frame_texcoord_loc, 2, GL_FLOAT, GL_FALSE,
sizeof(frame_coords[0]), (const void *)(sizeof(float) * 2));
glGenBuffers(1, &frame_ibo);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, frame_ibo);
glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(frame_indicies), frame_indicies, GL_STATIC_DRAW);
glBindBuffer(GL_ARRAY_BUFFER, 0);
glBindVertexArray(0);
glGenTextures(2, textures);
shader_program_->bind();
shader_program_->setUniformValue("uTextureY", 0);
shader_program_->setUniformValue("uTextureUV", 1);
shader_program_->release();
}
void CameraWidget::showEvent(QShowEvent *event) {
if (!vipc_thread) {
clearFrames();
vipc_thread = new QThread();
connect(vipc_thread, &QThread::started, [=]() { vipcThread(); });
connect(vipc_thread, &QThread::finished, vipc_thread, &QObject::deleteLater);
vipc_thread->start();
}
}
void CameraWidget::stopVipcThread() {
makeCurrent();
if (vipc_thread) {
vipc_thread->requestInterruption();
vipc_thread->quit();
vipc_thread->wait();
vipc_thread = nullptr;
}
}
void CameraWidget::availableStreamsUpdated(std::set<VisionStreamType> streams) {
available_streams = streams;
}
void CameraWidget::paintGL() {
glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
std::lock_guard lk(frame_lock);
if (!current_frame_) return;
// Scale for aspect ratio
float widget_ratio = (float)width() / height();
float frame_ratio = (float)stream_width / stream_height;
float scale_x = std::min(frame_ratio / widget_ratio, 1.0f);
float scale_y = std::min(widget_ratio / frame_ratio, 1.0f);
glViewport(0, 0, width() * devicePixelRatio(), height() * devicePixelRatio());
shader_program_->bind();
QMatrix4x4 transform;
transform.scale(scale_x, scale_y, 1.0f);
shader_program_->setUniformValue("uTransform", transform);
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, textures[0]);
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width, stream_height, GL_RED, GL_UNSIGNED_BYTE, current_frame_->y);
glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride/2);
glActiveTexture(GL_TEXTURE1);
glBindTexture(GL_TEXTURE_2D, textures[1]);
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width/2, stream_height/2, GL_RG, GL_UNSIGNED_BYTE, current_frame_->uv);
glBindVertexArray(frame_vao);
glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, nullptr);
glBindVertexArray(0);
// Reset both texture units
glActiveTexture(GL_TEXTURE1);
glBindTexture(GL_TEXTURE_2D, 0);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, 0);
glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
shader_program_->release();
}
void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) {
makeCurrent();
stream_width = vipc_client->buffers[0].width;
stream_height = vipc_client->buffers[0].height;
stream_stride = vipc_client->buffers[0].stride;
glBindTexture(GL_TEXTURE_2D, textures[0]);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
glTexImage2D(GL_TEXTURE_2D, 0, GL_R8, stream_width, stream_height, 0, GL_RED, GL_UNSIGNED_BYTE, nullptr);
assert(glGetError() == GL_NO_ERROR);
glBindTexture(GL_TEXTURE_2D, textures[1]);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RG8, stream_width/2, stream_height/2, 0, GL_RG, GL_UNSIGNED_BYTE, nullptr);
assert(glGetError() == GL_NO_ERROR);
}
void CameraWidget::vipcFrameReceived() {
update();
}
void CameraWidget::vipcThread() {
VisionStreamType cur_stream = requested_stream_type;
std::unique_ptr<VisionIpcClient> vipc_client;
VisionIpcBufExtra frame_meta = {};
while (!QThread::currentThread()->isInterruptionRequested()) {
if (!vipc_client || cur_stream != requested_stream_type) {
clearFrames();
qDebug().nospace() << "connecting to stream " << requested_stream_type << ", was connected to " << cur_stream;
cur_stream = requested_stream_type;
vipc_client.reset(new VisionIpcClient(stream_name, cur_stream, false));
}
active_stream_type = cur_stream;
if (!vipc_client->connected) {
clearFrames();
auto streams = VisionIpcClient::getAvailableStreams(stream_name, false);
if (streams.empty()) {
QThread::msleep(100);
continue;
}
emit vipcAvailableStreamsUpdated(streams);
if (!vipc_client->connect(false)) {
QThread::msleep(100);
continue;
}
emit vipcThreadConnected(vipc_client.get());
}
if (VisionBuf *buf = vipc_client->recv(&frame_meta, 100)) {
{
std::lock_guard lk(frame_lock);
current_frame_ = buf;
frame_meta_ = frame_meta;
}
emit vipcThreadFrameReceived();
}
}
}
void CameraWidget::clearFrames() {
std::lock_guard lk(frame_lock);
current_frame_ = nullptr;
available_streams.clear();
}

@ -0,0 +1,64 @@
#pragma once
#include <memory>
#include <mutex>
#include <set>
#include <string>
#include <utility>
#include <QOpenGLFunctions>
#include <QOpenGLShaderProgram>
#include <QOpenGLWidget>
#include <QThread>
#include "msgq/visionipc/visionipc_client.h"
class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions {
Q_OBJECT
public:
using QOpenGLWidget::QOpenGLWidget;
explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, QWidget* parent = nullptr);
~CameraWidget();
void setStreamType(VisionStreamType type) { requested_stream_type = type; }
VisionStreamType getStreamType() { return active_stream_type; }
void stopVipcThread();
signals:
void clicked();
void vipcThreadConnected(VisionIpcClient *);
void vipcThreadFrameReceived();
void vipcAvailableStreamsUpdated(std::set<VisionStreamType>);
protected:
void paintGL() override;
void initializeGL() override;
void showEvent(QShowEvent *event) override;
void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); }
void vipcThread();
void clearFrames();
GLuint frame_vao, frame_vbo, frame_ibo;
GLuint textures[2];
std::unique_ptr<QOpenGLShaderProgram> shader_program_;
QColor bg = Qt::black;
std::string stream_name;
int stream_width = 0;
int stream_height = 0;
int stream_stride = 0;
std::atomic<VisionStreamType> active_stream_type;
std::atomic<VisionStreamType> requested_stream_type;
std::set<VisionStreamType> available_streams;
QThread *vipc_thread = nullptr;
std::recursive_mutex frame_lock;
VisionBuf* current_frame_ = nullptr;
VisionIpcBufExtra frame_meta_ = {};
protected slots:
void vipcConnected(VisionIpcClient *vipc_client);
void vipcFrameReceived();
void availableStreamsUpdated(std::set<VisionStreamType> streams);
};
Q_DECLARE_METATYPE(std::set<VisionStreamType>);

@ -4,51 +4,97 @@
#include <limits> #include <limits>
#include <QPainter> #include <QPainter>
void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size) { void Sparkline::update(const cabana::Signal *sig, CanEventIter first, CanEventIter last, int range, QSize size) {
points.clear(); if (first == last || size.isEmpty()) {
double value = 0; pixmap = QPixmap();
auto [first, last] = can->eventsInRange(msg_id, std::make_pair(last_msg_ts -range, last_msg_ts)); return;
}
points_.clear();
min_val = std::numeric_limits<double>::max();
max_val = std::numeric_limits<double>::lowest();
points_.reserve(std::distance(first, last));
uint64_t start_time = (*first)->mono_time;
double value = 0.0;
for (auto it = first; it != last; ++it) { for (auto it = first; it != last; ++it) {
if (sig->getValue((*it)->dat, (*it)->size, &value)) { if (sig->getValue((*it)->dat, (*it)->size, &value)) {
points.emplace_back(((*it)->mono_time - (*first)->mono_time) / 1e9, value); min_val = std::min(min_val, value);
max_val = std::max(max_val, value);
points_.emplace_back(((*it)->mono_time - start_time) / 1e9, value);
} }
} }
if (points.empty() || size.isEmpty()) { if (points_.empty()) {
pixmap = QPixmap(); pixmap = QPixmap();
return; return;
} }
const auto [min, max] = std::minmax_element(points.begin(), points.end(), freq_ = points_.size() / std::max(points_.back().x() - points_.front().x(), 1.0);
[](auto &l, auto &r) { return l.y() < r.y(); });
min_val = min->y() == max->y() ? min->y() - 1 : min->y();
max_val = min->y() == max->y() ? max->y() + 1 : max->y();
freq_ = points.size() / std::max(points.back().x() - points.front().x(), 1.0);
render(sig->color, range, size); render(sig->color, range, size);
} }
void Sparkline::render(const QColor &color, int range, QSize size) { void Sparkline::render(const QColor &color, int range, QSize size) {
// Adjust for flat lines
bool is_flat_line = min_val == max_val;
if (is_flat_line) {
min_val -= 1.0;
max_val += 1.0;
}
// Calculate scaling
const double xscale = (size.width() - 1) / (double)range; const double xscale = (size.width() - 1) / (double)range;
const double yscale = (size.height() - 3) / (max_val - min_val); const double yscale = (size.height() - 3) / (max_val - min_val);
for (auto &v : points) { bool draw_individual_points = (points_.back().x() * xscale / points_.size()) > 8.0;
v = QPoint(v.x() * xscale, 1 + std::abs(v.y() - max_val) * yscale);
// Transform or downsample points
render_points_.reserve(points_.size());
render_points_.clear();
if (draw_individual_points) {
for (const auto &p : points_) {
render_points_.emplace_back(p.x() * xscale, 1.0 + (max_val - p.y()) * yscale);
}
} else if (is_flat_line) {
double y = size.height() / 2.0;
render_points_.emplace_back(0.0, y);
render_points_.emplace_back(points_.back().x() * xscale, y);
} else {
double prev_y = points_.front().y();
render_points_.emplace_back(points_.front().x() * xscale, 1.0 + (max_val - prev_y) * yscale);
bool in_flat = false;
for (size_t i = 1; i < points_.size(); ++i) {
const auto &p = points_[i];
double y = p.y();
if (std::abs(y - prev_y) < 1e-6) {
in_flat = true;
} else {
if (in_flat) render_points_.emplace_back(points_[i - 1].x() * xscale, 1.0 + (max_val - prev_y) * yscale);
render_points_.emplace_back(p.x() * xscale, 1.0 + (max_val - y) * yscale);
in_flat = false;
}
prev_y = y;
}
if (in_flat) render_points_.emplace_back(points_.back().x() * xscale, 1.0 + (max_val - prev_y) * yscale);
} }
// Render to pixmap
qreal dpr = qApp->devicePixelRatio(); qreal dpr = qApp->devicePixelRatio();
size *= dpr; const QSize pixmap_size = size * dpr;
if (size != pixmap.size()) { if (pixmap.size() != pixmap_size) {
pixmap = QPixmap(size); pixmap = QPixmap(pixmap_size);
} }
pixmap.setDevicePixelRatio(dpr); pixmap.setDevicePixelRatio(dpr);
pixmap.fill(Qt::transparent); pixmap.fill(Qt::transparent);
QPainter painter(&pixmap); QPainter painter(&pixmap);
painter.setRenderHint(QPainter::Antialiasing, points.size() < 500); painter.setRenderHint(QPainter::Antialiasing, render_points_.size() <= 500);
painter.setPen(color); painter.setPen(color);
painter.drawPolyline(points.data(), points.size()); painter.drawPolyline(render_points_.data(), render_points_.size());
painter.setPen(QPen(color, 3)); painter.setPen(QPen(color, 3));
if ((points.back().x() - points.front().x()) / points.size() > 8) { if (draw_individual_points) {
painter.drawPoints(points.data(), points.size()); painter.drawPoints(render_points_.data(), render_points_.size());
} else { } else {
painter.drawPoint(points.back()); painter.drawPoint(render_points_.back());
} }
} }

@ -9,7 +9,7 @@
class Sparkline { class Sparkline {
public: public:
void update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size); void update(const cabana::Signal *sig, CanEventIter first, CanEventIter last, int range, QSize size);
inline double freq() const { return freq_; } inline double freq() const { return freq_; }
bool isEmpty() const { return pixmap.isNull(); } bool isEmpty() const { return pixmap.isNull(); }
@ -20,6 +20,7 @@ public:
private: private:
void render(const QColor &color, int range, QSize size); void render(const QColor &color, int range, QSize size);
std::vector<QPointF> points; std::vector<QPointF> points_;
std::vector<QPointF> render_points_;
double freq_ = 0; double freq_ = 0;
}; };

@ -634,11 +634,12 @@ void SignalView::updateState(const std::set<MessageId> *msgs) {
QSize size(available_width - value_width, QSize size(available_width - value_width,
delegate->button_size.height() - style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2); delegate->button_size.height() - style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2);
auto [first, last] = can->eventsInRange(model->msg_id, std::make_pair(last_msg.ts -settings.sparkline_range, last_msg.ts));
QFutureSynchronizer<void> synchronizer; QFutureSynchronizer<void> synchronizer;
for (int i = first_visible.row(); i <= last_visible.row(); ++i) { for (int i = first_visible.row(); i <= last_visible.row(); ++i) {
auto item = model->getItem(model->index(i, 1)); auto item = model->getItem(model->index(i, 1));
synchronizer.addFuture(QtConcurrent::run( synchronizer.addFuture(QtConcurrent::run(
&item->sparkline, &Sparkline::update, model->msg_id, item->sig, last_msg.ts, settings.sparkline_range, size)); &item->sparkline, &Sparkline::update, item->sig, first, last, settings.sparkline_range, size));
} }
synchronizer.waitForFinished(); synchronizer.waitForFinished();
} }

@ -261,14 +261,23 @@ void Slider::paintEvent(QPaintEvent *ev) {
QStyleOptionSlider opt; QStyleOptionSlider opt;
initStyleOption(&opt); initStyleOption(&opt);
QRect r = style()->subControlRect(QStyle::CC_Slider, &opt, QStyle::SC_SliderGroove, this); QRect handle_rect = style()->subControlRect(QStyle::CC_Slider, &opt, QStyle::SC_SliderHandle, this);
p.fillRect(r, timeline_colors[(int)TimelineType::None]); QRect groove_rect = style()->subControlRect(QStyle::CC_Slider, &opt, QStyle::SC_SliderGroove, this);
// Adjust groove height to match handle height
int handle_height = handle_rect.height();
groove_rect.setHeight(handle_height * 0.5);
groove_rect.moveCenter(QPoint(groove_rect.center().x(), rect().center().y()));
p.fillRect(groove_rect, timeline_colors[(int)TimelineType::None]);
double min = minimum() / factor; double min = minimum() / factor;
double max = maximum() / factor; double max = maximum() / factor;
auto fillRange = [&](double begin, double end, const QColor &color) { auto fillRange = [&](double begin, double end, const QColor &color) {
if (begin > max || end < min) return; if (begin > max || end < min) return;
QRect r = groove_rect;
r.setLeft(((std::max(min, begin) - min) / (max - min)) * width()); r.setLeft(((std::max(min, begin) - min) / (max - min)) * width());
r.setRight(((std::min(max, end) - min) / (max - min)) * width()); r.setRight(((std::min(max, end) - min) / (max - min)) * width());
p.fillRect(r, color); p.fillRect(r, color);

@ -11,7 +11,7 @@
#include <QToolBar> #include <QToolBar>
#include <QTabBar> #include <QTabBar>
#include "selfdrive/ui/qt/widgets/cameraview.h" #include "tools/cabana/cameraview.h"
#include "tools/cabana/utils/util.h" #include "tools/cabana/utils/util.h"
#include "tools/replay/logreader.h" #include "tools/replay/logreader.h"
#include "tools/cabana/streams/replaystream.h" #include "tools/cabana/streams/replaystream.h"

@ -62,7 +62,7 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
print("waiting for iframe") print("waiting for iframe")
continue continue
time_q.append(time.monotonic()) time_q.append(time.monotonic())
network_latency = (int(time.time()*1e9) - evta.unixTimestampNanos)/1e6 network_latency = (int(time.time()*1e9) - evta.unixTimestampNanos)/1e6 # noqa: TID251
frame_latency = ((evta.idx.timestampEof/1e9) - (evta.idx.timestampSof/1e9))*1000 frame_latency = ((evta.idx.timestampEof/1e9) - (evta.idx.timestampSof/1e9))*1000
process_latency = ((evt.logMonoTime/1e9) - (evta.idx.timestampEof/1e9))*1000 process_latency = ((evt.logMonoTime/1e9) - (evta.idx.timestampEof/1e9))*1000

@ -86,5 +86,5 @@ def get_repo_url(path):
return get_repo_raw_url(path) return get_repo_raw_url(path)
def get_url(route, segment, file="rlog.bz2"): def get_url(route, segment, file="rlog.zst"):
return get_repo_url(f"segments/{route.replace('|', '/')}/{segment}/{file}") return get_repo_url(f"segments/{route.replace('|', '/')}/{segment}/{file}")

@ -56,6 +56,7 @@ def decompress_video_data(rawdat, w, h, pix_fmt="rgb24", vid_fmt='hevc') -> np.n
"-"] "-"]
dat = subprocess.check_output(args, input=rawdat) dat = subprocess.check_output(args, input=rawdat)
ret: np.ndarray
if pix_fmt == "rgb24": if pix_fmt == "rgb24":
ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, h, w, 3) ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, h, w, 3)
elif pix_fmt in ["nv12", "yuv420p"]: elif pix_fmt in ["nv12", "yuv420p"]:

@ -131,13 +131,13 @@ class URLFile:
download_range = True download_range = True
if self._debug: if self._debug:
t1 = time.time() t1 = time.monotonic()
response = self._request('GET', self._url, headers=headers) response = self._request('GET', self._url, headers=headers)
ret = response.data ret = response.data
if self._debug: if self._debug:
t2 = time.time() t2 = time.monotonic()
if t2 - t1 > 0.1: if t2 - t1 > 0.1:
print(f"get {self._url} {headers!r} {t2 - t1:.3f} slow") print(f"get {self._url} {headers!r} {t2 - t1:.3f} slow")

@ -80,7 +80,13 @@ bool FrameReader::loadFromFile(CameraType type, const std::string &file, bool no
} }
input_ctx->probesize = 10 * 1024 * 1024; // 10MB input_ctx->probesize = 10 * 1024 * 1024; // 10MB
decoder_ = decoder_manager.acquire(type, input_ctx->streams[0]->codecpar, !no_hw_decoder); video_stream_idx_ = av_find_best_stream(input_ctx, AVMEDIA_TYPE_VIDEO, -1, -1, NULL, 0);
if (video_stream_idx_ < 0) {
rError("No video stream found in file");
return false;
}
decoder_ = decoder_manager.acquire(type, input_ctx->streams[video_stream_idx_]->codecpar, !no_hw_decoder);
if (!decoder_) { if (!decoder_) {
return false; return false;
} }
@ -90,7 +96,9 @@ bool FrameReader::loadFromFile(CameraType type, const std::string &file, bool no
AVPacket pkt; AVPacket pkt;
packets_info.reserve(60 * 20); // 20fps, one minute packets_info.reserve(60 * 20); // 20fps, one minute
while (!(abort && *abort) && av_read_frame(input_ctx, &pkt) == 0) { while (!(abort && *abort) && av_read_frame(input_ctx, &pkt) == 0) {
packets_info.emplace_back(PacketInfo{.flags = pkt.flags, .pos = pkt.pos}); if (pkt.stream_index == video_stream_idx_) {
packets_info.emplace_back(PacketInfo{.flags = pkt.flags, .pos = pkt.pos});
}
av_packet_unref(&pkt); av_packet_unref(&pkt);
} }
avio_seek(input_ctx->pb, 0, SEEK_SET); avio_seek(input_ctx->pb, 0, SEEK_SET);
@ -168,17 +176,17 @@ bool VideoDecoder::initHardwareDecoder(AVHWDeviceType hw_device_type) {
} }
bool VideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) { bool VideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) {
int from_idx = idx; int current_idx = idx;
if (idx != reader->prev_idx + 1) { if (idx != reader->prev_idx + 1) {
// seeking to the nearest key frame // seeking to the nearest key frame
for (int i = idx; i >= 0; --i) { for (int i = idx; i >= 0; --i) {
if (reader->packets_info[i].flags & AV_PKT_FLAG_KEY) { if (reader->packets_info[i].flags & AV_PKT_FLAG_KEY) {
from_idx = i; current_idx = i;
break; break;
} }
} }
auto pos = reader->packets_info[from_idx].pos; auto pos = reader->packets_info[current_idx].pos;
int ret = avformat_seek_file(reader->input_ctx, 0, pos, pos, pos, AVSEEK_FLAG_BYTE); int ret = avformat_seek_file(reader->input_ctx, 0, pos, pos, pos, AVSEEK_FLAG_BYTE);
if (ret < 0) { if (ret < 0) {
rError("Failed to seek to byte position %lld: %d", pos, AVERROR(ret)); rError("Failed to seek to byte position %lld: %d", pos, AVERROR(ret));
@ -188,18 +196,27 @@ bool VideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) {
} }
reader->prev_idx = idx; reader->prev_idx = idx;
bool result = false;
AVPacket pkt; AVPacket pkt;
for (int i = from_idx; i <= idx; ++i) { while (av_read_frame(reader->input_ctx, &pkt) >= 0) {
if (av_read_frame(reader->input_ctx, &pkt) == 0) { // Skip non-video packets
AVFrame *f = decodeFrame(&pkt); if (pkt.stream_index != reader->video_stream_idx_) {
if (f && i == idx) {
result = copyBuffer(f, buf);
}
av_packet_unref(&pkt); av_packet_unref(&pkt);
continue;
}
AVFrame *frame = decodeFrame(&pkt);
av_packet_unref(&pkt);
if (!frame) {
rError("Failed to decode frame at index %d", current_idx);
return false;
}
if (current_idx++ == idx) {
return copyBuffer(frame, buf);
} }
} }
return result; rError("Failed to find frame at index %d", idx);
return false;
} }
AVFrame *VideoDecoder::decodeFrame(AVPacket *pkt) { AVFrame *VideoDecoder::decodeFrame(AVPacket *pkt) {

@ -28,6 +28,7 @@ public:
VideoDecoder *decoder_ = nullptr; VideoDecoder *decoder_ = nullptr;
AVFormatContext *input_ctx = nullptr; AVFormatContext *input_ctx = nullptr;
int video_stream_idx_ = -1;
int prev_idx = -1; int prev_idx = -1;
struct PacketInfo { struct PacketInfo {
int flags; int flags;

@ -42,7 +42,7 @@ def replay(route, segment, loop):
msg = msgs[i].as_builder() msg = msgs[i].as_builder()
next_msg = msgs[i + 1] next_msg = msgs[i + 1]
start_time = time.time() start_time = time.monotonic()
w = msg.which() w = msg.which()
if w == 'roadCameraState': if w == 'roadCameraState':
@ -63,7 +63,7 @@ def replay(route, segment, loop):
socks[w] = None socks[w] = None
lag += (next_msg.logMonoTime - msg.logMonoTime) / 1e9 lag += (next_msg.logMonoTime - msg.logMonoTime) / 1e9
lag -= time.time() - start_time lag -= time.monotonic() - start_time
dt = max(lag, 0.0) dt = max(lag, 0.0)
lag -= dt lag -= dt

@ -53,7 +53,7 @@ class SimulatedSensors:
for _ in range(10): for _ in range(10):
dat = messaging.new_message('gpsLocationExternal', valid=True) dat = messaging.new_message('gpsLocationExternal', valid=True)
dat.gpsLocationExternal = { dat.gpsLocationExternal = {
"unixTimestampMillis": int(time.time() * 1000), "unixTimestampMillis": int(time.time() * 1000), # noqa: TID251
"flags": 1, # valid fix "flags": 1, # valid fix
"horizontalAccuracy": 1.0, "horizontalAccuracy": 1.0,
"verticalAccuracy": 1.0, "verticalAccuracy": 1.0,
@ -109,7 +109,7 @@ class SimulatedSensors:
self.camerad.cam_send_yuv_wide_road(yuv) self.camerad.cam_send_yuv_wide_road(yuv)
def update(self, simulator_state: 'SimulatorState', world: 'World'): def update(self, simulator_state: 'SimulatorState', world: 'World'):
now = time.time() now = time.monotonic()
self.send_imu_message(simulator_state) self.send_imu_message(simulator_state)
self.send_gps_message(simulator_state) self.send_gps_message(simulator_state)

@ -21,7 +21,7 @@ wheels = [
[[package]] [[package]]
name = "aiohttp" name = "aiohttp"
version = "3.12.13" version = "3.12.14"
source = { registry = "https://pypi.org/simple" } source = { registry = "https://pypi.org/simple" }
dependencies = [ dependencies = [
{ name = "aiohappyeyeballs" }, { name = "aiohappyeyeballs" },
@ -32,42 +32,42 @@ dependencies = [
{ name = "propcache" }, { name = "propcache" },
{ name = "yarl" }, { name = "yarl" },
] ]
sdist = { url = "https://files.pythonhosted.org/packages/42/6e/ab88e7cb2a4058bed2f7870276454f85a7c56cd6da79349eb314fc7bbcaa/aiohttp-3.12.13.tar.gz", hash = "sha256:47e2da578528264a12e4e3dd8dd72a7289e5f812758fe086473fab037a10fcce", size = 7819160, upload-time = "2025-06-14T15:15:41.354Z" } sdist = { url = "https://files.pythonhosted.org/packages/e6/0b/e39ad954107ebf213a2325038a3e7a506be3d98e1435e1f82086eec4cde2/aiohttp-3.12.14.tar.gz", hash = "sha256:6e06e120e34d93100de448fd941522e11dafa78ef1a893c179901b7d66aa29f2", size = 7822921, upload-time = "2025-07-10T13:05:33.968Z" }
wheels = [ wheels = [
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[[package]] [[package]]

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