diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index d84779103b..e921cd3d00 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -105,7 +105,7 @@ jobs:
# /usr/local/Cellar
# ~/github_brew_cache_entries.txt
# /tmp/scons_cache
- # key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'Pipfile*') }}
+ # key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'poetry.lock') }}
# restore-keys: macos-
# - name: Brew link restored dependencies
# run: |
@@ -121,11 +121,11 @@ jobs:
# - name: Build openpilot
# run: |
# source tools/openpilot_env.sh
- # pipenv run selfdrive/manager/build.py
+ # poetry run selfdrive/manager/build.py
#
# # cleanup scons cache
# rm -rf /tmp/scons_cache/
- # pipenv run scons -j$(nproc) --cache-populate
+ # poetry run scons -j$(nproc) --cache-populate
# - name: Remove pre-existing Homebrew packages for caching
# if: steps.dependency-cache.outputs.cache-hit != 'true'
# run: |
diff --git a/.gitignore b/.gitignore
index 062358ef24..31cef94222 100644
--- a/.gitignore
+++ b/.gitignore
@@ -83,3 +83,5 @@ selfdrive/modeld/models/*.thneed
build/
!**/.gitkeep
+
+poetry.toml
diff --git a/.gitmodules b/.gitmodules
index 544c95c943..26f93ef164 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -18,4 +18,4 @@
url = ../../commaai/body.git
[submodule "tinygrad"]
path = tinygrad_repo
- url = ../../commaai/tinygrad.git
+ url = https://github.com/geohot/tinygrad.git
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 85c24b911b..91b9c61628 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -78,3 +78,7 @@ repos:
entry: selfdrive/ui/tests/test_translations.py
language: script
pass_filenames: false
+- repo: https://github.com/python-poetry/poetry
+ rev: '1.2.2'
+ hooks:
+ - id: poetry-check
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index 0de3008baf..4cd82259e2 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -12,19 +12,19 @@ ENV LANG en_US.UTF-8
ENV LANGUAGE en_US:en
ENV LC_ALL en_US.UTF-8
-ENV PIPENV_SYSTEM=1
+ENV POETRY_VIRTUALENVS_CREATE=false
ENV PYENV_VERSION=3.8.10
ENV PYENV_ROOT="/root/.pyenv"
ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
-COPY Pipfile Pipfile.lock .python-version update_requirements.sh /tmp/
+COPY pyproject.toml poetry.lock .python-version update_requirements.sh /tmp/
COPY tools/ubuntu_setup.sh /tmp/tools/
RUN cd /tmp && \
tools/ubuntu_setup.sh && \
rm -rf /var/lib/apt/lists/* && \
rm -rf /tmp/* && \
rm -rf /root/.cache && \
- pip uninstall -y pipenv && \
+ pip uninstall -y poetry && \
# remove unused architectures from gcc for panda
cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
rm -rf arm/ && \
diff --git a/Pipfile b/Pipfile
deleted file mode 100644
index 778cf8c33c..0000000000
--- a/Pipfile
+++ /dev/null
@@ -1,100 +0,0 @@
-[[source]]
-name = "pypi"
-url = "https://pypi.org/simple"
-verify_ssl = true
-
-[dev-packages]
-av = "*"
-azure-storage-blob = "~=2.1"
-control = "*"
-coverage = "*"
-dictdiffer = "*"
-fastcluster = "*"
-hexdump = "*"
-hypothesis = "==6.46.7"
-inputs = "*"
-lru-dict = "*"
-markdown-it-py = "*"
-matplotlib = "*"
-mypy = "*"
-myst-parser = "*"
-natsort = "*"
-numpy = "*"
-opencv-python-headless = "*"
-parameterized = "*"
-paramiko = "*"
-pprofile = "*"
-pre-commit = "*"
-pycurl = "*"
-pygame = "*"
-pyprof2calltree = "*"
-pytest = "*"
-pytest-xdist = "*"
-reverse_geocoder = "*"
-scipy = "*"
-sphinx = "*"
-sphinx-sitemap = "*"
-sphinx-rtd-theme = "*"
-breathe = "*"
-subprocess32 = "*"
-tenacity = "*"
-mpld3 = "*"
-carla = {version = "==0.9.13", markers="platform_system != 'Darwin'"}
-ft4222 = "*"
-pandas = "*"
-tabulate = "*"
-types-pyyaml = "*"
-lxml = "*"
-types-atomicwrites = "*"
-types-pycurl = "*"
-types-requests = "*"
-types-certifi = "*"
-
-[packages]
-atomicwrites = "*"
-casadi = {version = "*", markers="platform_system != 'Darwin'"}
-cffi = "*"
-crcmod = "*"
-cryptography = "*"
-Cython = "*"
-flake8 = "*"
-Flask = "*"
-future-fstrings = "*" # for acados
-gunicorn = "*"
-hexdump = "*"
-Jinja2 = "*"
-json-rpc = "*"
-libusb1 = "*"
-nose = "*"
-numpy = "*"
-protobuf = "==3.20.1"
-onnx = "*"
-onnxruntime-gpu = {version = "*", markers="platform_system != 'Darwin'"}
-pillow = "*"
-psutil = "*"
-pycapnp = "==1.1.0"
-pycryptodome = "*"
-PyJWT = "*"
-pylint = "*"
-pyopencl = "*"
-pyserial = "*"
-python-dateutil = "*"
-PyYAML = "*"
-pyzmq = "*"
-requests = "*"
-scons = "*"
-sentry-sdk = "*"
-setproctitle = "*"
-six = "*"
-smbus2 = "*"
-sympy = "!=1.6.1"
-timezonefinder = "*"
-tqdm = "*"
-urllib3 = "*"
-utm = "*"
-websocket_client = "*"
-hatanaka = "==2.4"
-PySide2 = "*"
-
-[requires]
-python_version = "3.8"
diff --git a/Pipfile.lock b/Pipfile.lock
deleted file mode 100644
index d033a517cb..0000000000
--- a/Pipfile.lock
+++ /dev/null
@@ -1,3072 +0,0 @@
-{
- "_meta": {
- "hash": {
- "sha256": "c406463198490fc40dcac3dd438c77cf36f6fe681793072e96fdecf089ff7639"
- },
- "pipfile-spec": 6,
- "requires": {
- "python_version": "3.8"
- },
- "sources": [
- {
- "name": "pypi",
- "url": "https://pypi.org/simple",
- "verify_ssl": true
- }
- ]
- },
- "default": {
- "astroid": {
- "hashes": [
- "sha256:81f870105d892e73bf535da77a8261aa5bde838fa4ed12bb2f435291a098c581",
- "sha256:997e0c735df60d4a4caff27080a3afc51f9bdd693d3572a4a0b7090b645c36c5"
- ],
- "markers": "python_full_version >= '3.7.2'",
- "version": "==2.12.10"
- },
- "atomicwrites": {
- "hashes": [
- "sha256:81b2c9071a49367a7f770170e5eec8cb66567cfbbc8c73d20ce5ca4a8d71cf11"
- ],
- "index": "pypi",
- "version": "==1.4.1"
- },
- "casadi": {
- "hashes": [
- "sha256:09e103bb597d46aa338fc57bc49270068a1f07be35f9494c9f796dea4b801aeb",
- "sha256:13277151efc76b221de8ca6b5ab7b8bbdd2b0e139f282866840adf88dfe53bc9",
- "sha256:1c451a07b2440c00d552e040b6285b6e79b677d2978212368b28b86f5d267669",
- "sha256:2322748a8d5e88750fd2fc0abcdc56cfbad1a8cd538fe0e7d7b6d8ce0cb3fa62",
- "sha256:24fbac649ee26572884029dcd0e108b4a2412cad003a84ed915c4e44a94ecae7",
- "sha256:253569c85f881a6a8fe5e1c0758858edb1ecb4c3d8bce4aee4b52e5dc59fc091",
- "sha256:292e2768280393bad406256e0ef9c30ddcd4867dbd42148b36f9d92a32d9e199",
- "sha256:353a79e50aa84ac5e0d9f04bc3b2d78a2cc8edae3b842d757756449682778944",
- "sha256:36db4c84d8f3aad328faaeaeaa454a633c95a854d78ea188791b147888379342",
- "sha256:3aec6737c282e7fb5be41f6c7d0649e52ce49efb3508f30bada707e809bbbb5f",
- "sha256:4086669280b2335d235c664373db46dcd7f6485dba4663ce1944ea01753c5e8b",
- "sha256:4143803af909f284400c02f59de4d97e5ba9319de28366215ef55ef261914f9a",
- "sha256:473bb86fa64ac9703d74a474514703b4665fa9a384221ced620b5025e64532a7",
- "sha256:4932b2b5361013420189dbc8d30e970672d036b37cb382f1c09c3b6cfe651a37",
- "sha256:49a8b713f0ff0bbc2f2af2e71c515cdced238786e25ef504f5982618c84c67a7",
- "sha256:54d89442058271007ae8573dfa33360bea10e26603545481090b45e8b90c9d10",
- "sha256:55df534d003efdd120c4ebfeb6b252c443d273cdc4b97a394eb0268367477795",
- "sha256:5de5c3c1381ac303e71fdef75dace34af6e1d50b46ac081051cd209b8b933837",
- "sha256:5f6eb8de31735c14ecc777e3ad77b57767b5f2dbea29265909ef696f51e8be92",
- "sha256:6192e2ed81c15a7dab2554f5f69b134df8d1a982f8d9f13e57bdef93364d2120",
- "sha256:643e48f92eaf65eb82964816bb7e7064ddb8239959210fa6168e8bce6fe6ef94",
- "sha256:6ce7ac8a301a145f98d46db0bfd13bc8b3831a5bb92e8054d531a1f233bb4b93",
- "sha256:7309a75b27c57f09b00a61815fb38c40da8e62e3004598e55ea1b8f713d96221",
- "sha256:77f33cb95be6a49b93d8d6b81f05193676ae09857699cedf8f1a14a4285d077e",
- "sha256:7a624d40c7b5ded7916f6cc65998af4585b4557c9ea65dc1e3a6273ebb2313ec",
- "sha256:a06c0b96eb9d3bc88c627eec6e465726934ca0394347dc33efc742b8c91db83d",
- "sha256:a4ce51e988570160af9ccfbbb1b9679546cbb1865d3a74ef0276f37fd94d91d9",
- "sha256:ab6a600a9b2ea27453d56fd4464ad0db0ae69f5cea42595fcbdaabcd40396440",
- "sha256:ab85c7cf772ba54f2718ebe366b836fffff868443f7c0c02389ed0a288cbde1f",
- "sha256:ac45b91616e9b8afbe266ca08e80770b28e9e6d7a5852e3677fb37e42bde2047",
- "sha256:adf20c34ba2cec1840a026023d93cc6d9b3581dfda6a044f434fc75b50c9a2ce",
- "sha256:bd94048388b602fc30fdac2fecb986c034110ed8d2d17af7fd13b0de45c58bd7",
- "sha256:c3440c90c31b61ae1df82f6c784643393f723354dc08013f9d5cedf25507c67c",
- "sha256:cd630a2e6ec6df6a4977af63080fa8d63a0053ff8c06ea0200959b47ae75201c",
- "sha256:d4e49cb46404cef61f83b30bb20ec9597c50ae7f55cfd6b89c17facc74675437",
- "sha256:ec26244f9d9047f1bb401f1b86ff4775e1ddf638f4b4992bbc362a27a6f56673",
- "sha256:f08a99e98b0a15083f06b1e221f064a29b3ed9e20617dc55aa8e823f2f732ace",
- "sha256:fbf39dcd63f1d3b63c300fce59b7ea678bd5ea1d014e1e090a5226600a4132cb"
- ],
- "index": "pypi",
- "markers": "platform_system != 'Darwin'",
- "version": "==3.5.5"
- },
- "certifi": {
- "hashes": [
- "sha256:0d9c601124e5a6ba9712dbc60d9c53c21e34f5f641fe83002317394311bdce14",
- "sha256:90c1a32f1d68f940488354e36370f6cca89f0f106db09518524c88d6ed83f382"
- ],
- "markers": "python_version >= '3.6'",
- "version": "==2022.9.24"
- },
- "cffi": {
- "hashes": [
- "sha256:00a9ed42e88df81ffae7a8ab6d9356b371399b91dbdf0c3cb1e84c03a13aceb5",
- "sha256:03425bdae262c76aad70202debd780501fabeaca237cdfddc008987c0e0f59ef",
- "sha256:04ed324bda3cda42b9b695d51bb7d54b680b9719cfab04227cdd1e04e5de3104",
- "sha256:0e2642fe3142e4cc4af0799748233ad6da94c62a8bec3a6648bf8ee68b1c7426",
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- "sha256:198caafb44239b60e252492445da556afafc7d1e3ab7a1fb3f0584ef6d742375",
- "sha256:1e74c6b51a9ed6589199c787bf5f9875612ca4a8a0785fb2d4a84429badaf22a",
- "sha256:2012c72d854c2d03e45d06ae57f40d78e5770d252f195b93f581acf3ba44496e",
- "sha256:21157295583fe8943475029ed5abdcf71eb3911894724e360acff1d61c1d54bc",
- "sha256:2470043b93ff09bf8fb1d46d1cb756ce6132c54826661a32d4e4d132e1977adf",
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- "sha256:ce4bcc037df4fc5e3d184794f27bdaab018943698f4ca31630bc7f84a7b69c6d",
- "sha256:cec7d9412a9102bdc577382c3929b337320c4c4c4849f2c5cdd14d7368c5562d",
- "sha256:d400bfb9a37b1351253cb402671cea7e89bdecc294e8016a707f6d1d8ac934f9",
- "sha256:d61f4695e6c866a23a21acab0509af1cdfd2c013cf256bbf5b6b5e2695827162",
- "sha256:db0fbb9c62743ce59a9ff687eb5f4afbe77e5e8403d6697f7446e5f609976f76",
- "sha256:dd86c085fae2efd48ac91dd7ccffcfc0571387fe1193d33b6394db7ef31fe2a4",
- "sha256:e00b098126fd45523dd056d2efba6c5a63b71ffe9f2bbe1a4fe1716e1d0c331e",
- "sha256:e229a521186c75c8ad9490854fd8bbdd9a0c9aa3a524326b55be83b54d4e0ad9",
- "sha256:e263d77ee3dd201c3a142934a086a4450861778baaeeb45db4591ef65550b0a6",
- "sha256:ed9cb427ba5504c1dc15ede7d516b84757c3e3d7868ccc85121d9310d27eed0b",
- "sha256:fa6693661a4c91757f4412306191b6dc88c1703f780c8234035eac011922bc01",
- "sha256:fcd131dd944808b5bdb38e6f5b53013c5aa4f334c5cad0c72742f6eba4b73db0"
- ],
- "index": "pypi",
- "version": "==1.15.1"
- },
- "charset-normalizer": {
- "hashes": [
- "sha256:5a3d016c7c547f69d6f81fb0db9449ce888b418b5b9952cc5e6e66843e9dd845",
- "sha256:83e9a75d1911279afd89352c68b45348559d1fc0506b054b346651b5e7fee29f"
- ],
- "markers": "python_version >= '3.6'",
- "version": "==2.1.1"
- },
- "click": {
- "hashes": [
- "sha256:7682dc8afb30297001674575ea00d1814d808d6a36af415a82bd481d37ba7b8e",
- "sha256:bb4d8133cb15a609f44e8213d9b391b0809795062913b383c62be0ee95b1db48"
- ],
- "markers": "python_version >= '3.7'",
- "version": "==8.1.3"
- },
- "coloredlogs": {
- "hashes": [
- "sha256:612ee75c546f53e92e70049c9dbfcc18c935a2b9a53b66085ce9ef6a6e5c0934",
- "sha256:7c991aa71a4577af2f82600d8f8f3a89f936baeaf9b50a9c197da014e5bf16b0"
- ],
- "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3, 3.4'",
- "version": "==15.0.1"
- },
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diff --git a/RELEASES.md b/RELEASES.md
index 35ed1b9520..744168c8fb 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -2,9 +2,11 @@ Version 0.8.17 (2022-XX-XX)
========================
* New driving model
* Internal feature space accuracy increased tenfold during training, this makes the model dramatically more accurate.
+* New driver monitoring model
+ * New end-to-end distracted trigger
* Self-tuning torque lateral controller parameters
* Parameters learned live for each car
- * Enabled only on Toyota Corolla for now
+* Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models
* UI updates
* Multi-language in navigation
* Matched speeds shown on car's dash
@@ -12,6 +14,8 @@ Version 0.8.17 (2022-XX-XX)
* Border turns grey while overriding steering
* Added button to bookmark events while driving; view them later in comma connect
* AGNOS 6
+* tools: new and improved cabana thanks to deanlee!
+* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!
Version 0.8.16 (2022-08-26)
========================
diff --git a/SConstruct b/SConstruct
index 23ab37dc1e..74680c0598 100644
--- a/SConstruct
+++ b/SConstruct
@@ -327,6 +327,7 @@ qt_flags = [
qt_env['CXXFLAGS'] += qt_flags
qt_env['LIBPATH'] += ['#selfdrive/ui']
qt_env['LIBS'] = qt_libs
+qt_env['QT_MOCHPREFIX'] = cache_dir + '/moc_files/moc_'
if GetOption("clazy"):
checks = [
diff --git a/cereal b/cereal
index 5766e645f2..1d25fc3f20 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 5766e645f2ee2a131b145fb1ea9e3b7c55a4a740
+Subproject commit 1d25fc3f202d5ddeee97848480323e9b14f9bdfa
diff --git a/docs/CARS.md b/docs/CARS.md
index 40eef06102..2df2b96e24 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
-# 208 Supported Cars
+# 211 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -18,8 +18,8 @@ A supported vehicle is one that just works when you install a comma three. All s
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|Cadillac|Escalade ESV 2016[1](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|0 mph|6 mph|[](##)|[](##)|GM|
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|0 mph|6 mph|[](##)|[](##)|GM|
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|3 mph|6 mph|[](##)|[](##)|GM|
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|3 mph|6 mph|[](##)|[](##)|GM|
|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
@@ -32,7 +32,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|Genesis|G90 2017-18|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai C|
|GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|0 mph|6 mph|[](##)|[](##)|GM|
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|3 mph|6 mph|[](##)|[](##)|GM|
|Honda|Accord 2018-22|All|openpilot|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
|Honda|Accord Hybrid 2018-22|All|openpilot|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|Honda Nidec|
@@ -55,8 +55,10 @@ A supported vehicle is one that just works when you install a comma three. All s
|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[](##)|[](##)|Honda Nidec|
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|Hyundai B|
|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai K|
+|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai E|
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai K|
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[](##)|[](##)|Hyundai J|
+|Hyundai|i30 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai E|
|Hyundai|Ioniq 5 (with HDA II) 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai Q|
|Hyundai|Ioniq 5 (without HDA II) 2022|Highway Driving Assist|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai K|
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|Hyundai C|
@@ -100,6 +102,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai A|
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C|
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E|
+|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N|
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C|
|Kia|Telluride 2020|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
@@ -119,7 +122,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|Lexus|RX Hybrid 2017-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Mazda|CX-5 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Mazda|
+|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[](##)|[](##)|Mazda|
|Mazda|CX-9 2021-22|All|Stock|0 mph|28 mph|[](##)|[](##)|Mazda|
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan B|
|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|Nissan A|
diff --git a/docs/docker/Dockerfile b/docs/docker/Dockerfile
index cefe9be855..0d5883f566 100644
--- a/docs/docker/Dockerfile
+++ b/docs/docker/Dockerfile
@@ -4,16 +4,11 @@ ENV PYTHONUNBUFFERED 1
ENV OPENPILOT_PATH /home/batman/openpilot/
ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
+ENV POETRY_VIRUALENVS_CREATE false
RUN mkdir -p ${OPENPILOT_PATH}
WORKDIR ${OPENPILOT_PATH}
-COPY Pipfile Pipfile.lock $OPENPILOT_PATH
-RUN pip install --no-cache-dir pipenv==2021.5.29 pip==21.3.1 && \
- pipenv install --system --deploy --dev --clear && \
- pip uninstall -y pipenv
-
-
COPY SConstruct ${OPENPILOT_PATH}
COPY ./pyextra ${OPENPILOT_PATH}/pyextra
diff --git a/opendbc b/opendbc
index dde0ff6f44..a95b0ae8a5 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit dde0ff6f4456c167df204bf5ac1e3f2979c844c9
+Subproject commit a95b0ae8a5244a9d6311bf72aa2a7d63d41b4a9f
diff --git a/poetry.lock b/poetry.lock
new file mode 100644
index 0000000000..2dff4fecf1
--- /dev/null
+++ b/poetry.lock
@@ -0,0 +1,7968 @@
+[[package]]
+name = "adal"
+version = "1.2.7"
+description = "Note: This library is already replaced by MSAL Python, available here: https://pypi.org/project/msal/ .ADAL Python remains available here as a legacy. The ADAL for Python library makes it easy for python application to authenticate to Azure Active Directory (AAD) in order to access AAD protected web resources."
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+cryptography = ">=1.1.0"
+PyJWT = ">=1.0.0,<3"
+python-dateutil = ">=2.1.0,<3"
+requests = ">=2.0.0,<3"
+
+[[package]]
+name = "aenum"
+version = "3.1.11"
+description = "Advanced Enumerations (compatible with Python's stdlib Enum), NamedTuples, and NamedConstants"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "aiohttp"
+version = "3.8.3"
+description = "Async http client/server framework (asyncio)"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+aiosignal = ">=1.1.2"
+async-timeout = ">=4.0.0a3,<5.0"
+attrs = ">=17.3.0"
+charset-normalizer = ">=2.0,<3.0"
+frozenlist = ">=1.1.1"
+multidict = ">=4.5,<7.0"
+yarl = ">=1.0,<2.0"
+
+[package.extras]
+speedups = ["Brotli", "aiodns", "cchardet"]
+
+[[package]]
+name = "aiosignal"
+version = "1.2.0"
+description = "aiosignal: a list of registered asynchronous callbacks"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+frozenlist = ">=1.1.0"
+
+[[package]]
+name = "alabaster"
+version = "0.7.12"
+description = "A configurable sidebar-enabled Sphinx theme"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "albumentations"
+version = "1.3.0"
+description = "Fast image augmentation library and easy to use wrapper around other libraries"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+numpy = ">=1.11.1"
+opencv-python-headless = ">=4.1.1"
+PyYAML = "*"
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+scikit-image = ">=0.16.1"
+scipy = "*"
+
+[package.extras]
+develop = ["imgaug (>=0.4.0)", "pytest"]
+imgaug = ["imgaug (>=0.4.0)"]
+tests = ["pytest"]
+
+[[package]]
+name = "anyio"
+version = "3.6.2"
+description = "High level compatibility layer for multiple asynchronous event loop implementations"
+category = "dev"
+optional = false
+python-versions = ">=3.6.2"
+
+[package.dependencies]
+idna = ">=2.8"
+sniffio = ">=1.1"
+
+[package.extras]
+doc = ["packaging", "sphinx-autodoc-typehints (>=1.2.0)", "sphinx-rtd-theme"]
+test = ["contextlib2", "coverage[toml] (>=4.5)", "hypothesis (>=4.0)", "mock (>=4)", "pytest (>=7.0)", "pytest-mock (>=3.6.1)", "trustme", "uvloop (<0.15)", "uvloop (>=0.15)"]
+trio = ["trio (>=0.16,<0.22)"]
+
+[[package]]
+name = "apex"
+version = "0.1"
+description = "PyTorch Extensions written by NVIDIA"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.source]
+type = "url"
+url = "https://github.com/commaai/apex/releases/download/pytorch1.10.0%2Bcu11.1/apex-0.1-cp38-cp38-linux_x86_64.whl"
+
+[[package]]
+name = "appdirs"
+version = "1.4.4"
+description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "applicationinsights"
+version = "0.11.10"
+description = "This project extends the Application Insights API surface to support Python."
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "appnope"
+version = "0.1.3"
+description = "Disable App Nap on macOS >= 10.9"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "argcomplete"
+version = "1.12.3"
+description = "Bash tab completion for argparse"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.extras]
+test = ["coverage", "flake8", "pexpect", "wheel"]
+
+[[package]]
+name = "argon2-cffi"
+version = "21.3.0"
+description = "The secure Argon2 password hashing algorithm."
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+argon2-cffi-bindings = "*"
+
+[package.extras]
+dev = ["cogapp", "coverage[toml] (>=5.0.2)", "furo", "hypothesis", "pre-commit", "pytest", "sphinx", "sphinx-notfound-page", "tomli"]
+docs = ["furo", "sphinx", "sphinx-notfound-page"]
+tests = ["coverage[toml] (>=5.0.2)", "hypothesis", "pytest"]
+
+[[package]]
+name = "argon2-cffi-bindings"
+version = "21.2.0"
+description = "Low-level CFFI bindings for Argon2"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+cffi = ">=1.0.1"
+
+[package.extras]
+dev = ["cogapp", "pre-commit", "pytest", "wheel"]
+tests = ["pytest"]
+
+[[package]]
+name = "astroid"
+version = "2.12.12"
+description = "An abstract syntax tree for Python with inference support."
+category = "main"
+optional = false
+python-versions = ">=3.7.2"
+
+[package.dependencies]
+lazy-object-proxy = ">=1.4.0"
+typing-extensions = {version = ">=3.10", markers = "python_version < \"3.10\""}
+wrapt = {version = ">=1.11,<2", markers = "python_version < \"3.11\""}
+
+[[package]]
+name = "asttokens"
+version = "2.0.8"
+description = "Annotate AST trees with source code positions"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+six = "*"
+
+[package.extras]
+test = ["astroid (<=2.5.3)", "pytest"]
+
+[[package]]
+name = "async-timeout"
+version = "4.0.2"
+description = "Timeout context manager for asyncio programs"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[[package]]
+name = "atomicwrites"
+version = "1.4.1"
+description = "Atomic file writes."
+category = "main"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+
+[[package]]
+name = "attrs"
+version = "22.1.0"
+description = "Classes Without Boilerplate"
+category = "main"
+optional = false
+python-versions = ">=3.5"
+
+[package.extras]
+dev = ["cloudpickle", "coverage[toml] (>=5.0.2)", "furo", "hypothesis", "mypy (>=0.900,!=0.940)", "pre-commit", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "sphinx", "sphinx-notfound-page", "zope.interface"]
+docs = ["furo", "sphinx", "sphinx-notfound-page", "zope.interface"]
+tests = ["cloudpickle", "coverage[toml] (>=5.0.2)", "hypothesis", "mypy (>=0.900,!=0.940)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "zope.interface"]
+tests_no_zope = ["cloudpickle", "coverage[toml] (>=5.0.2)", "hypothesis", "mypy (>=0.900,!=0.940)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins"]
+
+[[package]]
+name = "av"
+version = "9.2.0"
+description = "Pythonic bindings for FFmpeg's libraries."
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "azure-cli-core"
+version = "2.41.0"
+description = "Microsoft Azure Command-Line Tools Core Module"
+category = "dev"
+optional = false
+python-versions = ">=3.7.0"
+
+[package.dependencies]
+argcomplete = ">=1.8,<2.0"
+azure-cli-telemetry = ">=1.0.0,<1.1.0"
+azure-mgmt-core = ">=1.2.0,<2"
+cryptography = "*"
+humanfriendly = ">=10.0,<11.0"
+jmespath = "*"
+knack = ">=0.10.0,<0.11.0"
+msal = {version = "1.20.0b1", extras = ["broker"]}
+msal-extensions = ">=1.0.0,<1.1.0"
+msrestazure = ">=0.6.4,<0.7.0"
+packaging = ">=20.9,<22.0"
+paramiko = ">=2.0.8,<3.0.0"
+pkginfo = ">=1.5.0.1"
+psutil = {version = ">=5.9,<6.0", markers = "sys_platform != \"cygwin\""}
+PyJWT = ">=2.1.0"
+pyopenssl = ">=17.1.0"
+requests = {version = "*", extras = ["socks"]}
+
+[[package]]
+name = "azure-cli-telemetry"
+version = "1.0.8"
+description = "Microsoft Azure CLI Telemetry Package"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+applicationinsights = ">=0.11.1,<0.12"
+portalocker = ">=1.6,<3"
+
+[[package]]
+name = "azure-common"
+version = "1.1.28"
+description = "Microsoft Azure Client Library for Python (Common)"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "azure-core"
+version = "1.26.0"
+description = "Microsoft Azure Core Library for Python"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+requests = ">=2.18.4"
+six = ">=1.11.0"
+typing-extensions = ">=4.0.1"
+
+[package.extras]
+aio = ["aiohttp (>=3.0)"]
+
+[[package]]
+name = "azure-mgmt-core"
+version = "1.3.2"
+description = "Microsoft Azure Management Core Library for Python"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+azure-core = ">=1.24.0,<2.0.0"
+
+[[package]]
+name = "azure-nspkg"
+version = "3.0.2"
+description = "Microsoft Azure Namespace Package [Internal]"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "azure-storage-blob"
+version = "2.1.0"
+description = "Microsoft Azure Storage Blob Client Library for Python"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+azure-common = ">=1.1.5"
+azure-storage-common = ">=2.1,<3.0"
+
+[[package]]
+name = "azure-storage-common"
+version = "2.1.0"
+description = "Microsoft Azure Storage Common Client Library for Python"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+azure-common = ">=1.1.5"
+cryptography = "*"
+python-dateutil = "*"
+requests = "*"
+
+[[package]]
+name = "azure-storage-nspkg"
+version = "3.1.0"
+description = "Microsoft Azure Storage Namespace Package [Internal]"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+azure-nspkg = ">=2.0.0"
+
+[[package]]
+name = "babel"
+version = "2.10.3"
+description = "Internationalization utilities"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+pytz = ">=2015.7"
+
+[[package]]
+name = "backcall"
+version = "0.2.0"
+description = "Specifications for callback functions passed in to an API"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "bcrypt"
+version = "4.0.1"
+description = "Modern password hashing for your software and your servers"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[package.extras]
+tests = ["pytest (>=3.2.1,!=3.3.0)"]
+typecheck = ["mypy"]
+
+[[package]]
+name = "beautifulsoup4"
+version = "4.11.1"
+description = "Screen-scraping library"
+category = "dev"
+optional = false
+python-versions = ">=3.6.0"
+
+[package.dependencies]
+soupsieve = ">1.2"
+
+[package.extras]
+html5lib = ["html5lib"]
+lxml = ["lxml"]
+
+[[package]]
+name = "bidict"
+version = "0.22.0"
+description = "The bidirectional mapping library for Python."
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[[package]]
+name = "bleach"
+version = "5.0.1"
+description = "An easy safelist-based HTML-sanitizing tool."
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+six = ">=1.9.0"
+webencodings = "*"
+
+[package.extras]
+css = ["tinycss2 (>=1.1.0,<1.2)"]
+dev = ["Sphinx (==4.3.2)", "black (==22.3.0)", "build (==0.8.0)", "flake8 (==4.0.1)", "hashin (==0.17.0)", "mypy (==0.961)", "pip-tools (==6.6.2)", "pytest (==7.1.2)", "tox (==3.25.0)", "twine (==4.0.1)", "wheel (==0.37.1)"]
+
+[[package]]
+name = "blosc"
+version = "1.9.2"
+description = "Blosc data compressor"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "breathe"
+version = "4.34.0"
+description = "Sphinx Doxygen renderer"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+docutils = ">=0.12"
+Sphinx = ">=4.0,<5.0.0 || >5.0.0,<6"
+
+[[package]]
+name = "cachecontrol"
+version = "0.12.11"
+description = "httplib2 caching for requests"
+category = "main"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+lockfile = {version = ">=0.9", optional = true, markers = "extra == \"filecache\""}
+msgpack = ">=0.5.2"
+requests = "*"
+
+[package.extras]
+filecache = ["lockfile (>=0.9)"]
+redis = ["redis (>=2.10.5)"]
+
+[[package]]
+name = "cachy"
+version = "0.3.0"
+description = "Cachy provides a simple yet effective caching library."
+category = "main"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+
+[package.extras]
+memcached = ["python-memcached (>=1.59,<2.0)"]
+msgpack = ["msgpack-python (>=0.5,<0.6)"]
+redis = ["redis (>=3.3.6,<4.0.0)"]
+
+[[package]]
+name = "carla"
+version = "0.9.13"
+description = "Python API for communicating with the CARLA server."
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "casadi"
+version = "3.5.5"
+description = "CasADi -- framework for algorithmic differentiation and numeric optimization"
+category = "main"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "certifi"
+version = "2022.9.24"
+description = "Python package for providing Mozilla's CA Bundle."
+category = "main"
+optional = false
+python-versions = ">=3.6"
+
+[[package]]
+name = "cffi"
+version = "1.15.1"
+description = "Foreign Function Interface for Python calling C code."
+category = "main"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+pycparser = "*"
+
+[[package]]
+name = "cfgv"
+version = "3.3.1"
+description = "Validate configuration and produce human readable error messages."
+category = "dev"
+optional = false
+python-versions = ">=3.6.1"
+
+[[package]]
+name = "charset-normalizer"
+version = "2.1.1"
+description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
+category = "main"
+optional = false
+python-versions = ">=3.6.0"
+
+[package.extras]
+unicode_backport = ["unicodedata2"]
+
+[[package]]
+name = "cleo"
+version = "1.0.0a5"
+description = "Cleo allows you to create beautiful and testable command-line interfaces."
+category = "main"
+optional = false
+python-versions = ">=3.7,<4.0"
+
+[package.dependencies]
+crashtest = ">=0.3.1,<0.4.0"
+pylev = ">=1.3.0,<2.0.0"
+
+[[package]]
+name = "click"
+version = "8.1.3"
+description = "Composable command line interface toolkit"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+colorama = {version = "*", markers = "platform_system == \"Windows\""}
+
+[[package]]
+name = "cloudpickle"
+version = "2.2.0"
+description = "Extended pickling support for Python objects"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
+[[package]]
+name = "colorama"
+version = "0.4.5"
+description = "Cross-platform colored terminal text."
+category = "main"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+
+[[package]]
+name = "coloredlogs"
+version = "15.0.1"
+description = "Colored terminal output for Python's logging module"
+category = "main"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+
+[package.dependencies]
+humanfriendly = ">=9.1"
+
+[package.extras]
+cron = ["capturer (>=2.4)"]
+
+[[package]]
+name = "configargparse"
+version = "1.5.3"
+description = "A drop-in replacement for argparse that allows options to also be set via config files and/or environment variables."
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+
+[package.extras]
+test = ["PyYAML", "mock", "pytest"]
+yaml = ["PyYAML"]
+
+[[package]]
+name = "contourpy"
+version = "1.0.5"
+description = "Python library for calculating contours of 2D quadrilateral grids"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+numpy = ">=1.16"
+
+[package.extras]
+bokeh = ["bokeh", "selenium"]
+docs = ["docutils (<0.18)", "sphinx", "sphinx-rtd-theme"]
+test = ["Pillow", "flake8", "isort", "matplotlib", "pytest"]
+test-minimal = ["pytest"]
+test-no-codebase = ["Pillow", "matplotlib", "pytest"]
+
+[[package]]
+name = "control"
+version = "0.9.2"
+description = "Python Control Systems Library"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
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diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000000..ebb7954536
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,177 @@
+[tool.poetry]
+name = "openpilot"
+version = "0.1.0"
+description = "an open source driver assistance system"
+authors = ["Vehicle Researcher "]
+license = "MIT"
+readme = "README.md"
+repository = "https://github.com/commaai/openpilot"
+documentation = "https://docs.comma.ai"
+
+
+[tool.poetry.dependencies]
+python = "~3.8"
+atomicwrites = "^1.4.0"
+casadi = { version = "==3.5.5", markers = "platform_system != 'Darwin'" }
+cffi = "^1.15.1"
+crcmod = "^1.7"
+cryptography = "^37.0.4"
+Cython = "^0.29.30"
+flake8 = "^4.0.1"
+Flask = "^2.1.2"
+future-fstrings = "^1.2.0" # for acados
+gunicorn = "^20.1.0"
+hatanaka = "==2.4"
+hexdump = "^3.3"
+Jinja2 = "^3.1.2"
+json-rpc = "^1.13.0"
+libusb1 = "^3.0.0"
+nose = "^1.3.7"
+numpy = "^1.23.0"
+onnx = "^1.12.0"
+onnxruntime-gpu = { version = "^1.11.1", markers = "platform_system != 'Darwin'" }
+pillow = "^9.2.0"
+poetry = "==1.2.2"
+protobuf = "==3.20.1"
+psutil = "^5.9.1"
+pycapnp = "==1.1.0"
+pycryptodome = "^3.15.0"
+PyJWT = "^2.5.0"
+pylint = "^2.15.4"
+pyopencl = "^2022.2.4"
+pyserial = "^3.5"
+python-dateutil = "^2.8.2"
+PyYAML = "^6.0"
+pyzmq = "^23.2.0"
+requests = "^2.28.1"
+scons = "^4.3.0"
+sentry-sdk = "^1.6.0"
+setproctitle = "^1.2.3"
+six = "^1.16.0"
+smbus2 = "^0.4.2"
+sympy = "^1.10.1"
+timezonefinder = "^6.0.1"
+tqdm = "^4.64.0"
+urllib3 = "^1.26.10"
+utm = "^0.7.0"
+websocket_client = "^1.3.3"
+
+
+[tool.poetry.group.dev.dependencies]
+av = "^9.2.0"
+azure-storage-blob = "~2.1"
+breathe = "^4.34.0"
+carla = "==0.9.13"
+control = "^0.9.2"
+coverage = "^6.4.1"
+dictdiffer = "^0.9.0"
+fastcluster = "^1.2.6"
+ft4222 = "^1.4.1"
+hexdump = "^3.3"
+hypothesis = "==6.46.7"
+inputs = "^0.5"
+lru-dict = "^1.1.7"
+lxml = "^4.9.1"
+markdown-it-py = "^2.1.0"
+matplotlib = "^3.5.2"
+mpld3 = "^0.5.8"
+mypy = "^0.961"
+myst-parser = "^0.18.0"
+natsort = "^8.1.0"
+numpy = "^1.23.0"
+opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl" }
+pandas = "^1.4.3"
+parameterized = "^0.8.1"
+paramiko = "^2.11.0"
+pprofile = "^2.1.0"
+pre-commit = "^2.19.0"
+pycurl = "^7.45.1"
+pygame = "^2.1.2"
+pyprof2calltree = "^1.4.5"
+pytest = "^7.1.2"
+pytest-xdist = "^2.5.0"
+reverse_geocoder = "^1.5.1"
+scipy = "^1.8.1"
+sphinx = "^5.0.2"
+sphinx-rtd-theme = "^1.0.0"
+sphinx-sitemap = "^2.2.0"
+subprocess32 = "^3.5.4"
+tabulate = "^0.8.10"
+tenacity = "^8.0.1"
+types-atomicwrites = "^1.4.5"
+types-certifi = "^2021.10.8"
+types-pycurl = "^7.45.1"
+types-PyYAML = "^6.0"
+types-requests = "^2.28.11"
+
+
+[tool.poetry.group.xx]
+optional = true
+
+[tool.poetry.group.xx.dependencies]
+aenum = "^3.1.11"
+aiohttp = "^3.8.1"
+albumentations = "^1.2.1"
+apex = { url = "https://github.com/commaai/apex/releases/download/pytorch1.10.0%2Bcu11.1/apex-0.1-cp38-cp38-linux_x86_64.whl" }
+azure-cli-core = "^2.38.0"
+azure-common = "^1.1.28"
+azure-core = "^1.24.2"
+azure-nspkg = "~3.0"
+azure-storage-blob = "~2.1"
+azure-storage-common = "~2.1"
+azure-storage-nspkg = "~3.1"
+blosc = "==1.9.2"
+cloudpickle = "^2.1.0"
+configargparse = "^1.5.3"
+cupy-cuda113 = "^10.6.0"
+datadog = "^0.44.0"
+dotmap = "^1.3.30"
+einops = "^0.5.0"
+elasticsearch = "^8.3.1"
+Flask-Cors = "^3.0.10"
+Flask-SocketIO = "^5.2.0"
+GeoAlchemy2 = "^0.12.1"
+imageio = "^2.19.5"
+influxdb-client = "^1.30.0"
+ipykernel = "^6.15.1"
+ipython = "^8.4.0"
+joblib = "^1.1.0"
+json-logging-py = "^0.2"
+jupyter = "^1.0.0"
+jupyterlab = "^3.4.4"
+jupyterlab-vim = "^0.15.1"
+Markdown = "^3.4.1"
+mpld3 = "^0.5.8"
+msgpack-python = "^0.5.6"
+networkx = "~2.3"
+nvidia-ml-py3 = "^7.352.0"
+onnxoptimizer = "^0.3.1"
+opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl" }
+osmium = "^3.3.0"
+pandas = "^1.4.3"
+pillow-avif-plugin = "^1.2.2"
+pipenv = "==2022.10.12"
+plotly = "^5.9.0"
+pycuda = "^2022.1"
+Pygments = "^2.12.0"
+PyMySQL = "~0.9"
+pyproj = "^3.3.1"
+python-logstash = "^0.4.8"
+redis = "^4.3.4"
+s2sphere = "^0.2.5"
+scikit-image = "^0.19.3"
+scikit-learn = "^1.1.1"
+segmentation-models-pytorch = "==0.2.1"
+simplejson = "^3.17.6"
+SQLAlchemy = "^1.4.39"
+torch = { url = "https://download.pytorch.org/whl/cu113/torch-1.11.0%2Bcu113-cp38-cp38-linux_x86_64.whl" }
+torchsummary = "^1.5.1"
+torchvision = { url = "https://download.pytorch.org/whl/cu113/torchvision-0.12.0%2Bcu113-cp38-cp38-linux_x86_64.whl" }
+triton = "^1.1.1"
+Werkzeug = "^2.1.2"
+zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" }
+
+
+[build-system]
+requires = ["poetry-core"]
+build-backend = "poetry.core.masonry.api"
diff --git a/release/files_common b/release/files_common
index 07ffaf8501..e3c417040c 100644
--- a/release/files_common
+++ b/release/files_common
@@ -565,6 +565,7 @@ opendbc/tesla_powertrain.dbc
tinygrad_repo/openpilot/compile.py
tinygrad_repo/accel/opencl/*
tinygrad_repo/extra/onnx.py
+tinygrad_repo/extra/thneed.py
tinygrad_repo/extra/utils.py
tinygrad_repo/tinygrad/llops/ops_gpu.py
tinygrad_repo/tinygrad/llops/ops_opencl.py
diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py
index 7f511eecf6..5e86a2e821 100755
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@@ -9,6 +9,7 @@ import threading
import queue
import unittest
from datetime import datetime, timedelta
+from typing import Optional
from multiprocessing import Process
from pathlib import Path
@@ -46,12 +47,26 @@ class TestAthenadMethods(unittest.TestCase):
else:
os.unlink(p)
- def wait_for_upload(self):
+
+ # *** test helpers ***
+
+ @staticmethod
+ def _wait_for_upload():
now = time.time()
while time.time() - now < 5:
if athenad.upload_queue.qsize() == 0:
break
+ @staticmethod
+ def _create_file(file: str, parent: Optional[str] = None) -> str:
+ fn = os.path.join(athenad.ROOT if parent is None else parent, file)
+ os.makedirs(os.path.dirname(fn), exist_ok=True)
+ Path(fn).touch()
+ return fn
+
+
+ # *** test cases ***
+
def test_echo(self):
assert dispatcher["echo"]("bob") == "bob"
@@ -85,9 +100,7 @@ class TestAthenadMethods(unittest.TestCase):
filenames = ['qlog', 'qcamera.ts', 'rlog', 'fcamera.hevc', 'ecamera.hevc', 'dcamera.hevc']
files = [f'{route}--{s}/{f}' for s in segments for f in filenames]
for file in files:
- fn = os.path.join(athenad.ROOT, file)
- os.makedirs(os.path.dirname(fn), exist_ok=True)
- Path(fn).touch()
+ self._create_file(file)
resp = dispatcher["listDataDirectory"]()
self.assertTrue(resp, 'list empty!')
@@ -121,16 +134,14 @@ class TestAthenadMethods(unittest.TestCase):
self.assertCountEqual(resp, expected)
def test_strip_bz2_extension(self):
- fn = os.path.join(athenad.ROOT, 'qlog.bz2')
- Path(fn).touch()
+ fn = self._create_file('qlog.bz2')
if fn.endswith('.bz2'):
self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4])
@with_http_server
def test_do_upload(self, host):
- fn = os.path.join(athenad.ROOT, 'qlog.bz2')
- Path(fn).touch()
+ fn = self._create_file('qlog.bz2')
item = athenad.UploadItem(path=fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='')
with self.assertRaises(requests.exceptions.ConnectionError):
@@ -142,8 +153,7 @@ class TestAthenadMethods(unittest.TestCase):
@with_http_server
def test_uploadFileToUrl(self, host):
- fn = os.path.join(athenad.ROOT, 'qlog.bz2')
- Path(fn).touch()
+ fn = self._create_file('qlog.bz2')
resp = dispatcher["uploadFileToUrl"]("qlog.bz2", f"{host}/qlog.bz2", {})
self.assertEqual(resp['enqueued'], 1)
@@ -154,8 +164,7 @@ class TestAthenadMethods(unittest.TestCase):
@with_http_server
def test_uploadFileToUrl_duplicate(self, host):
- fn = os.path.join(athenad.ROOT, 'qlog.bz2')
- Path(fn).touch()
+ self._create_file('qlog.bz2')
url1 = f"{host}/qlog.bz2?sig=sig1"
dispatcher["uploadFileToUrl"]("qlog.bz2", url1, {})
@@ -172,8 +181,7 @@ class TestAthenadMethods(unittest.TestCase):
@with_http_server
def test_upload_handler(self, host):
- fn = os.path.join(athenad.ROOT, 'qlog.bz2')
- Path(fn).touch()
+ fn = self._create_file('qlog.bz2')
item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
end_event = threading.Event()
@@ -182,7 +190,7 @@ class TestAthenadMethods(unittest.TestCase):
athenad.upload_queue.put_nowait(item)
try:
- self.wait_for_upload()
+ self._wait_for_upload()
time.sleep(0.1)
# TODO: verify that upload actually succeeded
@@ -195,8 +203,7 @@ class TestAthenadMethods(unittest.TestCase):
def test_upload_handler_retry(self, host, mock_put):
for status, retry in ((500, True), (412, False)):
mock_put.return_value.status_code = status
- fn = os.path.join(athenad.ROOT, 'qlog.bz2')
- Path(fn).touch()
+ fn = self._create_file('qlog.bz2')
item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
end_event = threading.Event()
@@ -205,7 +212,7 @@ class TestAthenadMethods(unittest.TestCase):
athenad.upload_queue.put_nowait(item)
try:
- self.wait_for_upload()
+ self._wait_for_upload()
time.sleep(0.1)
self.assertEqual(athenad.upload_queue.qsize(), 1 if retry else 0)
@@ -217,8 +224,7 @@ class TestAthenadMethods(unittest.TestCase):
def test_upload_handler_timeout(self):
"""When an upload times out or fails to connect it should be placed back in the queue"""
- fn = os.path.join(athenad.ROOT, 'qlog.bz2')
- Path(fn).touch()
+ fn = self._create_file('qlog.bz2')
item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
item_no_retry = item._replace(retry_count=MAX_RETRY_COUNT)
@@ -228,14 +234,14 @@ class TestAthenadMethods(unittest.TestCase):
try:
athenad.upload_queue.put_nowait(item_no_retry)
- self.wait_for_upload()
+ self._wait_for_upload()
time.sleep(0.1)
# Check that upload with retry count exceeded is not put back
self.assertEqual(athenad.upload_queue.qsize(), 0)
athenad.upload_queue.put_nowait(item)
- self.wait_for_upload()
+ self._wait_for_upload()
time.sleep(0.1)
# Check that upload item was put back in the queue with incremented retry count
@@ -256,7 +262,7 @@ class TestAthenadMethods(unittest.TestCase):
thread = threading.Thread(target=athenad.upload_handler, args=(end_event,))
thread.start()
try:
- self.wait_for_upload()
+ self._wait_for_upload()
time.sleep(0.1)
self.assertEqual(athenad.upload_queue.qsize(), 0)
@@ -269,8 +275,7 @@ class TestAthenadMethods(unittest.TestCase):
ts = int(t_future.strftime("%s")) * 1000
# Item that would time out if actually uploaded
- fn = os.path.join(athenad.ROOT, 'qlog.bz2')
- Path(fn).touch()
+ fn = self._create_file('qlog.bz2')
item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=ts, id='', allow_cellular=True)
@@ -279,7 +284,7 @@ class TestAthenadMethods(unittest.TestCase):
thread.start()
try:
athenad.upload_queue.put_nowait(item)
- self.wait_for_upload()
+ self._wait_for_upload()
time.sleep(0.1)
self.assertEqual(athenad.upload_queue.qsize(), 0)
@@ -292,8 +297,7 @@ class TestAthenadMethods(unittest.TestCase):
@with_http_server
def test_listUploadQueueCurrent(self, host):
- fn = os.path.join(athenad.ROOT, 'qlog.bz2')
- Path(fn).touch()
+ fn = self._create_file('qlog.bz2')
item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
end_event = threading.Event()
@@ -302,7 +306,7 @@ class TestAthenadMethods(unittest.TestCase):
try:
athenad.upload_queue.put_nowait(item)
- self.wait_for_upload()
+ self._wait_for_upload()
items = dispatcher["listUploadQueue"]()
self.assertEqual(len(items), 1)
@@ -405,9 +409,9 @@ class TestAthenadMethods(unittest.TestCase):
def test_get_logs_to_send_sorted(self):
fl = list()
for i in range(10):
- fn = os.path.join(swaglog.SWAGLOG_DIR, f'swaglog.{i:010}')
- Path(fn).touch()
- fl.append(os.path.basename(fn))
+ file = f'swaglog.{i:010}'
+ self._create_file(file, athenad.SWAGLOG_DIR)
+ fl.append(file)
# ensure the list is all logs except most recent
sl = athenad.get_logs_to_send_sorted()
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 4a8fd5fbd9..61e7a3d55d 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -76,7 +76,7 @@ interfaces = load_interfaces(interface_names)
# **** for use live only ****
-def fingerprint(logcan, sendcan):
+def fingerprint(logcan, sendcan, num_pandas):
fixed_fingerprint = os.environ.get('FINGERPRINT', "")
skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
ecu_rx_addrs = set()
@@ -100,7 +100,7 @@ def fingerprint(logcan, sendcan):
cloudlog.warning("Getting VIN & FW versions")
vin_rx_addr, vin = get_vin(logcan, sendcan, bus)
ecu_rx_addrs = get_present_ecus(logcan, sendcan)
- car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs)
+ car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas)
cached = False
exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
@@ -173,8 +173,8 @@ def fingerprint(logcan, sendcan):
return car_fingerprint, finger, vin, car_fw, source, exact_match
-def get_car(logcan, sendcan):
- candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan)
+def get_car(logcan, sendcan, num_pandas=1):
+ candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
if candidate is None:
cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index d3e8eae0de..f4d92ab960 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -194,14 +194,14 @@ def get_brand_ecu_matches(ecu_rx_addrs):
return brand_matches
-def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=False, progress=False):
+def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False):
"""Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
all_car_fw = []
brand_matches = get_brand_ecu_matches(ecu_rx_addrs)
for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
- car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, debug=debug, progress=progress)
+ car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress)
all_car_fw.extend(car_fw)
# Try to match using FW returned from this brand only
matches = match_fw_to_car_exact(build_fw_dict(car_fw))
@@ -211,7 +211,7 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa
return all_car_fw
-def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, debug=False, progress=False):
+def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False):
versions = VERSIONS.copy()
# Each brand can define extra ECUs to query for data collection
@@ -252,6 +252,10 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
for addr in tqdm(addrs, disable=not progress):
for addr_chunk in chunks(addr):
for brand, r in requests:
+ # Skip query if no panda available
+ if r.bus > num_pandas * 4 - 1:
+ continue
+
try:
addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
(len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
@@ -292,6 +296,7 @@ if __name__ == "__main__":
args = parser.parse_args()
logcan = messaging.sub_sock('can')
+ pandaStates_sock = messaging.sub_sock('pandaStates')
sendcan = messaging.pub_sock('sendcan')
extra: Any = None
@@ -305,6 +310,7 @@ if __name__ == "__main__":
extra = {"any": {"debug": extra}}
time.sleep(1.)
+ num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates)
t = time.time()
print("Getting vin...")
@@ -314,7 +320,7 @@ if __name__ == "__main__":
print()
t = time.time()
- fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, debug=args.debug, progress=True)
+ fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True)
_, candidates = match_fw_to_car(fw_vers)
print()
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 7c883dacc0..a75eb89f25 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -10,6 +10,9 @@ from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButt
VisualAlert = car.CarControl.HUDControl.VisualAlert
NetworkLocation = car.CarParams.NetworkLocation
+# Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
+CAMERA_CANCEL_DELAY_FRAMES = 10
+
class CarController:
def __init__(self, dbc_name, CP, VM):
@@ -19,7 +22,9 @@ class CarController:
self.apply_gas = 0
self.apply_brake = 0
self.frame = 0
+ self.last_steer_frame = 0
self.last_button_frame = 0
+ self.cancel_counter = 0
self.lka_steering_cmd_counter = 0
self.sent_lka_steering_cmd = False
@@ -42,15 +47,21 @@ class CarController:
# Send CAN commands.
can_sends = []
- # Steering (50Hz)
+ # Steering (Active: 50Hz, inactive: 10Hz)
+ # Attempt to sync with camera on startup at 50Hz, first few msgs are blocked
+ init_lka_counter = not self.sent_lka_steering_cmd and self.CP.networkLocation == NetworkLocation.fwdCamera
+ steer_step = self.params.INACTIVE_STEER_STEP
+ if CC.latActive or init_lka_counter:
+ steer_step = self.params.ACTIVE_STEER_STEP
+
# Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we just received the
# next Panda loopback confirmation in the current CS frame.
if CS.loopback_lka_steering_cmd_updated:
self.lka_steering_cmd_counter += 1
self.sent_lka_steering_cmd = True
- elif (self.frame % self.params.STEER_STEP) == 0:
- # Initialize ASCMLKASteeringCmd counter using the camera
- if not self.sent_lka_steering_cmd and self.CP.networkLocation == NetworkLocation.fwdCamera:
+ elif (self.frame - self.last_steer_frame) >= steer_step:
+ # Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus
+ if init_lka_counter:
self.lka_steering_cmd_counter = CS.camera_lka_steering_cmd_counter + 1
if CC.latActive:
@@ -59,6 +70,7 @@ class CarController:
else:
apply_steer = 0
+ self.last_steer_frame = self.frame
self.apply_steer_last = apply_steer
idx = self.lka_steering_cmd_counter % 4
can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive))
@@ -67,8 +79,8 @@ class CarController:
# Gas/regen, brakes, and UI commands - all at 25Hz
if self.frame % 4 == 0:
if not CC.longActive:
- # Stock ECU sends max regen when not enabled
- self.apply_gas = self.params.MAX_ACC_REGEN
+ # ASCM sends max regen when not enabled
+ self.apply_gas = self.params.INACTIVE_REGEN
self.apply_brake = 0
else:
if self.CP.carFingerprint in EV_CAR:
@@ -111,12 +123,21 @@ class CarController:
can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
else:
+ # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.
+ # A delayed cancellation allows camera to cancel and avoids a fault when user depresses brake quickly
+ self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0
+
# Stock longitudinal, integrated at camera
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
- if CC.cruiseControl.cancel:
+ if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
self.last_button_frame = self.frame
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
+ if self.CP.networkLocation == NetworkLocation.fwdCamera:
+ # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
+ if self.frame % 10 == 0:
+ can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
+
# Show green icon when LKA torque is applied, and
# alarming orange icon when approaching torque limit.
# If not sent again, LKA icon disappears in about 5 seconds.
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 21eb440d7f..7cb2274674 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -1,3 +1,4 @@
+import copy
from cereal import car
from common.conversions import Conversions as CV
from common.numpy_fast import mean
@@ -8,6 +9,7 @@ from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
TransmissionType = car.CarParams.TransmissionType
NetworkLocation = car.CarParams.NetworkLocation
+STANDSTILL_THRESHOLD = 10 * 0.0311 * CV.KPH_TO_MS
class CarState(CarStateBase):
@@ -25,9 +27,10 @@ class CarState(CarStateBase):
self.prev_cruise_buttons = self.cruise_buttons
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
+ self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
# Variables used for avoiding LKAS faults
- self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]) > 0
+ self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
if self.CP.networkLocation == NetworkLocation.fwdCamera:
self.camera_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
@@ -39,7 +42,8 @@ class CarState(CarStateBase):
)
ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
- ret.standstill = ret.vEgoRaw < 0.01
+ # sample rear wheel speeds, standstill=True if ECM allows engagement with brake
+ ret.standstill = ret.wheelSpeeds.rl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
ret.gearShifter = self.parse_gear_shifter("T")
@@ -51,12 +55,7 @@ class CarState(CarStateBase):
# To avoid a cruise fault we need to match the ECM's brake pressed signal and threshold
# https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
- if self.CP.networkLocation != NetworkLocation.fwdCamera:
- ret.brakePressed = ret.brake >= 8
- else:
- # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.
- # Match ECM threshold at a standstill to allow the camera to cancel earlier
- ret.brakePressed = ret.brake >= 20
+ ret.brakePressed = ret.brake >= 8
# Regen braking is braking
if self.CP.transmissionType == TransmissionType.direct:
@@ -96,9 +95,7 @@ class CarState(CarStateBase):
ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
if self.CP.networkLocation == NetworkLocation.fwdCamera:
ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
-
ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
- ret.stockFcw = cam_cp.vl["ASCMActiveCruiseControlStatus"]["FCWAlert"] != 0
return ret
@@ -110,7 +107,6 @@ class CarState(CarStateBase):
signals += [
("AEBCmdActive", "AEBCmd"),
("RollingCounter", "ASCMLKASteeringCmd"),
- ("FCWAlert", "ASCMActiveCruiseControlStatus"),
("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"),
]
checks += [
@@ -148,6 +144,11 @@ class CarState(CarStateBase):
("LKADriverAppldTrq", "PSCMStatus"),
("LKATorqueDelivered", "PSCMStatus"),
("LKATorqueDeliveredStatus", "PSCMStatus"),
+ ("HandsOffSWlDetectionStatus", "PSCMStatus"),
+ ("HandsOffSWDetectionMode", "PSCMStatus"),
+ ("LKATotalTorqueDelivered", "PSCMStatus"),
+ ("PSCMStatusChecksum", "PSCMStatus"),
+ ("RollingCounter", "PSCMStatus"),
("TractionControlOn", "ESPStatus"),
("ParkBrake", "VehicleIgnitionAlt"),
("CruiseMainOn", "ECMEngineStatus"),
diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index 20e4c4ab6e..42df2c6afd 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -1,5 +1,6 @@
from selfdrive.car import make_can_msg
+
def create_buttons(packer, bus, idx, button):
values = {
"ACCButtons": button,
@@ -7,8 +8,15 @@ def create_buttons(packer, bus, idx, button):
}
return packer.make_can_msg("ASCMSteeringButton", bus, values)
-def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
+def create_pscm_status(packer, bus, pscm_status):
+ checksum_mod = int(1 - pscm_status["HandsOffSWlDetectionStatus"]) << 5
+ pscm_status["HandsOffSWlDetectionStatus"] = 1
+ pscm_status["PSCMStatusChecksum"] += checksum_mod
+ return packer.make_can_msg("PSCMStatus", bus, pscm_status)
+
+
+def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
values = {
"LKASteeringCmdActive": lkas_active,
"LKASteeringCmd": apply_steer,
@@ -18,15 +26,17 @@ def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
return packer.make_can_msg("ASCMLKASteeringCmd", bus, values)
+
def create_adas_keepalive(bus):
dat = b"\x00\x00\x00\x00\x00\x00\x00"
return [make_can_msg(0x409, dat, bus), make_can_msg(0x40a, dat, bus)]
-def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_stop):
+
+def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
values = {
- "GasRegenCmdActive": acc_engaged,
+ "GasRegenCmdActive": enabled,
"RollingCounter": idx,
- "GasRegenCmdActiveInv": 1 - acc_engaged,
+ "GasRegenCmdActiveInv": 1 - enabled,
"GasRegenCmd": throttle,
"GasRegenFullStopActive": at_full_stop,
"GasRegenAlwaysOne": 1,
@@ -41,6 +51,7 @@ def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_st
return packer.make_can_msg("ASCMGasRegenCmd", bus, values)
+
def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_full_stop):
mode = 0x1
if apply_brake > 0:
@@ -57,44 +68,48 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_f
checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff
values = {
- "RollingCounter" : idx,
- "FrictionBrakeMode" : mode,
+ "RollingCounter": idx,
+ "FrictionBrakeMode": mode,
"FrictionBrakeChecksum": checksum,
- "FrictionBrakeCmd" : -apply_brake
+ "FrictionBrakeCmd": -apply_brake
}
return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
-def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lead_car_in_sight, fcw):
+
+def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, lead_car_in_sight, fcw):
target_speed = min(target_speed_kph, 255)
values = {
- "ACCAlwaysOne" : 1,
- "ACCResumeButton" : 0,
- "ACCSpeedSetpoint" : target_speed,
- "ACCGapLevel" : 3 * acc_engaged, # 3 "far", 0 "inactive"
- "ACCCmdActive" : acc_engaged,
- "ACCAlwaysOne2" : 1,
- "ACCLeadCar" : lead_car_in_sight,
+ "ACCAlwaysOne": 1,
+ "ACCResumeButton": 0,
+ "ACCSpeedSetpoint": target_speed,
+ "ACCGapLevel": 3 * enabled, # 3 "far", 0 "inactive"
+ "ACCCmdActive": enabled,
+ "ACCAlwaysOne2": 1,
+ "ACCLeadCar": lead_car_in_sight,
"FCWAlert": 0x3 if fcw else 0
}
return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values)
+
def create_adas_time_status(bus, tt, idx):
dat = [(tt >> 20) & 0xff, (tt >> 12) & 0xff, (tt >> 4) & 0xff,
- ((tt & 0xf) << 4) + (idx << 2)]
+ ((tt & 0xf) << 4) + (idx << 2)]
chksum = 0x1000 - dat[0] - dat[1] - dat[2] - dat[3]
chksum = chksum & 0xfff
dat += [0x40 + (chksum >> 8), chksum & 0xff, 0x12]
return make_can_msg(0xa1, bytes(dat), bus)
+
def create_adas_steering_status(bus, idx):
dat = [idx << 6, 0xf0, 0x20, 0, 0, 0]
chksum = 0x60 + sum(dat)
dat += [chksum >> 8, chksum & 0xff]
return make_can_msg(0x306, bytes(dat), bus)
+
def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
spd = int(speed_ms * 16) & 0xfff
accel = 0 & 0xfff
@@ -108,6 +123,7 @@ def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
dat += [(idx << 5) + (far_range_mode << 4) + (near_range_mode << 3) + (chksum >> 8), chksum & 0xff]
return make_can_msg(0x308, bytes(dat), bus)
+
def create_adas_headlights_status(packer, bus):
values = {
"Always42": 0x42,
@@ -115,6 +131,7 @@ def create_adas_headlights_status(packer, bus):
}
return packer.make_can_msg("ASCMHeadlight", bus, values)
+
def create_lka_icon_command(bus, active, critical, steer):
if active and steer == 1:
if critical:
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 248828e757..e25f203772 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -62,11 +62,14 @@ class CarInterface(CarInterfaceBase):
ret.radarOffCan = True # no radar
ret.pcmCruise = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
+ ret.minEnableSpeed = 5 * CV.KPH_TO_MS
else: # ASCM, OBD-II harness
ret.openpilotLongitudinalControl = True
ret.networkLocation = NetworkLocation.gateway
ret.radarOffCan = False
ret.pcmCruise = False # stock non-adaptive cruise control is kept off
+ # supports stop and go, but initial engage must (conservatively) be above 18mph
+ ret.minEnableSpeed = 18 * CV.MPH_TO_MS
# These cars have been put into dashcam only due to both a lack of users and test coverage.
# These cars likely still work fine. Once a user confirms each car works and a test route is
@@ -90,9 +93,6 @@ class CarInterface(CarInterfaceBase):
ret.steerLimitTimer = 0.4
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
- # supports stop and go, but initial engage must (conservatively) be above 18mph
- ret.minEnableSpeed = 18 * CV.MPH_TO_MS
-
if candidate == CAR.VOLT:
ret.mass = 1607. + STD_CARGO_KG
ret.wheelbase = 2.69
@@ -153,7 +153,6 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 1.0
elif candidate in (CAR.BOLT_EV, CAR.BOLT_EUV):
- ret.minEnableSpeed = -1
ret.mass = 1669. + STD_CARGO_KG
ret.wheelbase = 2.63779
ret.steerRatio = 16.8
@@ -163,7 +162,6 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.SILVERADO:
- ret.minEnableSpeed = -1
ret.mass = 2200. + STD_CARGO_KG
ret.wheelbase = 3.75
ret.steerRatio = 16.3
@@ -172,7 +170,6 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.EQUINOX:
- ret.minEnableSpeed = -1
ret.mass = 3500. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.72
ret.steerRatio = 14.4
@@ -207,19 +204,16 @@ class CarInterface(CarInterfaceBase):
GearShifter.eco, GearShifter.manumatic],
pcm_enable=self.CP.pcmCruise)
- if ret.vEgo < self.CP.minEnableSpeed:
+ # Enabling at a standstill with brake is allowed
+ # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
+ if ret.vEgo < self.CP.minEnableSpeed and not (ret.standstill and ret.brake >= 20 and
+ self.CP.networkLocation == NetworkLocation.fwdCamera):
events.add(EventName.belowEngageSpeed)
if ret.cruiseState.standstill:
events.add(EventName.resumeRequired)
if ret.vEgo < self.CP.minSteerSpeed:
events.add(EventName.belowSteerSpeed)
- if self.CP.networkLocation == NetworkLocation.fwdCamera and self.CP.pcmCruise:
- # The ECM has a higher brake pressed threshold than the camera, causing an
- # ACC fault when you engage at a stop with your foot partially on the brake
- if ret.vEgoRaw < 0.1 and ret.brake < 20:
- events.add(EventName.gmAccFaultedTemp)
-
ret.events = events.to_msg()
return ret
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index 999dabfee3..85e291aaf6 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -11,7 +11,8 @@ Ecu = car.CarParams.Ecu
class CarControllerParams:
STEER_MAX = 300 # GM limit is 3Nm. Used by carcontroller to generate LKA output
- STEER_STEP = 2 # Control frames per command (50hz)
+ ACTIVE_STEER_STEP = 2 # Active control frames per command (50hz)
+ INACTIVE_STEER_STEP = 10 # Inactive control frames per command (10hz)
STEER_DELTA_UP = 7 # Delta rates require review due to observed EPS weakness
STEER_DELTA_DOWN = 17
STEER_DRIVER_ALLOWANCE = 50
@@ -30,6 +31,7 @@ class CarControllerParams:
ZERO_GAS = 2048 # Coasting
MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen
+ INACTIVE_REGEN = 1404
# Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
# perform the closed loop control, and might need some
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index e48edc42ba..e0810e0bbb 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -105,7 +105,6 @@ class Footnote(Enum):
@dataclass
class HondaCarInfo(CarInfo):
package: str = "Honda Sensing"
- min_steer_speed: float = 12. * CV.MPH_TO_MS
CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
@@ -114,31 +113,31 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
],
CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
- CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec, video_link="https://youtu.be/-IkImTe1NYE"),
+ CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec, video_link="https://youtu.be/-IkImTe1NYE"),
CAR.CIVIC_BOSCH: [
- HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a),
- HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a),
+ HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], 2. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+ HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a),
],
CAR.CIVIC_BOSCH_DIESEL: None, # same platform
CAR.CIVIC_2022: [
- HondaCarInfo("Honda Civic 2022", "All", min_steer_speed=0., harness=Harness.bosch_b),
- HondaCarInfo("Honda Civic Hatchback 2022", "All", min_steer_speed=0., harness=Harness.bosch_b),
+ HondaCarInfo("Honda Civic 2022", "All", harness=Harness.bosch_b),
+ HondaCarInfo("Honda Civic Hatchback 2022", "All", harness=Harness.bosch_b),
],
CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec),
- CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", harness=Harness.nidec),
- CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", harness=Harness.bosch_a),
+ CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
+ CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a),
CAR.CRV_EU: None, # HondaCarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring
- CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch_a),
- CAR.FIT: HondaCarInfo("Honda Fit 2018-20", harness=Harness.nidec),
- CAR.FREED: HondaCarInfo("Honda Freed 2020", harness=Harness.nidec),
- CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", harness=Harness.nidec),
- CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0., harness=Harness.nidec),
+ CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+ CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
+ CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
+ CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
+ CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", harness=Harness.nidec),
CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey
- CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", harness=Harness.nidec),
+ CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
- CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", harness=Harness.nidec),
- CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", harness=Harness.nidec),
- CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", harness=Harness.nidec),
+ CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
+ CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
+ CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
}
@@ -447,7 +446,7 @@ FW_VERSIONS = {
b'78109-TED-Q510\x00\x00',
b'78109-TEG-A310\x00\x00',
],
- (Ecu.fwdCamera, 0x18dab0f1, None): [
+ (Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-TBA-A020\x00\x00',
b'36161-TBA-A030\x00\x00',
b'36161-TBA-A040\x00\x00',
@@ -965,7 +964,7 @@ FW_VERSIONS = {
b'77959-THR-A110\x00\x00',
b'77959-THR-X010\x00\x00',
],
- (Ecu.fwdCamera, 0x18dab0f1, None): [
+ (Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-THR-A020\x00\x00',
b'36161-THR-A030\x00\x00',
b'36161-THR-A110\x00\x00',
@@ -1069,7 +1068,7 @@ FW_VERSIONS = {
b'39990-TG7-A070\x00\x00',
b'39990-TGS-A230\x00\x00',
],
- (Ecu.fwdCamera, 0x18dab0f1, None): [
+ (Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-TG7-A310\x00\x00',
b'36161-TG7-A520\x00\x00',
b'36161-TG7-A630\x00\x00',
@@ -1177,7 +1176,7 @@ FW_VERSIONS = {
b'57114-TX5-A220\x00\x00',
b'57114-TX4-A220\x00\x00',
],
- (Ecu.fwdCamera, 0x18dab0f1, None): [
+ (Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-TX5-A030\x00\x00',
b'36161-TX4-A030\x00\x00',
],
@@ -1274,7 +1273,7 @@ FW_VERSIONS = {
b'39990-T6Z-A030\x00\x00',
b'39990-T6Z-A050\x00\x00',
],
- (Ecu.fwdCamera, 0x18dab0f1, None): [
+ (Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-T6Z-A020\x00\x00',
b'36161-T6Z-A310\x00\x00',
b'36161-T6Z-A420\x00\x00',
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index a5d995df25..913f683e2c 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -90,13 +90,27 @@ class CarController:
addr, bus = 0x730, 5
can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])
+ # >90 degree steering fault prevention
+ # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault
+ if CC.latActive and abs(CS.out.steeringAngleDeg) >= MAX_ANGLE:
+ self.angle_limit_counter += 1
+ else:
+ self.angle_limit_counter = 0
+
+ # Cut steer actuation bit for two frames and hold torque with induced temporary fault
+ torque_fault = CC.latActive and self.angle_limit_counter > MAX_ANGLE_FRAMES
+ lat_active = CC.latActive and not torque_fault
+
+ if self.angle_limit_counter >= MAX_ANGLE_FRAMES + MAX_ANGLE_CONSECUTIVE_FRAMES:
+ self.angle_limit_counter = 0
+
# CAN-FD platforms
if self.CP.carFingerprint in CANFD_CAR:
hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
hda2_long = hda2 and self.CP.openpilotLongitudinalControl
# steering control
- can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, CC.enabled, CC.latActive, apply_steer))
+ can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, CC.enabled, lat_active, apply_steer))
# disable LFA on HDA2
if self.frame % 5 == 0 and hda2:
@@ -121,29 +135,19 @@ class CarController:
self.last_button_frame = self.frame
else:
for _ in range(20):
- can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
+ can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.CANCEL))
self.last_button_frame = self.frame
# cruise standstill resume
elif CC.cruiseControl.resume:
- if not (self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
+ if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
+ # TODO: resume for alt button cars
+ pass
+ else:
for _ in range(20):
- can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
+ can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.RES_ACCEL))
self.last_button_frame = self.frame
else:
- # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault
- if CC.latActive and abs(CS.out.steeringAngleDeg) >= MAX_ANGLE:
- self.angle_limit_counter += 1
- else:
- self.angle_limit_counter = 0
-
- # Cut steer actuation bit for two frames and hold torque with induced temporary fault
- torque_fault = CC.latActive and self.angle_limit_counter > MAX_ANGLE_FRAMES
- lat_active = CC.latActive and not torque_fault
-
- if self.angle_limit_counter >= MAX_ANGLE_FRAMES + MAX_ANGLE_CONSECUTIVE_FRAMES:
- self.angle_limit_counter = 0
-
can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active,
torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 5da1dd72c8..ec2b3059a3 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -159,7 +159,7 @@ class CarState(CarStateBase):
elif self.CP.carFingerprint in HYBRID_CAR:
ret.gas = cp.vl["ACCELERATOR_ALT"]["ACCELERATOR_PEDAL"] / 1023.
ret.gasPressed = ret.gas > 1e-5
- ret.brakePressed = cp.vl["BRAKE"]["BRAKE_PRESSED"] == 1
+ ret.brakePressed = cp.vl["TCS"]["DriverBraking"] == 1
ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1
ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT_LATCHED"] == 0
@@ -187,15 +187,18 @@ class CarState(CarStateBase):
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"],
cp.vl["BLINKERS"]["RIGHT_LAMP"])
+ if self.CP.enableBsm:
+ ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
+ ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
ret.cruiseState.available = True
- ret.cruiseState.enabled = cp.vl["SCC1"]["CRUISE_ACTIVE"] == 1
self.is_metric = cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] != 1
if not self.CP.openpilotLongitudinalControl:
speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
cp_cruise_info = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
ret.cruiseState.speed = cp_cruise_info.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor
ret.cruiseState.standstill = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1
+ ret.cruiseState.enabled = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STATUS"] != 0
self.cruise_info = copy.copy(cp_cruise_info.vl["CRUISE_INFO"])
cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
@@ -415,7 +418,6 @@ class CarState(CarStateBase):
("WHEEL_SPEED_4", "WHEEL_SPEEDS"),
("GEAR", "GEAR_SHIFTER"),
- ("BRAKE_PRESSED", "BRAKE"),
("STEERING_RATE", "STEERING_SENSORS"),
("STEERING_ANGLE", "STEERING_SENSORS"),
@@ -423,7 +425,8 @@ class CarState(CarStateBase):
("STEERING_OUT_TORQUE", "MDPS"),
("LKA_FAULT", "MDPS"),
- ("CRUISE_ACTIVE", "SCC1"),
+ ("DriverBraking", "TCS"),
+
("COUNTER", cruise_btn_msg),
("CRUISE_BUTTONS", cruise_btn_msg),
("ADAPTIVE_CRUISE_MAIN_BTN", cruise_btn_msg),
@@ -443,15 +446,25 @@ class CarState(CarStateBase):
("BRAKE", 100),
("STEERING_SENSORS", 100),
("MDPS", 100),
- ("SCC1", 50),
+ ("TCS", 50),
(cruise_btn_msg, 50),
("CLUSTER_INFO", 4),
("BLINKERS", 4),
("DOORS_SEATBELTS", 4),
]
+ if CP.enableBsm:
+ signals += [
+ ("FL_INDICATOR", "BLINDSPOTS_REAR_CORNERS"),
+ ("FR_INDICATOR", "BLINDSPOTS_REAR_CORNERS"),
+ ]
+ checks += [
+ ("BLINDSPOTS_REAR_CORNERS", 20),
+ ]
+
if CP.flags & HyundaiFlags.CANFD_HDA2 and not CP.openpilotLongitudinalControl:
signals += [
+ ("CRUISE_STATUS", "CRUISE_INFO"),
("SET_SPEED", "CRUISE_INFO"),
("CRUISE_STANDSTILL", "CRUISE_INFO"),
]
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index f2cbafdcf0..e1478e6f18 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -3,7 +3,7 @@ from selfdrive.car.hyundai.values import HyundaiFlags
def get_e_can_bus(CP):
# On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
- # have a a different harness than the HDA1 and non-HDA variants in order to split
+ # have a different harness than the HDA1 and non-HDA variants in order to split
# a different bus, since the steering is done by different ECUs.
return 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4
@@ -39,13 +39,15 @@ def create_cam_0x2a4(packer, camera_values):
})
return packer.make_can_msg("CAM_0x2a4", 4, camera_values)
-def create_buttons(packer, cnt, btn):
+def create_buttons(packer, CP, cnt, btn):
values = {
"COUNTER": cnt,
"SET_ME_1": 1,
"CRUISE_BUTTONS": btn,
}
- return packer.make_can_msg("CRUISE_BUTTONS", 5, values)
+
+ bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 6
+ return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
def create_acc_cancel(packer, CP, cruise_info_copy):
values = cruise_info_copy
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 13e93c7d06..6a1d741dec 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -8,6 +8,7 @@ from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia,
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.disable_ecu import disable_ecu
+Ecu = car.CarParams.Ecu
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
@@ -30,11 +31,11 @@ class CarInterface(CarInterfaceBase):
# These cars have been put into dashcam only due to both a lack of users and test coverage.
# These cars likely still work fine. Once a user confirms each car works and a test route is
# added to selfdrive/car/tests/routes.py, we can remove it from this list.
- ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}
+ ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }
if candidate in CANFD_CAR:
- # detect HDA2 with LKAS message
- if 0x50 in fingerprint[6]:
+ # detect HDA2 with ADAS Driving ECU
+ if Ecu.adas in [fw.ecu for fw in car_fw]:
ret.flags |= HyundaiFlags.CANFD_HDA2.value
else:
# non-HDA2
@@ -44,141 +45,92 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerLimitTimer = 0.4
tire_stiffness_factor = 1.
+ CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
- ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.766
# Values from optimizer
ret.steerRatio = 16.55 # 13.8 is spec end-to-end
tire_stiffness_factor = 0.82
- ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
- ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
ret.mass = 1513. + STD_CARGO_KG
ret.wheelbase = 2.84
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
tire_stiffness_factor = 0.65
- CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.SONATA_LF:
- ret.lateralTuning.pid.kf = 0.00005
ret.mass = 4497. * CV.LB_TO_KG
ret.wheelbase = 2.804
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
- ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
- ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.PALISADE:
- ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1999. + STD_CARGO_KG
ret.wheelbase = 2.90
ret.steerRatio = 15.6 * 1.15
tire_stiffness_factor = 0.63
- CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
- elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
- ret.lateralTuning.pid.kf = 0.00006
+ elif candidate == CAR.ELANTRA:
ret.mass = 1275. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127
- ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
- ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.ELANTRA_2021:
ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG
ret.wheelbase = 2.72
ret.steerRatio = 12.9
tire_stiffness_factor = 0.65
- CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.ELANTRA_HEV_2021:
ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
ret.wheelbase = 2.72
ret.steerRatio = 12.9
tire_stiffness_factor = 0.65
- CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.HYUNDAI_GENESIS:
- ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
- ret.lateralTuning.init('indi')
- ret.lateralTuning.indi.innerLoopGainBP = [0.]
- ret.lateralTuning.indi.innerLoopGainV = [3.5]
- ret.lateralTuning.indi.outerLoopGainBP = [0.]
- ret.lateralTuning.indi.outerLoopGainV = [2.0]
- ret.lateralTuning.indi.timeConstantBP = [0.]
- ret.lateralTuning.indi.timeConstantV = [1.4]
- ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
- ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.) + STD_CARGO_KG
ret.wheelbase = 2.6
ret.steerRatio = 13.42 # Spec
tire_stiffness_factor = 0.385
- CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
- ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
ret.wheelbase = 2.7
ret.steerRatio = 13.73 # Spec
tire_stiffness_factor = 0.385
- ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
- ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.IONIQ_PHEV_2019:
ret.mass = 1550. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/us/en/vehicles/2019-ioniq-plug-in-hybrid/compare-specs
ret.wheelbase = 2.7
ret.steerRatio = 13.73
- ret.lateralTuning.init('indi')
- ret.lateralTuning.indi.innerLoopGainBP = [0.]
- ret.lateralTuning.indi.innerLoopGainV = [2.5]
- ret.lateralTuning.indi.outerLoopGainBP = [0.]
- ret.lateralTuning.indi.outerLoopGainV = [3.5]
- ret.lateralTuning.indi.timeConstantBP = [0.]
- ret.lateralTuning.indi.timeConstantV = [1.4]
- ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
- ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.VELOSTER:
- ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75 * 1.15
tire_stiffness_factor = 0.5
- ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
- ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.TUCSON:
- ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3520. * CV.LB_TO_KG
ret.wheelbase = 2.67
ret.steerRatio = 14.00 * 1.15
tire_stiffness_factor = 0.385
- ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
- ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.TUCSON_HYBRID_4TH_GEN:
ret.mass = 1680. + STD_CARGO_KG # average of all 3 trims
ret.wheelbase = 2.756
ret.steerRatio = 16.
tire_stiffness_factor = 0.385
- CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
# Kia
elif candidate == CAR.KIA_SORENTO:
- ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1985. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
- ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
- ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021):
- ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1737. + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73 # Spec
tire_stiffness_factor = 0.385
- ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
- ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
if candidate == CAR.KIA_NIRO_PHEV:
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.KIA_SELTOS:
@@ -186,15 +138,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.63
ret.steerRatio = 14.56
tire_stiffness_factor = 1
- ret.lateralTuning.init('indi')
- ret.lateralTuning.indi.innerLoopGainBP = [0.]
- ret.lateralTuning.indi.innerLoopGainV = [4.]
- ret.lateralTuning.indi.outerLoopGainBP = [0.]
- ret.lateralTuning.indi.outerLoopGainV = [3.]
- ret.lateralTuning.indi.timeConstantBP = [0.]
- ret.lateralTuning.indi.timeConstantV = [1.4]
- ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
- ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H):
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
@@ -202,87 +145,58 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.5
if candidate == CAR.KIA_OPTIMA_G4:
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
- CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.KIA_STINGER:
- ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1825. + STD_CARGO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
- ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
- ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KIA_FORTE:
- ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
- ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
- ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KIA_CEED:
- ret.lateralTuning.pid.kf = 0.00005
ret.mass = 1450. + STD_CARGO_KG
ret.wheelbase = 2.65
ret.steerRatio = 13.75
tire_stiffness_factor = 0.5
- ret.lateralTuning.pid.kf = 0.00005
- ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
- ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KIA_K5_2021:
- ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3228. * CV.LB_TO_KG
ret.wheelbase = 2.85
ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims)
tire_stiffness_factor = 0.5
- ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
- ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.KIA_EV6:
ret.mass = 2055 + STD_CARGO_KG
ret.wheelbase = 2.9
ret.steerRatio = 16.
tire_stiffness_factor = 0.65
- CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.IONIQ_5:
ret.mass = 2012 + STD_CARGO_KG
ret.wheelbase = 3.0
ret.steerRatio = 16.
tire_stiffness_factor = 0.65
- CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+ elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN:
+ ret.mass = 1767. + STD_CARGO_KG # SX Prestige trim support only
+ ret.wheelbase = 2.756
+ ret.steerRatio = 13.6
# Genesis
elif candidate == CAR.GENESIS_G70:
- ret.lateralTuning.init('indi')
- ret.lateralTuning.indi.innerLoopGainBP = [0.]
- ret.lateralTuning.indi.innerLoopGainV = [2.5]
- ret.lateralTuning.indi.outerLoopGainBP = [0.]
- ret.lateralTuning.indi.outerLoopGainV = [3.5]
- ret.lateralTuning.indi.timeConstantBP = [0.]
- ret.lateralTuning.indi.timeConstantV = [1.4]
- ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
- ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
ret.steerActuatorDelay = 0.1
ret.mass = 1640.0 + STD_CARGO_KG
ret.wheelbase = 2.84
ret.steerRatio = 13.56
elif candidate == CAR.GENESIS_G70_2020:
- ret.lateralTuning.pid.kf = 0.
- ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
- ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.112], [0.004]]
ret.mass = 3673.0 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.83
ret.steerRatio = 12.9
elif candidate == CAR.GENESIS_G80:
- ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG
ret.wheelbase = 3.01
ret.steerRatio = 16.5
- ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
- ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
elif candidate == CAR.GENESIS_G90:
ret.mass = 2200
ret.wheelbase = 3.15
ret.steerRatio = 12.069
- ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
- ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
# *** longitudinal control ***
if candidate in CANFD_CAR:
@@ -305,6 +219,13 @@ class CarInterface(CarInterfaceBase):
ret.vEgoStarting = 0.1
ret.startAccel = 2.0
+ # *** feature detection ***
+ if candidate in CANFD_CAR:
+ bus = 5 if ret.flags & HyundaiFlags.CANFD_HDA2 else 4
+ ret.enableBsm = 0x1e5 in fingerprint[bus]
+ else:
+ ret.enableBsm = 0x58b in fingerprint[0]
+
# *** panda safety config ***
if candidate in CANFD_CAR:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
@@ -315,8 +236,6 @@ class CarInterface(CarInterfaceBase):
if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
else:
- ret.enableBsm = 0x58b in fingerprint[0]
-
if candidate in LEGACY_SAFETY_MODE_CAR:
# these cars require a special panda safety mode due to missing counters and checksums in the messages
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py
new file mode 100755
index 0000000000..a52027f448
--- /dev/null
+++ b/selfdrive/car/hyundai/tests/test_hyundai.py
@@ -0,0 +1,29 @@
+#!/usr/bin/env python3
+import unittest
+
+from cereal import car
+from selfdrive.car.car_helpers import get_interface_attr
+from selfdrive.car.fw_versions import FW_QUERY_CONFIGS
+from selfdrive.car.hyundai.values import CANFD_CAR
+
+Ecu = car.CarParams.Ecu
+
+ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
+VERSIONS = get_interface_attr("FW_VERSIONS", ignore_none=True)
+
+
+class TestHyundaiFingerprint(unittest.TestCase):
+ def test_auxiliary_request_ecu_whitelist(self):
+ # Asserts only auxiliary Ecus can exist in database for CAN-FD cars
+ config = FW_QUERY_CONFIGS['hyundai']
+ whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus if r.bus > 3}
+
+ for car_model in CANFD_CAR:
+ ecus = {fw[0] for fw in VERSIONS['hyundai'][car_model].keys()}
+ ecus_not_in_whitelist = ecus - whitelisted_ecus
+ ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_in_whitelist])
+ self.assertEqual(len(ecus_not_in_whitelist), 0, f'{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}')
+
+
+if __name__ == "__main__":
+ unittest.main()
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 734e56c033..98cb72293f 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -34,9 +34,9 @@ class CarControllerParams:
# To determine the limit for your car, find the maximum value that the stock LKAS will request.
# If the max stock LKAS request is <384, add your car to this list.
- elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ,
+ elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.IONIQ,
CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
- CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER):
+ CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO):
self.STEER_MAX = 255
# Default for most HKG
@@ -54,7 +54,6 @@ class CAR:
ELANTRA = "HYUNDAI ELANTRA 2017"
ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021"
- ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT"
HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016"
IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019"
IONIQ_HEV_2022 = "HYUNDAI IONIQ HYBRID 2020-2022"
@@ -90,6 +89,7 @@ class CAR:
KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
KIA_SELTOS = "KIA SELTOS 2021"
KIA_SORENTO = "KIA SORENTO GT LINE 2018"
+ KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN"
KIA_STINGER = "KIA STINGER GT2 2018"
KIA_CEED = "KIA CEED INTRO ED 2019"
KIA_EV6 = "KIA EV6 2022"
@@ -107,13 +107,13 @@ class HyundaiCarInfo(CarInfo):
CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
- CAR.ELANTRA: HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b),
- CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
- CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
- CAR.ELANTRA_GT_I30: [
+ CAR.ELANTRA: [
+ HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b),
HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness=Harness.hyundai_e),
HyundaiCarInfo("Hyundai i30 2019", harness=Harness.hyundai_e),
],
+ CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
+ CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), # TODO: check 2015 packages
CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c),
CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", harness=Harness.hyundai_h), # TODO: confirm 2020-21 harness
@@ -172,6 +172,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e),
],
+ CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness=Harness.hyundai_n),
CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
CAR.KIA_EV6: [
@@ -197,15 +198,6 @@ FINGERPRINTS = {
CAR.ELANTRA: [{
66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 832: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
}],
- CAR.ELANTRA_GT_I30: [{
- 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1193: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1952: 8, 1960: 8, 1988: 8, 2000: 8, 2001: 8, 2005: 8, 2008: 8, 2009: 8, 2013: 8, 2017: 8, 2025: 8
- },
- {
- 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8
- },
- {
- 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1960: 8, 1990: 8, 1998: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
- }],
CAR.HYUNDAI_GENESIS: [{
67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
},
@@ -290,17 +282,35 @@ HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x4
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
+ # TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD
+ # CAN queries (OBD-II port)
Request(
[HYUNDAI_VERSION_REQUEST_LONG],
[HYUNDAI_VERSION_RESPONSE],
+ whitelist_ecus=[Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera],
),
Request(
[HYUNDAI_VERSION_REQUEST_MULTI],
[HYUNDAI_VERSION_RESPONSE],
+ whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar],
+ ),
+ # CAN-FD queries (camera)
+ Request(
+ [HYUNDAI_VERSION_REQUEST_LONG],
+ [HYUNDAI_VERSION_RESPONSE],
+ whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar],
+ bus=4,
+ ),
+ Request(
+ [HYUNDAI_VERSION_REQUEST_LONG],
+ [HYUNDAI_VERSION_RESPONSE],
+ whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar],
+ bus=5,
),
],
extra_ecus=[
- (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms
+ (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms
+ (Ecu.cornerRadar, 0x7b7, None),
],
)
@@ -741,6 +751,7 @@ FW_VERSIONS = {
b'\xf1\x81640E0051\x00\x00\x00\x00\x00\x00\x00\x00',
b'\xf1\x82CKJN3TMSDE0B\x00\x00\x00\x00',
b'\xf1\x82CKKN3TMD_H0A\x00\x00\x00\x00',
+ b'\xe0\x19\xff\xe7\xe7g\x01\xa2\x00\x0f\x00\x9e\x00\x06\x00\xff\xff\xff\xff\xff\xff\x00\x00\xff\xff\xff\xff\xff\xff\x00\x00\x0f\x0e\x0f\x0f\x0e\r\x00\x00\x7f\x02.\xff\x00\x00~p\x00\x00\x00\x00u\xff\xf9\xff\x00\x00\x00\x00V\t\xd5\x01\xc0\x00\x00\x00\x007\xfb\xfc\x0b\x8d\x00',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5200 4C2CL104',
@@ -763,10 +774,14 @@ FW_VERSIONS = {
b'\xf1\x87VDKLJ18675252DK6\x89vhgwwwwveVU\x88w\x87w\x99vgf\x97vXfgw_\xff\xc2\xfb\xf1\x89E25\x00\x00\x00\x00\x00\x00\x00\xf1\x82TCK0T33NB2',
b'\xf1\x87WAJTE17552812CH4vfFffvfVeT5DwvvVVdFeegeg\x88\x88o\xff\x1a]\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00TCK2T20NB1\x19\xd2\x00\x94',
b'\xf1\x87VDHLG17274082DK2wfFf\x89x\x98wUT5T\x88v\x97xgeGefTGTVvO\xff\x1c\x14\xf1\x81E19\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E19\x00\x00\x00\x00\x00\x00\x00SCK0T33UB2\xee[\x97S',
+ b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5',
+ b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5',
+ b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
],
},
CAR.PALISADE: {
(Ecu.fwdRadar, 0x7d0, None): [
+ b'\xf1\x00LX2_ SCC F-CUP 1.00 1.04 99110-S8100 ',
b'\xf1\x00LX2_ SCC F-CUP 1.00 1.05 99110-S8100 ',
b'\xf1\x00LX2 SCC FHCUP 1.00 1.04 99110-S8100 ',
b'\xf1\x00LX2_ SCC FHCU- 1.00 1.05 99110-S8100 ',
@@ -780,6 +795,7 @@ FW_VERSIONS = {
b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360',
b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330',
b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330',
+ b'\xf1\x00LX ESC \x0b 103\x19\t\t 58910-S8350',
b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330',
b'\xf1\x00LX ESC \x0b 103\x19\t\x10 58910-S8360',
b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360',
@@ -794,6 +810,7 @@ FW_VERSIONS = {
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103',
+ b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8000 4LXDC103',
b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103',
b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104',
b'\xf1\x00ON MDPS C 1.00 1.00 56340-S9000 8B13',
@@ -810,6 +827,7 @@ FW_VERSIONS = {
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
+ b'\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1',
b'\xf1\x87LBLUFN650868KF36\xa9\x98\x89\x88\xa8\x88\x88\x88h\x99\xa6\x89fw\x86gw\x88\x97x\xaa\x7f\xf6\xff\xbb\xbb\x8f\xff+\x82\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
@@ -1186,6 +1204,23 @@ FW_VERSIONS = {
b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B8051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B8051\x00\x00TJFSG24NH27\xa7\xc2\xb4',
],
},
+ CAR.ELANTRA: {
+ (Ecu.fwdCamera, 0x7c4, None): [
+ b'\xf1\x00PD LKAS AT USA LHD 1.01 1.01 95740-G3100 A54',
+ ],
+ (Ecu.transmission, 0x7e1, None): [
+ b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DPD0H16NS0e\x0e\xcd\x8e',
+ ],
+ (Ecu.eps, 0x7d4, None): [
+ b'\xf1\x00PD MDPS C 1.00 1.04 56310/G3300 4PDDC104',
+ ],
+ (Ecu.abs, 0x7d1, None): [
+ b'\xf1\x00PD ESC \x0b 104\x18\t\x03 58920-G3350',
+ ],
+ (Ecu.fwdRadar, 0x7d0, None): [
+ b'\xf1\x00PD__ SCC F-CUP 1.00 1.00 96400-G3300 ',
+ ],
+ },
CAR.ELANTRA_2021: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ',
@@ -1321,15 +1356,6 @@ FW_VERSIONS = {
],
},
CAR.KIA_EV6: {
- (Ecu.abs, 0x7d1, None): [
- b'\xf1\x00CV IEB \x02 101!\x10\x18 58520-CV100',
- b'\xf1\x00CV IEB \x03 101!\x10\x18 58520-CV100',
- b'\xf1\x8758520CV100\xf1\x00CV IEB \x02 101!\x10\x18 58520-CV100',
- ],
- (Ecu.eps, 0x7d4, None): [
- b'\xf1\x00CV1 MDPS R 1.00 1.04 57700-CV000 1B30',
- b'\xf1\x00CV1 MDPS R 1.00 1.05 57700-CV000 2425',
- ],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ',
b'\xf1\x8799110CV000\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ',
@@ -1341,16 +1367,6 @@ FW_VERSIONS = {
],
},
CAR.IONIQ_5: {
- (Ecu.abs, 0x7d1, None): [
- b'\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010',
- b'\xf1\x8758520GI010\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010',
- b'\xf1\x00NE1 IEB \x08 104!\x04\x05 58520-GI000',
- b'\xf1\x8758520GI000\xf1\x00NE1 IEB \x08 104!\x04\x05 58520-GI000',
- ],
- (Ecu.eps, 0x7d4, None): [
- b'\xf1\x00NE MDPS R 1.00 1.06 57700GI000 4NEDR106',
- b'\xf1\x8757700GI000 \xf1\x00NE MDPS R 1.00 1.06 57700GI000 4NEDR106',
- ],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ',
b'\xf1\x8799110GI000\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ',
@@ -1363,16 +1379,18 @@ FW_VERSIONS = {
CAR.TUCSON_HYBRID_4TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q',
+ b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K',
],
- (Ecu.eps, 0x7d4, None): [
- b'\xf1\x00NX4 MDPS C 1.00 1.01 56300-P0100 2228',
+ (Ecu.fwdRadar, 0x7d0, None): [
+ b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ',
],
- (Ecu.engine, 0x7e0, None): [
- b'\xf1\x87391312MND0',
+ },
+ CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: {
+ (Ecu.fwdCamera, 0x7c4, None): [
+ b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665',
],
- (Ecu.transmission, 0x7e1, None): [
- b'\xf1\x00PSBG2441 G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa',
- b'\xf1\x8795441-3D220\x00\xf1\x81G19_Rev\x00\x00\x00\xf1\x00PSBG2441 G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa',
+ (Ecu.fwdRadar, 0x7d0, None): [
+ b'\xf1\x00NQ5__ 1.01 1.03 99110-CH000 ',
],
},
}
@@ -1384,20 +1402,20 @@ CHECKSUM = {
FEATURES = {
# which message has the gear
- "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
+ "use_cluster_gears": {CAR.ELANTRA, CAR.KONA},
"use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
"use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022},
# these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
- "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022},
+ "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022},
}
-CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN}
+CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN}
# The camera does SCC on these cars, rather than the radar
CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
-HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN} # these cars use a different gas signal
+HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN} # these cars use a different gas signal
EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5}
# these cars require a special panda safety mode due to missing counters and checksums in the messages
@@ -1409,7 +1427,6 @@ DBC = {
CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None),
- CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_G70_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),
@@ -1450,4 +1467,5 @@ DBC = {
CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.IONIQ_5: dbc_dict('hyundai_canfd', None),
+ CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None),
}
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index 9befad4d0b..129273efee 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -43,7 +43,7 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"),
CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"),
CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-22", video_link="https://youtu.be/dA3duO4a0O4"),
- CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022"),
+ CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-23"),
}
@@ -89,6 +89,7 @@ FW_VERSIONS = {
],
(Ecu.fwdCamera, 0x706, None): [
b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+ b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.transmission, 0x7e1, None): [
b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -98,13 +99,15 @@ FW_VERSIONS = {
},
CAR.CX5: {
(Ecu.eps, 0x730, None): [
+ b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+ b'KCB8-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'KJ01-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'KJ01-3210X-M-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
- b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x7e0, None): [
b'PA53-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+ b'PAR4-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PYFA-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PYFC-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PYFD-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -146,6 +149,7 @@ FW_VERSIONS = {
],
(Ecu.transmission, 0x7e1, None): [
b'PA66-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+ b'PA66-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PX39-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PX39-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PX68-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 85787ae88d..326d80b822 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -23,7 +23,6 @@ non_tested_cars = [
GM.MALIBU,
GM.EQUINOX,
GM.BOLT_EV,
- HYUNDAI.ELANTRA_GT_I30,
HYUNDAI.GENESIS_G90,
HYUNDAI.KIA_OPTIMA_H,
]
@@ -91,13 +90,14 @@ routes = [
CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA_G4),
CarTestRoute("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_G4_FL, segment=0),
CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
+ CarTestRoute("b3537035ffe6a7d6|2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_HYBRID_5TH_GEN),
CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA),
CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF),
CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON),
CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_HYBRID_4TH_GEN),
CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
- CarTestRoute("22de8111a8c5463c|2022-07-29--13-34-49", HYUNDAI.IONIQ_5),
+ CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.IONIQ_5), # HDA2
CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019),
CarTestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV),
CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020),
@@ -110,7 +110,7 @@ routes = [
CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV),
CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER),
- CarTestRoute("d824e27e8c60172c|2022-05-19--16-15-28", HYUNDAI.KIA_EV6), # HDA2
+ CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6), # HDA2
CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6), # HDA1
CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
@@ -118,6 +118,7 @@ routes = [
CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021),
CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE),
CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA),
+ CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA), # 2019 Elantra GT
CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021),
CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021),
CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID),
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index ed323b0563..2e43103852 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -1,6 +1,7 @@
#!/usr/bin/env python3
import random
import unittest
+from collections import defaultdict
from parameterized import parameterized
from cereal import car
@@ -44,7 +45,18 @@ class TestFwFingerprint(unittest.TestCase):
duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1}
self.assertFalse(len(duplicates), f"{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}")
+ def test_all_addrs_map_to_one_ecu(self):
+ for brand, cars in VERSIONS.items():
+ addr_to_ecu = defaultdict(set)
+ for ecus in cars.values():
+ for ecu_type, addr, sub_addr in ecus.keys():
+ addr_to_ecu[(addr, sub_addr)].add(ecu_type)
+ ecus_for_addr = addr_to_ecu[(addr, sub_addr)]
+ ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_for_addr])
+ self.assertLessEqual(len(ecus_for_addr), 1, f"{brand} has multiple ECUs that map to one address: {ecu_strings} -> ({hex(addr)}, {sub_addr})")
+
def test_data_collection_ecus(self):
+ # Asserts no extra ECUs are in the fingerprinting database
for brand, config in FW_QUERY_CONFIGS.items():
for car_model, ecus in VERSIONS[brand].items():
bad_ecus = set(ecus).intersection(config.extra_ecus)
@@ -80,10 +92,11 @@ class TestFwFingerprint(unittest.TestCase):
def test_fw_request_ecu_whitelist(self):
for brand, config in FW_QUERY_CONFIGS.items():
with self.subTest(brand=brand):
- whitelisted_ecus = set([ecu for r in config.requests for ecu in r.whitelist_ecus])
- brand_ecus = set([fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw])
+ whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus}
+ brand_ecus = {fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw}
+ brand_ecus |= {ecu[0] for ecu in config.extra_ecus}
- # each ecu in brand's fw versions needs to be whitelisted at least once
+ # each ecu in brand's fw versions + extra ecus needs to be whitelisted at least once
ecus_not_whitelisted = brand_ecus - whitelisted_ecus
ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted])
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index bab9f859e6..e4e141153f 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -234,7 +234,7 @@ class TestCarModelBase(unittest.TestCase):
checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available
- if self.CP.carName not in ("hyundai", "volkswagen", "gm", "body"):
+ if self.CP.carName not in ("hyundai", "volkswagen", "body"):
# TODO: fix standstill mismatches for other makes
checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index 889eeffb25..13a0dae7a7 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -32,6 +32,7 @@ CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05]
VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1]
VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1]
HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0]
+KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.0]
# Dashcam or fallback configured as ideal car
mock: [10.0, 10, 0.0]
diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml
index 160f605488..60b1662cee 100644
--- a/selfdrive/car/torque_data/params.yaml
+++ b/selfdrive/car/torque_data/params.yaml
@@ -35,7 +35,7 @@ HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.12070193418239
HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963]
HYUNDAI SANTA FE PlUG-IN HYBRID 2022: [1.6953050513611045, 1.5837614296206861, 0.12672855941458458]
HYUNDAI SONATA 2019: [2.2200457811703953, 1.2967330275895228, 0.14039920986586393]
-HYUNDAI SONATA 2020: [3.284505627881726, 2.1259108157250735, 0.08452048323586728]
+HYUNDAI SONATA 2020: [2.9638737459977467, 2.1259108157250735, 0.07813665616927593]
HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185]
JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003]
@@ -67,8 +67,8 @@ TOYOTA CAMRY 2021: [2.6922769557433055, 2.3476510120007434, 0.1450430192989234]
TOYOTA CAMRY HYBRID 2018: [2.0974120828287774, 1.7996193116697359, 0.13823613467632756]
TOYOTA CAMRY HYBRID 2021: [2.6426668350384457, 2.3901492458927986, 0.16103875108816076]
TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
-TOYOTA COROLLA HYBRID TSS2 2019: [2.3287672277252005, 1.8118712531729109, 0.2215868445753317]
-TOYOTA COROLLA TSS2 2019: [2.4204464833010175, 1.9258612322678952, 0.20670411068012526]
+TOYOTA COROLLA HYBRID TSS2 2019: [1.9079729107361805, 1.8118712531729109, 0.22251440891543514]
+TOYOTA COROLLA TSS2 2019: [2.0742917676766712, 1.9258612322678952, 0.16888685704519352]
TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796]
TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054457]
TOYOTA HIGHLANDER HYBRID 2018: [1.9421825202382728, 1.6433903296845025, 0.16928956792275918]
diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml
index f5e3d1d61d..acd7526003 100644
--- a/selfdrive/car/torque_data/substitute.yaml
+++ b/selfdrive/car/torque_data/substitute.yaml
@@ -26,7 +26,6 @@ KIA SELTOS 2021: HYUNDAI SONATA 2020
KIA NIRO HYBRID 2019: KIA NIRO EV 2020
KIA NIRO HYBRID 2021: KIA NIRO EV 2020
HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019
-HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019
HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019
HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019
HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 28912645ac..0d5acbfff4 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -2,7 +2,6 @@
from cereal import car
from common.conversions import Conversions as CV
from panda import Panda
-from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune
from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
@@ -74,7 +73,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelSpeedFactor = 1.035
tire_stiffness_factor = 0.5533
ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
- set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate in (CAR.CHR, CAR.CHRH):
stop_and_go = True
@@ -82,7 +80,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 13.6
tire_stiffness_factor = 0.7933
ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
- set_lat_tune(ret.lateralTuning, LatTunes.PID_F)
elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
stop_and_go = True
@@ -90,8 +87,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 13.7
tire_stiffness_factor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
- if candidate not in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
- set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
stop_and_go = True
@@ -99,7 +94,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 16.0
tire_stiffness_factor = 0.8
ret.mass = 4516. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
- set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):
# starting from 2019, all Avalon variants have stop and go
@@ -109,7 +103,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
tire_stiffness_factor = 0.7983
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
- set_lat_tune(ret.lateralTuning, LatTunes.PID_H)
elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022):
stop_and_go = True
@@ -117,14 +110,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.3
tire_stiffness_factor = 0.7933
ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid
- set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
-
- # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
- # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
- for fw in car_fw:
- if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
- set_lat_tune(ret.lateralTuning, LatTunes.PID_I)
- break
elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
stop_and_go = True
@@ -139,7 +124,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 16.0 # not optimized
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
- set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
elif candidate == CAR.SIENNA:
stop_and_go = True
@@ -147,14 +131,12 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 15.5
tire_stiffness_factor = 0.444
ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
- set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC):
ret.wheelbase = 2.79908
ret.steerRatio = 13.3
tire_stiffness_factor = 0.444
ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
- set_lat_tune(ret.lateralTuning, LatTunes.PID_L)
elif candidate == CAR.LEXUS_CTH:
stop_and_go = True
@@ -162,7 +144,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 18.6
tire_stiffness_factor = 0.517
ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max
- set_lat_tune(ret.lateralTuning, LatTunes.PID_M)
elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NXH, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2):
stop_and_go = True
@@ -170,7 +151,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.7
tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
- set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate == CAR.PRIUS_TSS2:
stop_and_go = True
@@ -178,7 +158,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 13.4 # True steerRatio from older prius
tire_stiffness_factor = 0.6371 # hand-tune
ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
- set_lat_tune(ret.lateralTuning, LatTunes.PID_N)
elif candidate == CAR.MIRAI:
stop_and_go = True
@@ -186,7 +165,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.8
tire_stiffness_factor = 0.8
ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
- set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
stop_and_go = True
@@ -194,7 +172,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.2
tire_stiffness_factor = 0.444
ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG
- set_lat_tune(ret.lateralTuning, LatTunes.PID_J)
ret.centerToFront = ret.wheelbase * 0.44
@@ -230,12 +207,23 @@ class CarInterface(CarInterfaceBase):
# to a negative value, so it won't matter.
ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
+ tune = ret.longitudinalTuning
if candidate in TSS2_CAR or ret.enableGasInterceptor:
- set_long_tune(ret.longitudinalTuning, LongTunes.TSS2)
+ tune.deadzoneBP = [0., 8.05]
+ tune.deadzoneV = [.0, .14]
+ tune.kpBP = [0., 5., 20.]
+ tune.kpV = [1.3, 1.0, 0.7]
+ tune.kiBP = [0., 5., 12., 20., 27.]
+ tune.kiV = [.35, .23, .20, .17, .1]
if candidate in TSS2_CAR:
ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
else:
- set_long_tune(ret.longitudinalTuning, LongTunes.TSS)
+ tune.deadzoneBP = [0., 9.]
+ tune.deadzoneV = [.0, .15]
+ tune.kpBP = [0., 5., 35.]
+ tune.kiBP = [0., 35.]
+ tune.kpV = [3.6, 2.4, 1.5]
+ tune.kiV = [0.54, 0.36]
return ret
diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py
deleted file mode 100644
index b73ab4c8c9..0000000000
--- a/selfdrive/car/toyota/tunes.py
+++ /dev/null
@@ -1,102 +0,0 @@
-#!/usr/bin/env python3
-from enum import Enum
-
-class LongTunes(Enum):
- TSS2 = 0
- TSS = 1
-
-class LatTunes(Enum):
- INDI_PRIUS = 0
- LQR_RAV4 = 1
- PID_A = 2
- PID_B = 3
- PID_C = 4
- PID_D = 5
- PID_E = 6
- PID_F = 7
- PID_G = 8
- PID_I = 9
- PID_H = 10
- PID_J = 11
- PID_K = 12
- PID_L = 13
- PID_M = 14
- PID_N = 15
-
-
-###### LONG ######
-def set_long_tune(tune, name):
- # Improved longitudinal tune
- if name == LongTunes.TSS2:
- tune.deadzoneBP = [0., 8.05]
- tune.deadzoneV = [.0, .14]
- tune.kpBP = [0., 5., 20.]
- tune.kpV = [1.3, 1.0, 0.7]
- tune.kiBP = [0., 5., 12., 20., 27.]
- tune.kiV = [.35, .23, .20, .17, .1]
- # Default longitudinal tune
- elif name == LongTunes.TSS:
- tune.deadzoneBP = [0., 9.]
- tune.deadzoneV = [.0, .15]
- tune.kpBP = [0., 5., 35.]
- tune.kiBP = [0., 35.]
- tune.kpV = [3.6, 2.4, 1.5]
- tune.kiV = [0.54, 0.36]
- else:
- raise NotImplementedError('This longitudinal tune does not exist')
-
-
-###### LAT ######
-def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0, use_steering_angle=True):
- if 'PID' in str(name):
- tune.init('pid')
- tune.pid.kiBP = [0.0]
- tune.pid.kpBP = [0.0]
- if name == LatTunes.PID_A:
- tune.pid.kpV = [0.2]
- tune.pid.kiV = [0.05]
- tune.pid.kf = 0.00003
- elif name == LatTunes.PID_C:
- tune.pid.kpV = [0.6]
- tune.pid.kiV = [0.1]
- tune.pid.kf = 0.00006
- elif name == LatTunes.PID_D:
- tune.pid.kpV = [0.6]
- tune.pid.kiV = [0.1]
- tune.pid.kf = 0.00007818594
- elif name == LatTunes.PID_F:
- tune.pid.kpV = [0.723]
- tune.pid.kiV = [0.0428]
- tune.pid.kf = 0.00006
- elif name == LatTunes.PID_G:
- tune.pid.kpV = [0.18]
- tune.pid.kiV = [0.015]
- tune.pid.kf = 0.00012
- elif name == LatTunes.PID_H:
- tune.pid.kpV = [0.17]
- tune.pid.kiV = [0.03]
- tune.pid.kf = 0.00006
- elif name == LatTunes.PID_I:
- tune.pid.kpV = [0.15]
- tune.pid.kiV = [0.05]
- tune.pid.kf = 0.00004
- elif name == LatTunes.PID_J:
- tune.pid.kpV = [0.19]
- tune.pid.kiV = [0.02]
- tune.pid.kf = 0.00007818594
- elif name == LatTunes.PID_L:
- tune.pid.kpV = [0.3]
- tune.pid.kiV = [0.05]
- tune.pid.kf = 0.00006
- elif name == LatTunes.PID_M:
- tune.pid.kpV = [0.3]
- tune.pid.kiV = [0.05]
- tune.pid.kf = 0.00007
- elif name == LatTunes.PID_N:
- tune.pid.kpV = [0.35]
- tune.pid.kiV = [0.15]
- tune.pid.kf = 0.00007818594
- else:
- raise NotImplementedError('This PID tune does not exist')
- else:
- raise NotImplementedError('This lateral tune does not exist')
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 8c679c7406..695868452d 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -555,6 +555,7 @@ FW_VERSIONS = {
b'\xf1\x8703N906026E \xf1\x892114',
b'\xf1\x8704E906023AH\xf1\x893379',
b'\xf1\x8704L906026ET\xf1\x891990',
+ b'\xf1\x8704L906026FP\xf1\x892012',
b'\xf1\x8704L906026GA\xf1\x892013',
b'\xf1\x8704L906026KD\xf1\x894798',
b'\xf1\x873G0906264 \xf1\x890004',
@@ -562,6 +563,7 @@ FW_VERSIONS = {
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x870CW300043H \xf1\x891601',
b'\xf1\x870CW300048R \xf1\x890610',
+ b'\xf1\x870D9300013A \xf1\x894905',
b'\xf1\x870D9300014L \xf1\x895002',
b'\xf1\x870D9300041A \xf1\x894801',
b'\xf1\x870DD300045T \xf1\x891601',
@@ -579,6 +581,7 @@ FW_VERSIONS = {
],
(Ecu.eps, 0x712, None): [
b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00611A1',
+ b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00711A1',
b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803',
b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803',
b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1',
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 8abb1a02a6..5172cc4044 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -82,45 +82,45 @@ class Controls:
self.log_sock = messaging.sub_sock('androidLog')
+ self.params = Params()
+ self.sm = sm
+ if self.sm is None:
+ ignore = ['testJoystick']
+ if SIMULATION:
+ ignore += ['driverCameraState', 'managerState']
+ if self.params.get_bool('WideCameraOnly'):
+ ignore += ['roadCameraState']
+ self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
+ 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
+ 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets,
+ ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan', 'testJoystick'])
+
if CI is None:
# wait for one pandaState and one CAN packet
print("Waiting for CAN messages...")
get_one_can(self.can_sock)
- self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'])
+ num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
+ self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], num_pandas)
else:
self.CI, self.CP = CI, CI.CP
- params = Params()
- self.joystick_mode = params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None)
- joystick_packet = ['testJoystick'] if self.joystick_mode else []
-
- self.sm = sm
- if self.sm is None:
- ignore = []
- if SIMULATION:
- ignore += ['driverCameraState', 'managerState']
- if params.get_bool('WideCameraOnly'):
- ignore += ['roadCameraState']
- self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
- 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
- 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters'] + self.camera_packets + joystick_packet,
- ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan'])
+ self.joystick_mode = self.params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None)
# set alternative experiences from parameters
- self.disengage_on_accelerator = params.get_bool("DisengageOnAccelerator")
+ self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
self.CP.alternativeExperience = 0
if not self.disengage_on_accelerator:
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
- if self.CP.dashcamOnly and params.get_bool("DashcamOverride"):
+ if self.CP.dashcamOnly and self.params.get_bool("DashcamOverride"):
self.CP.dashcamOnly = False
# read params
- self.is_metric = params.get_bool("IsMetric")
- self.is_ldw_enabled = params.get_bool("IsLdwEnabled")
- openpilot_enabled_toggle = params.get_bool("OpenpilotEnabledToggle")
- passive = params.get_bool("Passive") or not openpilot_enabled_toggle
+ self.is_metric = self.params.get_bool("IsMetric")
+ self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
+ openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
+ passive = self.params.get_bool("Passive") or not openpilot_enabled_toggle
# detect sound card presence and ensure successful init
sounds_available = HARDWARE.get_sound_card_online()
@@ -139,15 +139,15 @@ class Controls:
# Write CarParams for radard
cp_bytes = self.CP.to_bytes()
- params.put("CarParams", cp_bytes)
+ self.params.put("CarParams", cp_bytes)
put_nonblocking("CarParamsCache", cp_bytes)
put_nonblocking("CarParamsPersistent", cp_bytes)
# cleanup old params
if not self.CP.experimentalLongitudinalAvailable:
- params.remove("ExperimentalLongitudinalEnabled")
+ self.params.remove("ExperimentalLongitudinalEnabled")
if not self.CP.openpilotLongitudinalControl:
- params.remove("EndToEndLong")
+ self.params.remove("EndToEndLong")
self.CC = car.CarControl.new_message()
self.CS_prev = car.CarState.new_message()
@@ -583,9 +583,9 @@ class Controls:
"""Given the state, this function returns a CarControl packet"""
# Update VehicleModel
- params = self.sm['liveParameters']
- x = max(params.stiffnessFactor, 0.1)
- sr = max(params.steerRatio, 0.1)
+ lp = self.sm['liveParameters']
+ x = max(lp.stiffnessFactor, 0.1)
+ sr = max(lp.steerRatio, 0.1)
self.VM.update_params(x, sr)
# Update Torque Params
@@ -628,7 +628,7 @@ class Controls:
lat_plan.psis,
lat_plan.curvatures,
lat_plan.curvatureRates)
- actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, params,
+ actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
self.last_actuators, self.steer_limited, self.desired_curvature,
self.desired_curvature_rate, self.sm['liveLocationKalman'])
else:
@@ -768,10 +768,10 @@ class Controls:
(self.state == State.softDisabling)
# Curvature & Steering angle
- params = self.sm['liveParameters']
+ lp = self.sm['liveParameters']
- steer_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetDeg)
- curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, params.roll)
+ steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg)
+ curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll)
# controlsState
dat = messaging.new_message('controlsState')
@@ -856,6 +856,8 @@ class Controls:
start_time = sec_since_boot()
self.prof.checkpoint("Ratekeeper", ignore=True)
+ self.is_metric = self.params.get_bool("IsMetric")
+
# Sample data from sockets and get a carState
CS = self.data_sample()
cloudlog.timestamp("Data sampled")
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index f81cd0c40c..e74be7199e 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -13,6 +13,7 @@ V_CRUISE_MIN = 8 # kph
V_CRUISE_ENABLE_MIN = 40 # kph
V_CRUISE_INITIAL = 255 # kph
+MIN_SPEED = 1.0
LAT_MPC_N = 16
LON_MPC_N = 32
CONTROL_N = 17
@@ -102,7 +103,7 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
psis = [0.0]*CONTROL_N
curvatures = [0.0]*CONTROL_N
curvature_rates = [0.0]*CONTROL_N
- v_ego = max(v_ego, 0.1)
+ v_ego = max(MIN_SPEED, v_ego)
# TODO this needs more thought, use .2s extra for now to estimate other delays
delay = CP.steerActuatorDelay + .2
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 5bfe89b31c..44426620e9 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -811,7 +811,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
ET.NO_ENTRY: NoEntryAlert("Cruise Faulted"),
},
- EventName.gmAccFaultedTemp: {
+ EventName.accFaultedTemp: {
ET.NO_ENTRY: NoEntryAlert("Cruise Temporarily Faulted"),
},
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 7d656b55a9..51676086ba 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -17,7 +17,7 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
# friction in the steering wheel that needs to be overcome to
# move it at all, this is compensated for too.
-LOW_SPEED_FACTOR = 100
+LOW_SPEED_FACTOR = 200
class LatControlTorque(LatControl):
diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index 9fbfd4a11f..932ad49535 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -4,7 +4,7 @@ from common.numpy_fast import interp
from system.swaglog import cloudlog
from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N
-from selfdrive.controls.lib.drive_helpers import CONTROL_N
+from selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED
from selfdrive.controls.lib.desire_helper import DesireHelper
import cereal.messaging as messaging
from cereal import log
@@ -23,8 +23,6 @@ LATERAL_JERK_COST = 0.05
# speed lateral control is stable on all cars
STEERING_RATE_COST = 800.0
-MIN_SPEED = .3
-
class LateralPlanner:
def __init__(self, CP):
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index 2aab4b71af..49eb5988e2 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -253,7 +253,8 @@ class LongitudinalMpc:
cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_cost, J_EGO_COST]
constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
elif self.mode == 'blended':
- cost_weights = [0., 0.1, 0.2, 5.0, 0.0, 1.0]
+ a_change_cost = 40.0 if prev_accel_constraint else 0
+ cost_weights = [0., 0.1, 0.2, 5.0, a_change_cost, 1.0]
constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 50.0]
else:
raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set')
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 018136e6f2..457065d3b5 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -133,7 +133,7 @@ class LongitudinalPlanner:
# TODO counter is only needed because radar is glitchy, remove once radar is gone
# TODO write fcw in e2e_long mode
- self.fcw = self.mpc.mode == 'acc' and self.mpc.crash_cnt > 5
+ self.fcw = self.mpc.mode == 'acc' and self.mpc.crash_cnt > 5 and not sm['carState'].standstill
if self.fcw:
cloudlog.info("FCW triggered")
diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py
index 63af4c7d95..ba2d2f5c02 100755
--- a/selfdrive/controls/tests/test_startup.py
+++ b/selfdrive/controls/tests/test_startup.py
@@ -94,6 +94,9 @@ class TestStartup(unittest.TestCase):
time.sleep(2) # wait for controlsd to be ready
+ pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]]))
+ time.sleep(0.1)
+
msg = messaging.new_message('pandaStates', 1)
msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno
pm.send('pandaStates', msg)
diff --git a/selfdrive/debug/can_print_changes.py b/selfdrive/debug/can_print_changes.py
index b883fbc23f..ff98c20e60 100755
--- a/selfdrive/debug/can_print_changes.py
+++ b/selfdrive/debug/can_print_changes.py
@@ -54,6 +54,7 @@ def can_printer(bus=0, init_msgs=None, new_msgs=None, table=False):
update(new_msgs, bus, dat, low_to_high, high_to_low)
else:
# Live mode
+ print(f"Waiting for messages on bus {bus}")
try:
while 1:
can_recv = messaging.drain_sock(logcan)
@@ -89,14 +90,17 @@ if __name__ == "__main__":
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument("--bus", type=int, help="CAN bus to print out", default=0)
parser.add_argument("--table", action="store_true", help="Print a cabana-like table")
- parser.add_argument("init", type=str, nargs='?', help="Route or segment to initialize with")
+ parser.add_argument("init", type=str, nargs='?', help="Route or segment to initialize with. Use empty quotes to compare against all zeros.")
parser.add_argument("comp", type=str, nargs='?', help="Route or segment to compare against init")
args = parser.parse_args()
init_lr, new_lr = None, None
if args.init:
- init_lr = logreader_from_route_or_segment(args.init)
+ if args.init == '':
+ init_lr = []
+ else:
+ init_lr = logreader_from_route_or_segment(args.init)
if args.comp:
new_lr = logreader_from_route_or_segment(args.comp)
diff --git a/selfdrive/debug/check_timings.py b/selfdrive/debug/check_timings.py
index 083e084ca7..fb8467a3c4 100755
--- a/selfdrive/debug/check_timings.py
+++ b/selfdrive/debug/check_timings.py
@@ -19,7 +19,7 @@ if __name__ == "__main__":
for m in msgs:
ts[s].append(m.logMonoTime / 1e6)
- if len(ts[s]):
+ if len(ts[s]) > 2:
d = np.diff(ts[s])
print(f"{s:25} {np.mean(d):.2f} {np.std(d):.2f} {np.max(d):.2f} {np.min(d):.2f}")
time.sleep(1)
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index 9e6536f9b5..4e996bc3b9 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -31,6 +31,7 @@ INPUTS_NEEDED = 5 # Minimum blocks needed for valid calibration
INPUTS_WANTED = 50 # We want a little bit more than we need for stability
MAX_ALLOWED_SPREAD = np.radians(2)
RPY_INIT = np.array([0.0,0.0,0.0])
+WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0])
# These values are needed to accommodate biggest modelframe
PITCH_LIMITS = np.array([-0.09074112085129739, 0.14907572052989657])
@@ -67,6 +68,7 @@ class Calibrator:
calibration_params = params.get("CalibrationParams")
self.wide_camera = params.get_bool('WideCameraOnly')
rpy_init = RPY_INIT
+ wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT
valid_blocks = 0
if param_put and calibration_params:
@@ -74,24 +76,34 @@ class Calibrator:
msg = log.Event.from_bytes(calibration_params)
rpy_init = np.array(msg.liveCalibration.rpyCalib)
valid_blocks = msg.liveCalibration.validBlocks
+ wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler)
except Exception:
cloudlog.exception("Error reading cached CalibrationParams")
- self.reset(rpy_init, valid_blocks)
+ self.reset(rpy_init, valid_blocks, wide_from_device_euler)
self.update_status()
- def reset(self, rpy_init: np.ndarray = RPY_INIT, valid_blocks: int = 0, smooth_from: Optional[np.ndarray] = None) -> None:
+ def reset(self, rpy_init: np.ndarray = RPY_INIT,
+ valid_blocks: int = 0,
+ wide_from_device_euler_init: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT,
+ smooth_from: Optional[np.ndarray] = None) -> None:
if not np.isfinite(rpy_init).all():
self.rpy = RPY_INIT.copy()
else:
self.rpy = rpy_init.copy()
+ if not np.isfinite(wide_from_device_euler_init).all() or len(wide_from_device_euler_init) != 3:
+ self.wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT.copy()
+ else:
+ self.wide_from_device_euler = wide_from_device_euler_init.copy()
+
if not np.isfinite(valid_blocks) or valid_blocks < 0:
self.valid_blocks = 0
else:
self.valid_blocks = valid_blocks
self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1))
+ self.wide_from_device_eulers = np.tile(self.wide_from_device_euler, (INPUTS_WANTED, 1))
self.idx = 0
self.block_idx = 0
@@ -113,6 +125,7 @@ class Calibrator:
def update_status(self) -> None:
valid_idxs = self.get_valid_idxs()
if valid_idxs:
+ self.wide_from_device_euler = np.mean(self.wide_from_device_eulers[valid_idxs], axis=0)
rpys = self.rpys[valid_idxs]
self.rpy = np.mean(rpys, axis=0)
max_rpy_calib = np.array(np.max(rpys, axis=0))
@@ -146,7 +159,10 @@ class Calibrator:
else:
return self.rpy
- def handle_cam_odom(self, trans: List[float], rot: List[float], trans_std: List[float]) -> Optional[np.ndarray]:
+ def handle_cam_odom(self, trans: List[float],
+ rot: List[float],
+ wide_from_device_euler: List[float],
+ trans_std: List[float]) -> Optional[np.ndarray]:
self.old_rpy_weight = min(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES)
straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER))
@@ -165,7 +181,15 @@ class Calibrator:
new_rpy = euler_from_rot(rot_from_euler(self.get_smooth_rpy()).dot(rot_from_euler(observed_rpy)))
new_rpy = sanity_clip(new_rpy)
- self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE)
+ if len(wide_from_device_euler) == 3:
+ new_wide_from_device_euler = np.array(wide_from_device_euler)
+ else:
+ new_wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT
+
+ self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] +
+ (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE)
+ self.wide_from_device_eulers[self.block_idx] = (self.idx*self.wide_from_device_eulers[self.block_idx] +
+ (BLOCK_SIZE - self.idx) * new_wide_from_device_euler) / float(BLOCK_SIZE)
self.idx = (self.idx + 1) % BLOCK_SIZE
if self.idx == 0:
self.block_idx += 1
@@ -187,6 +211,7 @@ class Calibrator:
liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100)
liveCalibration.rpyCalib = smooth_rpy.tolist()
liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
+ liveCalibration.wideFromDeviceEuler = self.wide_from_device_euler.tolist()
if self.not_car:
liveCalibration.validBlocks = INPUTS_NEEDED
@@ -223,6 +248,7 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m
calibrator.handle_v_ego(sm['carState'].vEgo)
new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans,
sm['cameraOdometry'].rot,
+ sm['cameraOdometry'].wideFromDeviceEuler,
sm['cameraOdometry'].transStd)
if DEBUG and new_rpy is not None:
diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc
index e0892e68b4..9beb3c3bf1 100644
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@@ -55,7 +55,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
int bytes_count = 0;
// extract the message
- capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr((capnp::word *)msg->getData(), msg->getSize()));
+ capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr((capnp::word *)msg->getData(), msg->getSize() / sizeof(capnp::word)));
auto event = cmsg.getRoot();
auto edata = (name == "driverEncodeData") ? event.getDriverEncodeData() :
((name == "wideRoadEncodeData") ? event.getWideRoadEncodeData() :
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 5c02e2b15f..f1a8d71881 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -83,6 +83,7 @@ if use_thneed and arch == "larch64" or GetOption('pc_thneed'):
"#tinygrad_repo/accel/opencl/ops_opencl.py",
"#tinygrad_repo/accel/opencl/preprocessing.py",
"#tinygrad_repo/extra/onnx.py",
+ "#tinygrad_repo/extra/thneed.py",
"#tinygrad_repo/extra/utils.py",
"#tinygrad_repo/tinygrad/llops/ops_gpu.py",
"#tinygrad_repo/tinygrad/llops/ops_opencl.py",
diff --git a/selfdrive/modeld/models/dmonitoring_model.current b/selfdrive/modeld/models/dmonitoring_model.current
index d1e7d1136f..065bc7d489 100644
--- a/selfdrive/modeld/models/dmonitoring_model.current
+++ b/selfdrive/modeld/models/dmonitoring_model.current
@@ -1,2 +1,2 @@
-ee8f830b-d6a1-42ef-9b1b-50fd0b2faae4
-cac8f7b69d420506707ff7a19d573d5011ef2533
\ No newline at end of file
+d1124586-761e-4e18-a771-6b5ef35124fe
+6fec774f513a19e44d4316e46ad38277197d45ea
\ No newline at end of file
diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx
index 4cbd6bb7dd..f8bf94c061 100644
--- a/selfdrive/modeld/models/dmonitoring_model.onnx
+++ b/selfdrive/modeld/models/dmonitoring_model.onnx
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:932e589e5cce66e5d9f48492426a33c74cd7f352a870d3ddafcede3e9156f30d
-size 9157561
+oid sha256:517262fa9f1ad3cc8049ad3722903f40356d87ea423ee5cf011226fb6cfc3d5b
+size 16072278
diff --git a/selfdrive/modeld/models/dmonitoring_model_q.dlc b/selfdrive/modeld/models/dmonitoring_model_q.dlc
index 94632030ed..e4e6fb3347 100644
--- a/selfdrive/modeld/models/dmonitoring_model_q.dlc
+++ b/selfdrive/modeld/models/dmonitoring_model_q.dlc
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:3587976a8b7e3be274fa86c2e2233e3e464cad713f5077c4394cd1ddd3c7c6c5
-size 2636965
+oid sha256:64b94659226a1e3c6594a13c2e5d029465d5803a5c3005121ec7217acdbbef20
+size 4443461
diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc
index 3316e6d114..cc4a83de62 100644
--- a/selfdrive/modeld/models/driving.cc
+++ b/selfdrive/modeld/models/driving.cc
@@ -62,9 +62,9 @@ ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf,
// Model decides when action is completed
// so desire input is just a pulse triggered on rising edge
if (desire_in[i] - s->prev_desire[i] > .99) {
- s->pulse_desire[DESIRE_LEN*(HISTORY_BUFFER_LEN-1)+i] = desire_in[i];
+ s->pulse_desire[DESIRE_LEN*HISTORY_BUFFER_LEN+i] = desire_in[i];
} else {
- s->pulse_desire[DESIRE_LEN*(HISTORY_BUFFER_LEN-1)+i] = 0.0;
+ s->pulse_desire[DESIRE_LEN*HISTORY_BUFFER_LEN+i] = 0.0;
}
s->prev_desire[i] = desire_in[i];
}
@@ -363,14 +363,19 @@ void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_droppe
MessageBuilder msg;
const auto &v_mean = net_outputs.pose.velocity_mean;
const auto &r_mean = net_outputs.pose.rotation_mean;
+ const auto &t_mean = net_outputs.wide_from_device_euler.mean;
const auto &v_std = net_outputs.pose.velocity_std;
const auto &r_std = net_outputs.pose.rotation_std;
+ const auto &t_std = net_outputs.wide_from_device_euler.std;
auto posenetd = msg.initEvent(valid && (vipc_dropped_frames < 1)).initCameraOdometry();
posenetd.setTrans({v_mean.x, v_mean.y, v_mean.z});
posenetd.setRot({r_mean.x, r_mean.y, r_mean.z});
+ posenetd.setWideFromDeviceEuler({t_mean.x, t_mean.y, t_mean.z});
posenetd.setTransStd({exp(v_std.x), exp(v_std.y), exp(v_std.z)});
posenetd.setRotStd({exp(r_std.x), exp(r_std.y), exp(r_std.z)});
+ posenetd.setWideFromDeviceEulerStd({exp(t_std.x), exp(t_std.y), exp(t_std.z)});
+
posenetd.setTimestampEof(timestamp_eof);
posenetd.setFrameId(vipc_frame_id);
diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
index 8bb84d0245..dd1609b1d1 100644
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@@ -28,12 +28,13 @@ constexpr int BLINKER_LEN = 6;
constexpr int META_STRIDE = 7;
constexpr int PLAN_MHP_N = 5;
-constexpr int STOP_LINE_MHP_N = 3;
constexpr int LEAD_MHP_N = 2;
constexpr int LEAD_TRAJ_LEN = 6;
constexpr int LEAD_PRED_DIM = 4;
constexpr int LEAD_MHP_SELECTION = 3;
+// Padding to get output shape as multiple of 4
+constexpr int PAD_SIZE = 2;
struct ModelOutputXYZ {
float x;
@@ -151,36 +152,6 @@ struct ModelOutputLeads {
};
static_assert(sizeof(ModelOutputLeads) == (sizeof(ModelOutputLeadPrediction)*LEAD_MHP_N) + (sizeof(float)*LEAD_MHP_SELECTION));
-struct ModelOutputStopLineElement {
- ModelOutputXYZ position;
- ModelOutputXYZ rotation;
- float speed;
- float time;
-};
-static_assert(sizeof(ModelOutputStopLineElement) == (sizeof(ModelOutputXYZ)*2 + sizeof(float)*2));
-
-struct ModelOutputStopLinePrediction {
- ModelOutputStopLineElement mean;
- ModelOutputStopLineElement std;
- float prob;
-};
-static_assert(sizeof(ModelOutputStopLinePrediction) == (sizeof(ModelOutputStopLineElement)*2 + sizeof(float)));
-
-struct ModelOutputStopLines {
- std::array prediction;
- float prob;
-
- constexpr const ModelOutputStopLinePrediction &get_best_prediction(int t_idx) const {
- int max_idx = 0;
- for (int i = 1; i < prediction.size(); i++) {
- if (prediction[i].prob > prediction[max_idx].prob) {
- max_idx = i;
- }
- }
- return prediction[max_idx];
- }
-};
-static_assert(sizeof(ModelOutputStopLines) == (sizeof(ModelOutputStopLinePrediction)*STOP_LINE_MHP_N) + sizeof(float));
struct ModelOutputPose {
ModelOutputXYZ velocity_mean;
@@ -190,6 +161,12 @@ struct ModelOutputPose {
};
static_assert(sizeof(ModelOutputPose) == sizeof(ModelOutputXYZ)*4);
+struct ModelOutputWideFromDeviceEuler {
+ ModelOutputXYZ mean;
+ ModelOutputXYZ std;
+};
+static_assert(sizeof(ModelOutputWideFromDeviceEuler) == sizeof(ModelOutputXYZ)*2);
+
struct ModelOutputDisengageProb {
float gas_disengage;
float brake_disengage;
@@ -245,9 +222,9 @@ struct ModelOutput {
const ModelOutputLaneLines lane_lines;
const ModelOutputRoadEdges road_edges;
const ModelOutputLeads leads;
- const ModelOutputStopLines stop_lines;
const ModelOutputMeta meta;
const ModelOutputPose pose;
+ const ModelOutputWideFromDeviceEuler wide_from_device_euler;
};
constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float);
@@ -257,7 +234,7 @@ constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float);
#else
constexpr int TEMPORAL_SIZE = 0;
#endif
-constexpr int NET_OUTPUT_SIZE = OUTPUT_SIZE + FEATURE_LEN;
+constexpr int NET_OUTPUT_SIZE = OUTPUT_SIZE + FEATURE_LEN + PAD_SIZE;
// TODO: convert remaining arrays to std::array and update model runners
struct ModelState {
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 59b8883d2a..49a1c3a3b8 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:022a830c39267f378f45204682060c93e3aa304bbd8cfa6b2dfe4fa8f419102d
-size 56972617
+oid sha256:a41d42f92913e6cc3909e505b1220b16d31f7cfca5f8a4e82109577b4151b645
+size 45922983
diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py
index 9ff3125c15..a2dda5da9d 100644
--- a/selfdrive/monitoring/driver_monitor.py
+++ b/selfdrive/monitoring/driver_monitor.py
@@ -29,10 +29,11 @@ class DRIVER_MONITOR_SETTINGS():
self._FACE_THRESHOLD = 0.7
self._EYE_THRESHOLD = 0.65
self._SG_THRESHOLD = 0.9
- self._BLINK_THRESHOLD = 0.87
+ self._BLINK_THRESHOLD = 0.895
- self._EE_THRESH11 = 0.75
- self._EE_THRESH12 = 3.25
+ self._EE_THRESH11 = 0.275
+ self._EE_THRESH12 = 5.5
+ self._EE_MAX_OFFSET1 = 0.06
self._EE_THRESH21 = 0.01
self._EE_THRESH22 = 0.35
@@ -204,14 +205,14 @@ class DriverStatus():
distracted_types.append(DistractedType.DISTRACTED_BLINK)
if self.ee1_calibrated:
- ee1_dist = self.eev1 > self.ee1_offseter.filtered_stat.M * self.settings._EE_THRESH12
+ ee1_dist = self.eev1 > min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1) * self.settings._EE_THRESH12
else:
ee1_dist = self.eev1 > self.settings._EE_THRESH11
- if self.ee2_calibrated:
- ee2_dist = self.eev2 < self.ee2_offseter.filtered_stat.M * self.settings._EE_THRESH22
- else:
- ee2_dist = self.eev2 < self.settings._EE_THRESH21
- if ee1_dist or ee2_dist:
+ # if self.ee2_calibrated:
+ # ee2_dist = self.eev2 < self.ee2_offseter.filtered_stat.M * self.settings._EE_THRESH22
+ # else:
+ # ee2_dist = self.eev2 < self.settings._EE_THRESH21
+ if ee1_dist:
distracted_types.append(DistractedType.DISTRACTED_E2E)
return distracted_types
@@ -257,12 +258,11 @@ class DriverStatus():
self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
- self.eev1 = driver_data.notReadyProb[1]
+ self.eev1 = driver_data.notReadyProb[0]
self.eev2 = driver_data.readyProb[0]
self.distracted_types = self._get_distracted_types()
- self.driver_distracted = (DistractedType.DISTRACTED_POSE in self.distracted_types or
- DistractedType.DISTRACTED_BLINK in self.distracted_types) and \
+ self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types or DistractedType.DISTRACTED_BLINK in self.distracted_types) and \
driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
self.driver_distraction_filter.update(self.driver_distracted)
diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py
index 5a6827a759..fa23a161c4 100755
--- a/selfdrive/sensord/rawgps/rawgpsd.py
+++ b/selfdrive/sensord/rawgps/rawgpsd.py
@@ -87,16 +87,24 @@ def try_setup_logs(diag, log_types):
else:
raise Exception(f"setup logs failed, {log_types=}")
-def mmcli(cmd: str) -> None:
+def at_cmd(cmd: str) -> None:
for _ in range(5):
try:
- subprocess.check_call(f"mmcli -m any --timeout 30 {cmd}", shell=True)
+ subprocess.check_call(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True)
break
except subprocess.CalledProcessError:
cloudlog.exception("rawgps.mmcli_command_failed")
else:
raise Exception(f"failed to execute mmcli command {cmd=}")
+
+def gps_enabled() -> bool:
+ try:
+ p = subprocess.check_output("mmcli -m any --command=\"AT+QGPS?\"", shell=True)
+ return b"QGPS: 1" in p
+ except subprocess.CalledProcessError as exc:
+ raise Exception("failed to execute QGPS mmcli command") from exc
+
def setup_quectel(diag: ModemDiag):
# enable OEMDRE in the NV
# TODO: it has to reboot for this to take effect
@@ -108,11 +116,16 @@ def setup_quectel(diag: ModemDiag):
setup_logs(diag, LOG_TYPES)
+ if gps_enabled():
+ at_cmd("AT+QGPSEND")
+
# disable DPO power savings for more accuracy
- mmcli("--command='AT+QGPSCFG=\"dpoenable\",0'")
+ at_cmd("AT+QGPSCFG=\"dpoenable\",0")
# don't automatically turn on GNSS on powerup
- mmcli("--command='AT+QGPSCFG=\"autogps\",0'")
- mmcli("--location-enable-gps-raw --location-enable-gps-nmea")
+ at_cmd("AT+QGPSCFG=\"autogps\",0")
+
+ at_cmd("AT+QGPSCFG=\"outport\",\"usbnmea\"")
+ at_cmd("AT+QGPS=1")
# enable OEMDRE mode
DIAG_SUBSYS_CMD_F = 75
@@ -134,7 +147,9 @@ def setup_quectel(diag: ModemDiag):
))
def teardown_quectel(diag):
- mmcli("--location-disable-gps-raw --location-disable-gps-nmea")
+ at_cmd("AT+QGPSCFG=\"outport\",\"none\"")
+ if gps_enabled():
+ at_cmd("AT+QGPSEND")
try_setup_logs(diag, [])
@@ -156,7 +171,7 @@ def main() -> NoReturn:
# wait for ModemManager to come up
cloudlog.warning("waiting for modem to come up")
while True:
- ret = subprocess.call("mmcli -m any --timeout 10 --location-status", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True)
+ ret = subprocess.call("mmcli -m any --timeout 10 --command=\"AT+QGPS?\"", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True)
if ret == 0:
break
time.sleep(0.1)
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index ecfacbf5d2..a63ec6489b 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -22,7 +22,7 @@ from tools.lib.logreader import LogReader
TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
SEGMENT = 0
-MAX_FRAMES = 100 if PC else 1300
+MAX_FRAMES = 100 if PC else 600
SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0"))
@@ -149,9 +149,9 @@ if __name__ == "__main__":
# load logs
lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT)))
frs = {
- 'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="fcamera")),
- 'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="dcamera")),
- 'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"))
+ 'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="fcamera"), readahead=True),
+ 'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="dcamera"), readahead=True),
+ 'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"), readahead=True)
}
# run replay
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index b3e9c8c488..5843a1e174 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-bfb0a2a52212d2aa1619d999aaae97fa7f7ff788
+d2f1711fd58d4f2c25b81bd332270da60ff9636d
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 864b7019a0..ba0f30e5c3 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-e5a86c14e2318f2dd218b3985cdbea6f875f7d83
+8f2919ba4d8509432e93ff0a44f951254c1ff3fe
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 683387dce8..cecabd8a3a 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -18,7 +18,7 @@ from tools.lib.logreader import LogReader
source_segments = [
("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY
("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA
- ("HYUNDAI2", "d824e27e8c60172c|2022-09-13--11-26-50--2"), # HYUNDAI.KIA_EV6
+ ("HYUNDAI2", "d545129f3ca90f28|2022-10-19--09-22-54--9"), # HYUNDAI.KIA_EV6
("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS (INDI)
("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 (LQR)
("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2
@@ -40,7 +40,7 @@ source_segments = [
segments = [
("BODY", "regenFA002A80700|2022-09-27--15-37-02--0"),
("HYUNDAI", "regenBE53A59065B|2022-09-27--16-52-03--0"),
- ("HYUNDAI2", "regenFA8B5CA9840|2022-10-12--21-47-06--0"),
+ ("HYUNDAI2", "d545129f3ca90f28|2022-10-19--09-22-54--9"),
("TOYOTA", "regen929C5790007|2022-09-27--16-27-47--0"),
("TOYOTA2", "regenEA3950D7F22|2022-09-27--15-43-24--0"),
("TOYOTA3", "regen89026F6BD8D|2022-09-27--15-45-37--0"),
diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
index a9c6527970..02c7d76637 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@@ -60,6 +60,7 @@ find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -
git reset --hard $GIT_COMMIT
git checkout $GIT_COMMIT
git clean -xdff
+git submodule sync
git submodule update --init --recursive
git submodule foreach --recursive "git reset --hard && git clean -xdff"
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index b29ca5d35b..0d3d7b367a 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -120,8 +120,8 @@ class TestOnroad(unittest.TestCase):
if "DEBUG" in os.environ:
segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(ROOT).iterdir())
segs = sorted(segs, key=lambda x: x.stat().st_mtime)
- print(segs[-1])
- cls.lr = list(LogReader(os.path.join(segs[-1], "rlog")))
+ print(segs[-2])
+ cls.lr = list(LogReader(os.path.join(segs[-2], "rlog")))
return
# setup env
@@ -187,6 +187,25 @@ class TestOnroad(unittest.TestCase):
big_logs = [f for f, n in cnt.most_common(3) if n / sum(cnt.values()) > 30.]
self.assertEqual(len(big_logs), 0, f"Log spam: {big_logs}")
+ def test_ui_timings(self):
+ result = "\n"
+ result += "------------------------------------------------\n"
+ result += "-------------- UI Draw Timing ------------------\n"
+ result += "------------------------------------------------\n"
+
+ ts = [m.uiDebug.drawTimeMillis for m in self.lr if m.which() == 'uiDebug']
+ result += f"min {min(ts):.2f}ms\n"
+ result += f"max {max(ts):.2f}ms\n"
+ result += f"std {np.std(ts):.2f}ms\n"
+ result += f"mean {np.mean(ts):.2f}ms\n"
+ result += "------------------------------------------------\n"
+ print(result)
+
+ self.assertGreater(len(ts), 20*50, "insufficient samples")
+ self.assertLess(max(ts), 30.)
+ self.assertLess(np.mean(ts), 10.)
+ self.assertLess(np.std(ts), 5.)
+
def test_cpu_usage(self):
proclogs = [m for m in self.lr if m.which() == 'procLog']
self.assertGreater(len(proclogs), service_list['procLog'].frequency * 45, "insufficient samples")
diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py
index 201ffb745a..a2b971999c 100755
--- a/selfdrive/test/update_ci_routes.py
+++ b/selfdrive/test/update_ci_routes.py
@@ -1,6 +1,8 @@
#!/usr/bin/env python3
+from functools import lru_cache
import sys
import subprocess
+from tqdm import tqdm
from azure.storage.blob import BlockBlobService # pylint: disable=import-error
from selfdrive.car.tests.routes import routes as test_car_models_routes
@@ -10,11 +12,11 @@ from xx.chffr.lib.storage import _DATA_ACCOUNT_PRODUCTION, _DATA_ACCOUNT_CI, _DA
SOURCES = [
(_DATA_ACCOUNT_PRODUCTION, _DATA_BUCKET_PRODUCTION),
- (_DATA_ACCOUNT_PRODUCTION, "preserve"),
(_DATA_ACCOUNT_CI, "commadataci"),
]
+@lru_cache
def get_azure_keys():
dest_key = azureutil.get_user_token(_DATA_ACCOUNT_CI, "openpilotci")
source_keys = [azureutil.get_user_token(account, bucket) for account, bucket in SOURCES]
@@ -82,7 +84,7 @@ if __name__ == "__main__":
to_sync.extend([rt.route for rt in test_car_models_routes])
to_sync.extend([s[1].rsplit('--', 1)[0] for s in replay_segments])
- for r in to_sync:
+ for r in tqdm(to_sync):
if not sync_to_ci_public(r):
failed_routes.append(r)
diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index 78bc6aab40..3fe00e6ed9 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -1,11 +1,9 @@
#include "selfdrive/ui/qt/home.h"
-#include
#include
#include
#include
-#include "common/params.h"
#include "selfdrive/ui/qt/util.h"
#include "selfdrive/ui/qt/widgets/drive_stats.h"
#include "selfdrive/ui/qt/widgets/prime.h"
@@ -109,22 +107,20 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
header_layout->setContentsMargins(15, 15, 15, 0);
header_layout->setSpacing(16);
- date = new QLabel();
- header_layout->addWidget(date, 1, Qt::AlignHCenter | Qt::AlignLeft);
-
update_notif = new QPushButton(tr("UPDATE"));
update_notif->setVisible(false);
update_notif->setStyleSheet("background-color: #364DEF;");
QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); });
- header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignRight);
+ header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
alert_notif = new QPushButton();
alert_notif->setVisible(false);
alert_notif->setStyleSheet("background-color: #E22C2C;");
QObject::connect(alert_notif, &QPushButton::clicked, [=] { center_layout->setCurrentIndex(2); });
- header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignRight);
+ header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
- header_layout->addWidget(new QLabel(getBrandVersion()), 0, Qt::AlignHCenter | Qt::AlignRight);
+ version = new ElidedLabel();
+ header_layout->addWidget(version, 0, Qt::AlignHCenter | Qt::AlignRight);
main_layout->addLayout(header_layout);
@@ -184,9 +180,7 @@ void OffroadHome::hideEvent(QHideEvent *event) {
}
void OffroadHome::refresh() {
- QString locale_name = QString(uiState()->language).replace("main_", "");
- QString dateString = QLocale(locale_name).toString(QDateTime::currentDateTime(), "dddd, MMMM d");
- date->setText(dateString);
+ version->setText(getBrand() + " " + QString::fromStdString(params.get("UpdaterCurrentDescription")));
bool updateAvailable = update_widget->refresh();
int alerts = alerts_widget->refresh();
diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h
index 94f1330109..6636da56ec 100644
--- a/selfdrive/ui/qt/home.h
+++ b/selfdrive/ui/qt/home.h
@@ -7,10 +7,12 @@
#include
#include
+#include "common/params.h"
#include "selfdrive/ui/qt/offroad/driverview.h"
#include "selfdrive/ui/qt/body.h"
#include "selfdrive/ui/qt/onroad.h"
#include "selfdrive/ui/qt/sidebar.h"
+#include "selfdrive/ui/qt/widgets/controls.h"
#include "selfdrive/ui/qt/widgets/offroad_alerts.h"
#include "selfdrive/ui/ui.h"
@@ -25,8 +27,10 @@ private:
void hideEvent(QHideEvent *event) override;
void refresh();
+ Params params;
+
QTimer* timer;
- QLabel* date;
+ ElidedLabel* version;
QStackedLayout* center_layout;
UpdateAlert *update_widget;
OffroadAlert* alerts_widget;
diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc
index be8b84d45e..0ff786fb91 100644
--- a/selfdrive/ui/qt/offroad/driverview.cc
+++ b/selfdrive/ui/qt/offroad/driverview.cc
@@ -12,11 +12,11 @@ DriverViewWindow::DriverViewWindow(QWidget* parent) : QWidget(parent) {
layout = new QStackedLayout(this);
layout->setStackingMode(QStackedLayout::StackAll);
- cameraView = new CameraViewWidget("camerad", VISION_STREAM_DRIVER, true, this);
+ cameraView = new CameraWidget("camerad", VISION_STREAM_DRIVER, true, this);
layout->addWidget(cameraView);
scene = new DriverViewScene(this);
- connect(cameraView, &CameraViewWidget::vipcThreadFrameReceived, scene, &DriverViewScene::frameUpdated);
+ connect(cameraView, &CameraWidget::vipcThreadFrameReceived, scene, &DriverViewScene::frameUpdated);
layout->addWidget(scene);
layout->setCurrentWidget(scene);
}
diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h
index 5d090ad772..255857970d 100644
--- a/selfdrive/ui/qt/offroad/driverview.h
+++ b/selfdrive/ui/qt/offroad/driverview.h
@@ -42,7 +42,7 @@ protected:
void mouseReleaseEvent(QMouseEvent* e) override;
private:
- CameraViewWidget *cameraView;
+ CameraWidget *cameraView;
DriverViewScene *scene;
QStackedLayout *layout;
};
diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc
index 4f048241c3..e08a02a4d6 100644
--- a/selfdrive/ui/qt/offroad/software_settings.cc
+++ b/selfdrive/ui/qt/offroad/software_settings.cc
@@ -145,11 +145,11 @@ void SoftwarePanel::updateLabels() {
targetBranchBtn->setValue(QString::fromStdString(params.get("UpdaterTargetBranch")));
// current + new versions
- versionLbl->setText(QString::fromStdString(params.get("UpdaterCurrentDescription")).left(40));
+ versionLbl->setText(QString::fromStdString(params.get("UpdaterCurrentDescription")));
versionLbl->setDescription(QString::fromStdString(params.get("UpdaterCurrentReleaseNotes")));
installBtn->setVisible(!is_onroad && params.getBool("UpdateAvailable"));
- installBtn->setValue(QString::fromStdString(params.get("UpdaterNewDescription")).left(35));
+ installBtn->setValue(QString::fromStdString(params.get("UpdaterNewDescription")));
installBtn->setDescription(QString::fromStdString(params.get("UpdaterNewReleaseNotes")));
update();
diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/offroad/wifiManager.cc
index 62de3041b9..fde8645586 100644
--- a/selfdrive/ui/qt/offroad/wifiManager.cc
+++ b/selfdrive/ui/qt/offroad/wifiManager.cc
@@ -368,7 +368,7 @@ void WifiManager::updateGsmSettings(bool roaming, QString apn, bool metered) {
changes = true;
}
- int meteredInt = metered ? NM_METERED_NO : NM_METERED_UNKNOWN;
+ int meteredInt = metered ? NM_METERED_UNKNOWN : NM_METERED_NO;
if (settings.value("connection").value("metered").toInt() != meteredInt) {
qWarning() << "Changing connection.metered to" << meteredInt;
settings["connection"]["metered"] = meteredInt;
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 0fbfb0cfc2..1f677fc92d 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -18,7 +18,7 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
stacked_layout->setStackingMode(QStackedLayout::StackAll);
main_layout->addLayout(stacked_layout);
- nvg = new NvgWindow(VISION_STREAM_ROAD, this);
+ nvg = new AnnotatedCameraWidget(VISION_STREAM_ROAD, this);
QWidget * split_wrapper = new QWidget;
split = new QHBoxLayout(split_wrapper);
@@ -27,7 +27,7 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
split->addWidget(nvg);
if (getenv("DUAL_CAMERA_VIEW")) {
- CameraViewWidget *arCam = new CameraViewWidget("camerad", VISION_STREAM_ROAD, true, this);
+ CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, true, this);
split->insertWidget(0, arCam);
}
@@ -173,14 +173,15 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
}
}
-// NvgWindow
-NvgWindow::NvgWindow(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraViewWidget("camerad", type, true, parent) {
+AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
+ pm = std::make_unique>({"uiDebug"});
+
engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
dm_img = loadPixmap("../assets/img_driver_face.png", {img_size, img_size});
}
-void NvgWindow::updateState(const UIState &s) {
+void AnnotatedCameraWidget::updateState(const UIState &s) {
const int SET_SPEED_NA = 255;
const SubMaster &sm = *(s.sm);
@@ -232,13 +233,13 @@ void NvgWindow::updateState(const UIState &s) {
}
if (s.scene.calibration_valid) {
- CameraViewWidget::updateCalibration(s.scene.view_from_calib);
+ CameraWidget::updateCalibration(s.scene.view_from_calib);
} else {
- CameraViewWidget::updateCalibration(DEFAULT_CALIBRATION);
+ CameraWidget::updateCalibration(DEFAULT_CALIBRATION);
}
}
-void NvgWindow::drawHud(QPainter &p) {
+void AnnotatedCameraWidget::drawHud(QPainter &p) {
p.save();
// Header gradient
@@ -400,7 +401,11 @@ void NvgWindow::drawHud(QPainter &p) {
p.restore();
}
-void NvgWindow::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
+
+// Window that shows camera view and variety of
+// info drawn on top
+
+void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
QRect real_rect = getTextRect(p, 0, text);
real_rect.moveCenter({x, y - real_rect.height() / 2});
@@ -408,7 +413,7 @@ void NvgWindow::drawText(QPainter &p, int x, int y, const QString &text, int alp
p.drawText(real_rect.x(), real_rect.bottom(), text);
}
-void NvgWindow::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity) {
+void AnnotatedCameraWidget::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity) {
p.setPen(Qt::NoPen);
p.setBrush(bg);
p.drawEllipse(x - radius / 2, y - radius / 2, radius, radius);
@@ -417,8 +422,8 @@ void NvgWindow::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, flo
}
-void NvgWindow::initializeGL() {
- CameraViewWidget::initializeGL();
+void AnnotatedCameraWidget::initializeGL() {
+ CameraWidget::initializeGL();
qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION));
qInfo() << "OpenGL vendor:" << QString((const char*)glGetString(GL_VENDOR));
qInfo() << "OpenGL renderer:" << QString((const char*)glGetString(GL_RENDERER));
@@ -428,8 +433,8 @@ void NvgWindow::initializeGL() {
setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
}
-void NvgWindow::updateFrameMat() {
- CameraViewWidget::updateFrameMat();
+void AnnotatedCameraWidget::updateFrameMat() {
+ CameraWidget::updateFrameMat();
UIState *s = uiState();
int w = width(), h = height();
@@ -446,7 +451,7 @@ void NvgWindow::updateFrameMat() {
.translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]);
}
-void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) {
+void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
painter.save();
const UIScene &scene = s->scene;
@@ -505,7 +510,7 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) {
painter.restore();
}
-void NvgWindow::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd) {
+void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd) {
painter.save();
const float speedBuff = 10.;
@@ -541,11 +546,13 @@ void NvgWindow::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV
painter.restore();
}
-void NvgWindow::paintGL() {
+void AnnotatedCameraWidget::paintGL() {
+ const double start_draw_t = millis_since_boot();
+
UIState *s = uiState();
const cereal::ModelDataV2::Reader &model = (*s->sm)["modelV2"].getModelV2();
- CameraViewWidget::setFrameId(model.getFrameId());
- CameraViewWidget::paintGL();
+ CameraWidget::setFrameId(model.getFrameId());
+ CameraWidget::paintGL();
QPainter painter(this);
painter.setRenderHint(QPainter::Antialiasing);
@@ -575,10 +582,16 @@ void NvgWindow::paintGL() {
LOGW("slow frame rate: %.2f fps", fps);
}
prev_draw_t = cur_draw_t;
+
+ // publish debug msg
+ MessageBuilder msg;
+ auto m = msg.initEvent().initUiDebug();
+ m.setDrawTimeMillis(cur_draw_t - start_draw_t);
+ pm->send("uiDebug", msg);
}
-void NvgWindow::showEvent(QShowEvent *event) {
- CameraViewWidget::showEvent(event);
+void AnnotatedCameraWidget::showEvent(QShowEvent *event) {
+ CameraWidget::showEvent(event);
ui_update_params(uiState());
prev_draw_t = millis_since_boot();
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 25920ccc6a..2a663185f4 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -25,7 +25,7 @@ private:
};
// container window for the NVG UI
-class NvgWindow : public CameraViewWidget {
+class AnnotatedCameraWidget : public CameraWidget {
Q_OBJECT
Q_PROPERTY(float speed MEMBER speed);
Q_PROPERTY(QString speedUnit MEMBER speedUnit);
@@ -43,7 +43,7 @@ class NvgWindow : public CameraViewWidget {
Q_PROPERTY(int status MEMBER status);
public:
- explicit NvgWindow(VisionStreamType type, QWidget* parent = 0);
+ explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
void updateState(const UIState &s);
private:
@@ -68,6 +68,7 @@ private:
bool has_eu_speed_limit = false;
bool v_ego_cluster_seen = false;
int status = STATUS_DISENGAGED;
+ std::unique_ptr pm;
protected:
void paintGL() override;
@@ -97,7 +98,7 @@ private:
void paintEvent(QPaintEvent *event);
void mousePressEvent(QMouseEvent* e) override;
OnroadAlerts *alerts;
- NvgWindow *nvg;
+ AnnotatedCameraWidget *nvg;
QColor bg = bg_colors[STATUS_DISENGAGED];
QWidget *map = nullptr;
QHBoxLayout* split;
diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
index c5697c1045..59903e3376 100644
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@@ -21,10 +21,6 @@ QString getBrand() {
return Params().getBool("Passive") ? QObject::tr("dashcam") : QObject::tr("openpilot");
}
-QString getBrandVersion() {
- return getBrand() + " v" + getVersion().left(14).trimmed();
-}
-
QString getUserAgent() {
return "openpilot-" + getVersion();
}
diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h
index 209f051963..61a27a8669 100644
--- a/selfdrive/ui/qt/util.h
+++ b/selfdrive/ui/qt/util.h
@@ -11,7 +11,6 @@
QString getVersion();
QString getBrand();
-QString getBrandVersion();
QString getUserAgent();
std::optional getDongleId();
QMap getSupportedLanguages();
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index 63d15660a0..200257235d 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -93,14 +93,14 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio)
} // namespace
-CameraViewWidget::CameraViewWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) :
+CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) :
stream_name(stream_name), stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
setAttribute(Qt::WA_OpaquePaintEvent);
- connect(this, &CameraViewWidget::vipcThreadConnected, this, &CameraViewWidget::vipcConnected, Qt::BlockingQueuedConnection);
- connect(this, &CameraViewWidget::vipcThreadFrameReceived, this, &CameraViewWidget::vipcFrameReceived);
+ connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection);
+ connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived);
}
-CameraViewWidget::~CameraViewWidget() {
+CameraWidget::~CameraWidget() {
makeCurrent();
if (isValid()) {
glDeleteVertexArrays(1, &frame_vao);
@@ -111,7 +111,7 @@ CameraViewWidget::~CameraViewWidget() {
doneCurrent();
}
-void CameraViewWidget::initializeGL() {
+void CameraWidget::initializeGL() {
initializeOpenGLFunctions();
program = std::make_unique(context());
@@ -161,7 +161,7 @@ void CameraViewWidget::initializeGL() {
#endif
}
-void CameraViewWidget::showEvent(QShowEvent *event) {
+void CameraWidget::showEvent(QShowEvent *event) {
frames.clear();
if (!vipc_thread) {
vipc_thread = new QThread();
@@ -171,7 +171,7 @@ void CameraViewWidget::showEvent(QShowEvent *event) {
}
}
-void CameraViewWidget::hideEvent(QHideEvent *event) {
+void CameraWidget::hideEvent(QHideEvent *event) {
if (vipc_thread) {
vipc_thread->requestInterruption();
vipc_thread->quit();
@@ -180,7 +180,7 @@ void CameraViewWidget::hideEvent(QHideEvent *event) {
}
}
-void CameraViewWidget::updateFrameMat() {
+void CameraWidget::updateFrameMat() {
int w = width(), h = height();
if (zoomed_view) {
@@ -224,12 +224,12 @@ void CameraViewWidget::updateFrameMat() {
}
}
-void CameraViewWidget::updateCalibration(const mat3 &calib) {
+void CameraWidget::updateCalibration(const mat3 &calib) {
calibration = calib;
updateFrameMat();
}
-void CameraViewWidget::paintGL() {
+void CameraWidget::paintGL() {
glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
@@ -286,7 +286,7 @@ void CameraViewWidget::paintGL() {
glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
}
-void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) {
+void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) {
makeCurrent();
frames.clear();
stream_width = vipc_client->buffers[0].width;
@@ -339,7 +339,7 @@ void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) {
updateFrameMat();
}
-void CameraViewWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) {
+void CameraWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) {
frames.push_back(std::make_pair(frame_id, buf));
while (frames.size() > FRAME_BUFFER_SIZE) {
frames.pop_front();
@@ -347,7 +347,7 @@ void CameraViewWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) {
update();
}
-void CameraViewWidget::vipcThread() {
+void CameraWidget::vipcThread() {
VisionStreamType cur_stream_type = stream_type;
std::unique_ptr vipc_client;
VisionIpcBufExtra meta_main = {0};
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index 081483b649..9bcad935c0 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -23,13 +23,13 @@
const int FRAME_BUFFER_SIZE = 5;
static_assert(FRAME_BUFFER_SIZE <= YUV_BUFFER_COUNT);
-class CameraViewWidget : public QOpenGLWidget, protected QOpenGLFunctions {
+class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions {
Q_OBJECT
public:
using QOpenGLWidget::QOpenGLWidget;
- explicit CameraViewWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr);
- ~CameraViewWidget();
+ explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr);
+ ~CameraWidget();
void setStreamType(VisionStreamType type) { stream_type = type; }
void setBackgroundColor(const QColor &color) { bg = color; }
void setFrameId(int frame_id) { draw_frame_id = frame_id; }
diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc
index a1ebf57b07..d3b77935df 100644
--- a/selfdrive/ui/qt/widgets/controls.cc
+++ b/selfdrive/ui/qt/widgets/controls.cc
@@ -41,7 +41,7 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons
hlayout->addWidget(title_label);
// value next to control button
- value = new QLabel();
+ value = new ElidedLabel();
value->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
value->setStyleSheet("color: #aaaaaa");
hlayout->addWidget(value);
@@ -70,7 +70,7 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons
}
void AbstractControl::hideEvent(QHideEvent *e) {
- if(description != nullptr) {
+ if (description != nullptr) {
description->hide();
}
}
diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h
index c42716828f..f11f9baf59 100644
--- a/selfdrive/ui/qt/widgets/controls.h
+++ b/selfdrive/ui/qt/widgets/controls.h
@@ -65,7 +65,7 @@ protected:
QPushButton *title_label;
private:
- QLabel *value;
+ ElidedLabel *value;
QLabel *description = nullptr;
};
diff --git a/selfdrive/ui/qt/widgets/scrollview.cc b/selfdrive/ui/qt/widgets/scrollview.cc
index bd4309d8d0..5536593016 100644
--- a/selfdrive/ui/qt/widgets/scrollview.cc
+++ b/selfdrive/ui/qt/widgets/scrollview.cc
@@ -3,6 +3,8 @@
#include
#include
+// TODO: disable horizontal scrolling and resize
+
ScrollView::ScrollView(QWidget *w, QWidget *parent) : QScrollArea(parent) {
setWidget(w);
setWidgetResizable(true);
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 284208720b..3c47e6e8e8 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -4,17 +4,14 @@
AbstractAlert
-
Close
أغلق
-
Snooze Update
تأخير التحديث
-
Reboot and Update
إعادة التشغيل والتحديث
@@ -22,67 +19,84 @@
AdvancedNetworking
-
Back
خلف
-
Enable Tethering
تمكين الربط
-
Tethering Password
كلمة مرور للربط
-
-
EDIT
تعديل
-
Enter new tethering password
أدخل كلمة مرور جديدة للربط
-
IP Address
عنوان IP
-
Enable Roaming
تمكين التجوال
-
APN Setting
إعداد APN
-
Enter APN
أدخل APN
-
leave blank for automatic configuration
اتركه فارغا للتكوين التلقائي
+
+ Cellular Metered
+
+
+
+ Prevent large data uploads when on a metered connection
+
+
+
+
+ AnnotatedCameraWidget
+
+ km/h
+ km/h
+
+
+ mph
+ mph
+
+
+ MAX
+ الأعلى
+
+
+ SPEED
+ سرعة
+
+
+ LIMIT
+ حد
+
ConfirmationDialog
-
-
Ok
موافق
-
Cancel
إلغاء
@@ -90,17 +104,14 @@
DeclinePage
-
You must accept the Terms and Conditions in order to use openpilot.
يجب عليك قبول الشروط والأحكام من أجل استخدام openpilot.
-
Back
خلف
-
Decline, uninstall %1
رفض ، قم بإلغاء تثبيت %1
@@ -108,152 +119,122 @@
DevicePanel
-
Dongle ID
معرف دونجل
-
N/A
غير متاح
-
Serial
التسلسلي
-
Driver Camera
كاميرا السائق
-
PREVIEW
لمح
-
Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)
قم بمعاينة الكاميرا المواجهة للسائق للتأكد من أن نظام مراقبة السائق يتمتع برؤية جيدة. (يجب أن تكون السيارة معطلة)
-
Reset Calibration
إعادة ضبط المعايرة
-
RESET
إعادة تعيين
-
Are you sure you want to reset calibration?
هل أنت متأكد أنك تريد إعادة ضبط المعايرة؟
-
Review Training Guide
مراجعة دليل التدريب
-
REVIEW
مراجعة
-
Review the rules, features, and limitations of openpilot
راجع القواعد والميزات والقيود الخاصة بـ openpilot
-
Are you sure you want to review the training guide?
هل أنت متأكد أنك تريد مراجعة دليل التدريب؟
-
Regulatory
تنظيمية
-
VIEW
عرض
-
Change Language
تغيير اللغة
-
CHANGE
تغيير
-
Select a language
اختر لغة
-
Reboot
اعادة التشغيل
-
Power Off
أطفاء
-
openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.
يتطلب openpilot أن يتم تركيب الجهاز في حدود 4 درجات يسارًا أو يمينًا و 5 درجات لأعلى أو 8 درجات لأسفل. يقوم برنامج openpilot بالمعايرة بشكل مستمر ، ونادراً ما تكون إعادة الضبط مطلوبة.
-
Your device is pointed %1° %2 and %3° %4.
جهازك يشير %1° %2 و %3° %4.
-
down
لأسفل
-
up
إلى أعلى
-
left
إلى اليسار
-
right
إلى اليمين
-
Are you sure you want to reboot?
هل أنت متأكد أنك تريد إعادة التشغيل؟
-
Disengage to Reboot
فك الارتباط لإعادة التشغيل
-
Are you sure you want to power off?
هل أنت متأكد أنك تريد إيقاف التشغيل؟
-
Disengage to Power Off
فك الارتباط لإيقاف التشغيل
@@ -261,32 +242,26 @@
DriveStats
-
Drives
أرقام القيادة
-
Hours
ساعات
-
ALL TIME
في كل وقت
-
PAST WEEK
الأسبوع الماضي
-
KM
كم
-
Miles
اميال
@@ -294,7 +269,6 @@
DriverViewScene
-
camera starting
بدء تشغيل الكاميرا
@@ -302,12 +276,10 @@
InputDialog
-
Cancel
إلغاء
-
Need at least %n character(s)!
تحتاج على الأقل %n حرف!
@@ -322,22 +294,18 @@
Installer
-
Installing...
جارٍ التثبيت ...
-
Receiving objects:
استقبال الكائنات:
-
Resolving deltas:
حل دلتا:
-
Updating files:
جارٍ تحديث الملفات:
@@ -345,27 +313,22 @@
MapETA
-
eta
eta
-
min
دق
-
hr
سع
-
km
كم
-
mi
مل
@@ -373,22 +336,18 @@
MapInstructions
-
km
كم
-
m
م
-
mi
مل
-
ft
قد
@@ -396,48 +355,40 @@
MapPanel
-
Current Destination
الوجهة الحالية
-
CLEAR
مسح
-
Recent Destinations
الوجهات الأخيرة
-
Try the Navigation Beta
جرب التنقل التجريبي
-
Get turn-by-turn directions displayed and more with a comma
prime subscription. Sign up now: https://connect.comma.ai
احصل على الاتجاهات خطوة بخطوة معروضة والمزيد باستخدام comma
الاشتراك الرئيسي. اشترك الآن: https://connect.comma.ai
-
No home
location set
لم يتم تعيين
موقع المنزل
-
No work
location set
لم يتم تعيين
موقع العمل
-
no recent destinations
لا توجد وجهات حديثة
@@ -445,12 +396,10 @@ location set
MapWindow
-
Map Loading
تحميل الخريطة
-
Waiting for GPS
في انتظار GPS
@@ -458,12 +407,10 @@ location set
MultiOptionDialog
-
Select
اختر
-
Cancel
إلغاء
@@ -471,72 +418,33 @@ location set
Networking
-
Advanced
متقدم
-
Enter password
أدخل كلمة المرور
-
-
for "%1"
ل "%1"
-
Wrong password
كلمة مرور خاطئة
-
- NvgWindow
-
-
- km/h
- km/h
-
-
-
- mph
- mph
-
-
-
-
- MAX
- الأعلى
-
-
-
-
- SPEED
- سرعة
-
-
-
-
- LIMIT
- حد
-
-
OffroadHome
-
UPDATE
تحديث
-
ALERTS
تنبيهات
-
ALERT
تنبيه
@@ -544,22 +452,18 @@ location set
PairingPopup
-
Pair your device to your comma account
قم بإقران جهازك بحساب comma الخاص بك
-
Go to https://connect.comma.ai on your phone
اذهب إلى https://connect.comma.ai من هاتفك
-
Click "add new device" and scan the QR code on the right
انقر على "إضافة جهاز جديد" وامسح رمز الاستجابة السريعة على اليمين
-
Bookmark connect.comma.ai to your home screen to use it like an app
ضع إشارة مرجعية على connect.comma.ai على شاشتك الرئيسية لاستخدامه مثل أي تطبيق
@@ -567,32 +471,26 @@ location set
PrimeAdWidget
-
Upgrade Now
قم بالترقية الآن
-
Become a comma prime member at connect.comma.ai
كن عضوًا comme prime في connect.comma.ai
-
PRIME FEATURES:
ميزات PRIME:
-
Remote access
الوصول عن بعد
-
1 year of storage
سنة واحدة من التخزين
-
Developer perks
امتيازات المطور
@@ -600,22 +498,18 @@ location set
PrimeUserWidget
-
✓ SUBSCRIBED
✓ مشترك
-
comma prime
comma prime
-
CONNECT.COMMA.AI
CONNECT.COMMA.AI
-
COMMA POINTS
COMMA POINTS
@@ -623,27 +517,22 @@ location set
QObject
-
Reboot
اعادة التشغيل
-
Exit
أغلق
-
dashcam
dashcam
-
openpilot
openpilot
-
%n minute(s) ago
منذ %n دقيقة
@@ -655,7 +544,6 @@ location set
-
%n hour(s) ago
منذ %n ساعة
@@ -667,7 +555,6 @@ location set
-
%n day(s) ago
منذ %n يوم
@@ -682,47 +569,38 @@ location set
Reset
-
Reset failed. Reboot to try again.
فشل إعادة التعيين. أعد التشغيل للمحاولة مرة أخرى.
-
Are you sure you want to reset your device?
هل أنت متأكد أنك تريد إعادة ضبط جهازك؟
-
Resetting device...
جارٍ إعادة ضبط الجهاز ...
-
System Reset
إعادة تعيين النظام
-
System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.
تم تشغيل إعادة تعيين النظام. اضغط على تأكيد لمسح كل المحتوى والإعدادات. اضغط على إلغاء لاستئناف التمهيد.
-
Cancel
إلغاء
-
Reboot
اعادة التشغيل
-
Confirm
تأكيد
-
Unable to mount data partition. Press confirm to reset your device.
تعذر تحميل قسم البيانات. اضغط على تأكيد لإعادة ضبط جهازك.
@@ -730,7 +608,6 @@ location set
RichTextDialog
-
Ok
موافق
@@ -738,33 +615,26 @@ location set
SettingsWindow
-
×
x
-
Device
جهاز
-
-
Network
شبكة الاتصال
-
Toggles
التبديل
-
Software
برمجة
-
Navigation
ملاحة
@@ -772,105 +642,82 @@ location set
Setup
-
WARNING: Low Voltage
تحذير: الجهد المنخفض
-
Power your device in a car with a harness or proceed at your own risk.
قم بتشغيل جهازك في سيارة باستخدام أداة تثبيت أو المضي قدمًا على مسؤوليتك الخاصة.
-
Power off
اطفئ الجهاز
-
-
-
Continue
أكمل
-
Getting Started
ابدء
-
Before we get on the road, let’s finish installation and cover some details.
قبل أن ننطلق على الطريق ، دعنا ننتهي من التثبيت ونغطي بعض التفاصيل.
-
Connect to Wi-Fi
اتصل بشبكة Wi-Fi
-
-
Back
خلف
-
Continue without Wi-Fi
استمر بدون Wi-Fi
-
Waiting for internet
في انتظار الاتصال بالإنترنت
-
Choose Software to Install
اختر البرنامج المراد تثبيته
-
Dashcam
Dashcam
-
Custom Software
برامج مخصصة
-
Enter URL
إدخال عنوان الموقع
-
for Custom Software
للبرامج المخصصة
-
Downloading...
جارى التحميل...
-
Download Failed
فشل التنزيل
-
Ensure the entered URL is valid, and the device’s internet connection is good.
تأكد من أن عنوان موقع الويب الذي تم إدخاله صالح ، وأن اتصال الجهاز بالإنترنت جيد.
-
Reboot device
إعادة تشغيل الجهاز
-
Start over
ابدأ من جديد
@@ -878,17 +725,14 @@ location set
SetupWidget
-
Finish Setup
إنهاء الإعداد
-
Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.
قم بإقران جهازك بفاصلة connect (connect.comma.ai) واطلب عرض comma prime الخاص بك.
-
Pair device
إقران الجهاز
@@ -896,106 +740,82 @@ location set
Sidebar
-
-
CONNECT
الاتصال
-
OFFLINE
غير متصل
-
-
ONLINE
متصل
-
ERROR
خطأ
-
-
-
TEMP
درجة الحرارة
-
HIGH
عالي
-
GOOD
جيد
-
OK
موافق
-
VEHICLE
مركبة
-
NO
لا
-
PANDA
PANDA
-
GPS
GPS
-
SEARCH
بحث
-
--
--
-
Wi-Fi
Wi-Fi
-
ETH
ETH
-
2G
2G
-
3G
3G
-
LTE
LTE
-
5G
5G
@@ -1003,138 +823,141 @@ location set
SoftwarePanel
-
Git Branch
- Git Branch
+ Git Branch
-
Git Commit
- Git Commit
+ Git Commit
-
OS Version
- إصدار نظام التشغيل
+ إصدار نظام التشغيل
-
Version
- إصدار
+ إصدار
-
Last Update Check
- التحقق من آخر تحديث
+ التحقق من آخر تحديث
-
The last time openpilot successfully checked for an update. The updater only runs while the car is off.
- آخر مرة نجح برنامج openpilot في التحقق من التحديث. يعمل المحدث فقط أثناء إيقاف تشغيل السيارة.
+ آخر مرة نجح برنامج openpilot في التحقق من التحديث. يعمل المحدث فقط أثناء إيقاف تشغيل السيارة.
-
Check for Update
- فحص التحديثات
+ فحص التحديثات
-
CHECKING
- تدقيق
+ تدقيق
-
Switch Branch
- تبديل الفرع
+ تبديل الفرع
-
ENTER
- أدخل
+ أدخل
-
-
The new branch will be pulled the next time the updater runs.
- سيتم سحب الفرع الجديد في المرة التالية التي يتم فيها تشغيل أداة التحديث.
+ سيتم سحب الفرع الجديد في المرة التالية التي يتم فيها تشغيل أداة التحديث.
-
Enter branch name
- أدخل اسم الفرع
+ أدخل اسم الفرع
-
UNINSTALL
الغاء التثبيت
-
Uninstall %1
الغاء التثبيت %1
-
Are you sure you want to uninstall?
هل أنت متأكد أنك تريد إلغاء التثبيت؟
-
failed to fetch update
- فشل في جلب التحديث
+ فشل في جلب التحديث
-
-
CHECK
تأكد الان
+
+ Updates are only downloaded while the car is off.
+
+
+
+ Current Version
+
+
+
+ Download
+
+
+
+ Install Update
+
+
+
+ INSTALL
+
+
+
+ Target Branch
+
+
+
+ SELECT
+
+
+
+ Select a branch
+
+
SshControl
-
SSH Keys
SSH Keys
-
Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.
تحذير: هذا يمنح SSH الوصول إلى جميع المفاتيح العامة في إعدادات GitHub. لا تدخل أبدًا اسم مستخدم GitHub بخلاف اسم المستخدم الخاص بك. لن يطلب منك موظف comma أبدًا إضافة اسم مستخدم GitHub الخاص به.
-
-
ADD
أضف
-
Enter your GitHub username
أدخل اسم مستخدم GitHub الخاص بك
-
LOADING
جار التحميل
-
REMOVE
نزع
-
Username '%1' has no keys on GitHub
لا يحتوي اسم المستخدم '%1' على مفاتيح على GitHub
-
Request timed out
انتهت مهلة الطلب
-
Username '%1' doesn't exist on GitHub
اسم المستخدم '%1' غير موجود على GitHub
@@ -1142,7 +965,6 @@ location set
SshToggle
-
Enable SSH
تفعيل SSH
@@ -1150,22 +972,18 @@ location set
TermsPage
-
Terms & Conditions
البنود و الظروف
-
Decline
انحدار
-
Scroll to accept
قم بالتمرير للقبول
-
Agree
موافق
@@ -1173,125 +991,125 @@ location set
TogglesPanel
-
Enable openpilot
تمكين openpilot
-
Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.
استخدم نظام الطيار المفتوح للتحكم التكيفي في ثبات السرعة والحفاظ على مساعدة السائق. انتباهك مطلوب في جميع الأوقات لاستخدام هذه الميزة. يسري تغيير هذا الإعداد عند إيقاف تشغيل السيارة.
-
Enable Lane Departure Warnings
قم بتمكين تحذيرات مغادرة حارة السير
-
Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).
تلقي تنبيهات للتوجه مرة أخرى إلى الحارة عندما تنجرف سيارتك فوق خط المسار المكتشف دون تنشيط إشارة الانعطاف أثناء القيادة لمسافة تزيد عن 31 ميلاً في الساعة (50 كم / ساعة).
-
Use Metric System
استخدم النظام المتري
-
Display speed in km/h instead of mph.
عرض السرعة بالكيلو متر في الساعة بدلاً من ميل في الساعة.
-
Record and Upload Driver Camera
تسجيل وتحميل كاميرا السائق
-
Upload data from the driver facing camera and help improve the driver monitoring algorithm.
قم بتحميل البيانات من الكاميرا المواجهة للسائق وساعد في تحسين خوارزمية مراقبة السائق.
-
Disengage On Accelerator Pedal
فك الارتباط على دواسة التسريع
-
When enabled, pressing the accelerator pedal will disengage openpilot.
عند التمكين ، سيؤدي الضغط على دواسة الوقود إلى فصل الطيار المفتوح.
-
Show ETA in 24h Format
إظهار الوقت المقدر للوصول بتنسيق 24 ساعة
-
Use 24h format instead of am/pm
استخدم تنسيق 24 ساعة بدلاً من صباحًا / مساءً
-
Show Map on Left Side of UI
إظهار الخريطة على الجانب الأيسر من واجهة المستخدم
-
Show map on left side when in split screen view.
إظهار الخريطة على الجانب الأيسر عندما تكون في طريقة عرض الشاشة المنقسمة.
-
openpilot Longitudinal Control
- openpilot التحكم الطولي
+ openpilot التحكم الطولي
-
openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB!
- سوف يقوم برنامج openpilot بتعطيل رادار السيارة وسيتولى التحكم في الغاز والمكابح. تحذير: هذا يعطل AEB!
+ سوف يقوم برنامج openpilot بتعطيل رادار السيارة وسيتولى التحكم في الغاز والمكابح. تحذير: هذا يعطل AEB!
+
+
+ 🌮 End-to-end longitudinal (extremely alpha) 🌮
+
+
+
+ Experimental openpilot longitudinal control
+
+
+
+ <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b>
+
+
+
+ Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.
+
+
+
+ openpilot longitudinal control is not currently available for this car.
+
+
+
+ Enable experimental longitudinal control to enable this.
+
Updater
-
Update Required
مطلوب التحديث
-
An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.
مطلوب تحديث نظام التشغيل. قم بتوصيل جهازك بشبكة Wi-Fi للحصول على أسرع تجربة تحديث. حجم التنزيل 1 غيغابايت تقريبًا.
-
Connect to Wi-Fi
اتصل بشبكة Wi-Fi
-
Install
ثبيت
-
Back
خلف
-
Loading...
جار التحميل...
-
Reboot
اعادة التشغيل
-
Update failed
فشل التحديث
@@ -1299,23 +1117,18 @@ location set
WifiUI
-
-
Scanning for networks...
جارٍ البحث عن شبكات ...
-
CONNECTING...
جارٍ الاتصال ...
-
FORGET
نزع
-
Forget Wi-Fi Network "%1"?
نزع شبكة اWi-Fi "%1"?
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index b39c83c098..314a6b8338 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -67,6 +67,29 @@
+
+ AnnotatedCameraWidget
+
+ km/h
+ km/h
+
+
+ mph
+ mph
+
+
+ MAX
+ 最高速度
+
+
+ SPEED
+ 速度
+
+
+ LIMIT
+ 制限速度
+
+
ConfirmationDialog
@@ -406,29 +429,6 @@ location set
ﾊﾟｽﾜｰﾄﾞが間違っています
-
- NvgWindow
-
- km/h
- km/h
-
-
- mph
- mph
-
-
- MAX
- 最高速度
-
-
- SPEED
- 速度
-
-
- LIMIT
- 制限速度
-
-
OffroadHome
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 86cd8f990a..021243595e 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -60,11 +60,34 @@
Cellular Metered
-
+ 데이터 요금제
Prevent large data uploads when on a metered connection
-
+ 데이터 요금제 연결 시 대용량 데이터 업로드 방지
+
+
+
+ AnnotatedCameraWidget
+
+ km/h
+ km/h
+
+
+ mph
+ mph
+
+
+ MAX
+ MAX
+
+
+ SPEED
+ SPEED
+
+
+ LIMIT
+ LIMIT
@@ -406,29 +429,6 @@ location set
비밀번호가 틀렸습니다
-
- NvgWindow
-
- km/h
- km/h
-
-
- mph
- mph
-
-
- MAX
- MAX
-
-
- SPEED
- SPEED
-
-
- LIMIT
- LIMIT
-
-
OffroadHome
diff --git a/selfdrive/ui/translations/main_nl.ts b/selfdrive/ui/translations/main_nl.ts
index 99646ed749..24d2031f31 100644
--- a/selfdrive/ui/translations/main_nl.ts
+++ b/selfdrive/ui/translations/main_nl.ts
@@ -4,17 +4,14 @@
AbstractAlert
-
Close
Sluit
-
Snooze Update
Update uitstellen
-
Reboot and Update
Opnieuw Opstarten en Updaten
@@ -22,67 +19,84 @@
AdvancedNetworking
-
Back
Terug
-
Enable Tethering
Tethering Inschakelen
-
Tethering Password
Tethering Wachtwoord
-
-
EDIT
AANPASSEN
-
Enter new tethering password
Voer nieuw tethering wachtwoord in
-
IP Address
IP Adres
-
Enable Roaming
Roaming Inschakelen
-
APN Setting
APN Instelling
-
Enter APN
Voer APN in
-
leave blank for automatic configuration
laat leeg voor automatische configuratie
+
+ Cellular Metered
+
+
+
+ Prevent large data uploads when on a metered connection
+
+
+
+
+ AnnotatedCameraWidget
+
+ km/h
+ km/u
+
+
+ mph
+ mph
+
+
+ MAX
+ MAX
+
+
+ SPEED
+ SPEED
+
+
+ LIMIT
+ LIMIT
+
ConfirmationDialog
-
-
Ok
Ok
-
Cancel
Annuleren
@@ -90,17 +104,14 @@
DeclinePage
-
You must accept the Terms and Conditions in order to use openpilot.
U moet de Algemene Voorwaarden accepteren om openpilot te gebruiken.
-
Back
Terug
-
Decline, uninstall %1
Afwijzen, verwijder %1
@@ -108,152 +119,122 @@
DevicePanel
-
Dongle ID
Dongle ID
-
N/A
Nvt
-
Serial
Serienummer
-
Driver Camera
Bestuurders Camera
-
PREVIEW
BEKIJKEN
-
Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)
Bekijk de naar de bestuurder gerichte camera om ervoor te zorgen dat het monitoren van de bestuurder goed zicht heeft. (Voertuig moet uitgschakeld zijn)
-
Reset Calibration
Kalibratie Resetten
-
RESET
RESET
-
Are you sure you want to reset calibration?
Weet u zeker dat u de kalibratie wilt resetten?
-
Review Training Guide
Doorloop de Training Opnieuw
-
REVIEW
BEKIJKEN
-
Review the rules, features, and limitations of openpilot
Bekijk de regels, functies en beperkingen van openpilot
-
Are you sure you want to review the training guide?
Weet u zeker dat u de training opnieuw wilt doorlopen?
-
Regulatory
Regelgeving
-
VIEW
BEKIJKEN
-
Change Language
Taal Wijzigen
-
CHANGE
WIJZIGEN
-
Select a language
Selecteer een taal
-
Reboot
Opnieuw Opstarten
-
Power Off
Uitschakelen
-
openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.
openpilot vereist dat het apparaat binnen 4° links of rechts en binnen 5° omhoog of 8° omlaag wordt gemonteerd. openpilot kalibreert continu, resetten is zelden nodig.
-
Your device is pointed %1° %2 and %3° %4.
Uw apparaat is gericht op %1° %2 en %3° %4.
-
down
omlaag
-
up
omhoog
-
left
links
-
right
rechts
-
Are you sure you want to reboot?
Weet u zeker dat u opnieuw wilt opstarten?
-
Disengage to Reboot
Deactiveer openpilot om opnieuw op te starten
-
Are you sure you want to power off?
Weet u zeker dat u wilt uitschakelen?
-
Disengage to Power Off
Deactiveer openpilot om uit te schakelen
@@ -261,32 +242,26 @@
DriveStats
-
Drives
Ritten
-
Hours
Uren
-
ALL TIME
TOTAAL
-
PAST WEEK
AFGELOPEN WEEK
-
KM
Km
-
Miles
Mijl
@@ -294,7 +269,6 @@
DriverViewScene
-
camera starting
Camera wordt gestart
@@ -302,12 +276,10 @@
InputDialog
-
Cancel
Annuleren
-
Need at least %n character(s)!
Heeft minstens %n karakter nodig!
@@ -318,22 +290,18 @@
Installer
-
Installing...
Installeren...
-
Receiving objects:
Objecten ontvangen:
-
Resolving deltas:
Deltas verwerken:
-
Updating files:
Bestanden bijwerken:
@@ -341,27 +309,22 @@
MapETA
-
eta
eta
-
min
min
-
hr
uur
-
km
km
-
mi
mi
@@ -369,22 +332,18 @@
MapInstructions
-
km
km
-
m
m
-
mi
mi
-
ft
ft
@@ -392,48 +351,40 @@
MapPanel
-
Current Destination
Huidige Bestemming
-
CLEAR
LEEGMAKEN
-
Recent Destinations
Recente Bestemmingen
-
Try the Navigation Beta
Probeer de Navigatie Bèta
-
Get turn-by-turn directions displayed and more with a comma
prime subscription. Sign up now: https://connect.comma.ai
Krijg stapsgewijze routebeschrijving en meer met een comma
prime abonnement. Meld u nu aan: https://connect.comma.ai
-
No home
location set
Geen thuislocatie
ingesteld
-
No work
location set
Geen werklocatie
ingesteld
-
no recent destinations
geen recente bestemmingen
@@ -441,12 +392,10 @@ ingesteld
MapWindow
-
Map Loading
Kaart wordt geladen
-
Waiting for GPS
Wachten op GPS
@@ -454,12 +403,10 @@ ingesteld
MultiOptionDialog
-
Select
Selecteer
-
Cancel
Annuleren
@@ -467,72 +414,33 @@ ingesteld
Networking
-
Advanced
Geavanceerd
-
Enter password
Voer wachtwoord in
-
-
for "%1"
voor "%1"
-
Wrong password
Verkeerd wachtwoord
-
- NvgWindow
-
-
- km/h
- km/u
-
-
-
- mph
- mph
-
-
-
-
- MAX
- MAX
-
-
-
-
- SPEED
- SPEED
-
-
-
-
- LIMIT
- LIMIT
-
-
OffroadHome
-
UPDATE
UPDATE
-
ALERTS
WAARSCHUWINGEN
-
ALERT
WAARSCHUWING
@@ -540,22 +448,18 @@ ingesteld
PairingPopup
-
Pair your device to your comma account
Koppel uw apparaat aan uw comma-account
-
Go to https://connect.comma.ai on your phone
Ga naar https://connect.comma.ai op uw telefoon
-
Click "add new device" and scan the QR code on the right
Klik op "add new device" en scan de QR-code aan de rechterkant
-
Bookmark connect.comma.ai to your home screen to use it like an app
Voeg connect.comma.ai toe op uw startscherm om het als een app te gebruiken
@@ -563,32 +467,26 @@ ingesteld
PrimeAdWidget
-
Upgrade Now
Upgrade nu
-
Become a comma prime member at connect.comma.ai
Word een comma prime lid op connect.comma.ai
-
PRIME FEATURES:
PRIME BEVAT:
-
Remote access
Toegang op afstand
-
1 year of storage
1 jaar lang opslag
-
Developer perks
Voordelen voor ontwikkelaars
@@ -596,22 +494,18 @@ ingesteld
PrimeUserWidget
-
✓ SUBSCRIBED
✓ GEABONNEERD
-
comma prime
comma prime
-
CONNECT.COMMA.AI
CONNECT.COMMA.AI
-
COMMA POINTS
COMMA PUNTEN
@@ -619,27 +513,22 @@ ingesteld
QObject
-
Reboot
Opnieuw Opstarten
-
Exit
Afsluiten
-
dashcam
dashcam
-
openpilot
openpilot
-
%n minute(s) ago
%n minuut geleden
@@ -647,7 +536,6 @@ ingesteld
-
%n hour(s) ago
%n uur geleden
@@ -655,7 +543,6 @@ ingesteld
-
%n day(s) ago
%n dag geleden
@@ -666,47 +553,38 @@ ingesteld
Reset
-
Reset failed. Reboot to try again.
Opnieuw instellen mislukt. Start opnieuw op om opnieuw te proberen.
-
Are you sure you want to reset your device?
Weet u zeker dat u uw apparaat opnieuw wilt instellen?
-
Resetting device...
Apparaat opnieuw instellen...
-
System Reset
Systeemreset
-
System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.
Systeemreset geactiveerd. Druk op bevestigen om alle inhoud en instellingen te wissen. Druk op Annuleren om het opstarten te hervatten.
-
Cancel
Annuleren
-
Reboot
Opnieuw Opstarten
-
Confirm
Bevestigen
-
Unable to mount data partition. Press confirm to reset your device.
Kan gegevenspartitie niet koppelen. Druk op bevestigen om uw apparaat te resetten.
@@ -714,7 +592,6 @@ ingesteld
RichTextDialog
-
Ok
Ok
@@ -722,33 +599,26 @@ ingesteld
SettingsWindow
-
×
×
-
Device
Apparaat
-
-
Network
Netwerk
-
Toggles
Opties
-
Software
Software
-
Navigation
Navigatie
@@ -756,105 +626,82 @@ ingesteld
Setup
-
WARNING: Low Voltage
WAARCHUWING: Lage Spanning
-
Power your device in a car with a harness or proceed at your own risk.
Voorzie uw apparaat van stroom in een auto met een harnas (car harness) of ga op eigen risico verder.
-
Power off
Uitschakelen
-
-
-
Continue
Doorgaan
-
Getting Started
Aan de slag
-
Before we get on the road, let’s finish installation and cover some details.
Laten we, voordat we op pad gaan, de installatie afronden en enkele details bespreken.
-
Connect to Wi-Fi
Maak verbinding met Wi-Fi
-
-
Back
Terug
-
Continue without Wi-Fi
Doorgaan zonder Wi-Fi
-
Waiting for internet
Wachten op internet
-
Choose Software to Install
Kies Software om te Installeren
-
Dashcam
Dashcam
-
Custom Software
Andere Software
-
Enter URL
Voer URL in
-
for Custom Software
voor Andere Software
-
Downloading...
Downloaden...
-
Download Failed
Downloaden Mislukt
-
Ensure the entered URL is valid, and the device’s internet connection is good.
Zorg ervoor dat de ingevoerde URL geldig is en dat de internetverbinding van het apparaat goed is.
-
Reboot device
Apparaat opnieuw opstarten
-
Start over
Begin opnieuw
@@ -862,17 +709,14 @@ ingesteld
SetupWidget
-
Finish Setup
Installatie voltooien
-
Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.
Koppel uw apparaat met comma connect (connect.comma.ai) en claim uw comma prime-aanbieding.
-
Pair device
Apparaat koppelen
@@ -880,106 +724,82 @@ ingesteld
Sidebar
-
-
CONNECT
VERBINDING
-
OFFLINE
OFFLINE
-
-
ONLINE
ONLINE
-
ERROR
FOUT
-
-
-
TEMP
TEMP
-
HIGH
HOOG
-
GOOD
GOED
-
OK
OK
-
VEHICLE
VOERTUIG
-
NO
GEEN
-
PANDA
PANDA
-
GPS
GPS
-
SEARCH
ZOEKEN
-
--
--
-
Wi-Fi
Wi-Fi
-
ETH
ETH
-
2G
2G
-
3G
3G
-
LTE
4G
-
5G
5G
@@ -987,138 +807,141 @@ ingesteld
SoftwarePanel
-
Git Branch
- Git Branch
+ Git Branch
-
Git Commit
- Git Commit
+ Git Commit
-
OS Version
- OS Versie
+ OS Versie
-
Version
- Versie
+ Versie
-
Last Update Check
- Laatste Updatecontrole
+ Laatste Updatecontrole
-
The last time openpilot successfully checked for an update. The updater only runs while the car is off.
- De laatste keer dat openpilot met succes heeft gecontroleerd op een update. De updater werkt alleen als de auto is uitgeschakeld.
+ De laatste keer dat openpilot met succes heeft gecontroleerd op een update. De updater werkt alleen als de auto is uitgeschakeld.
-
Check for Update
- Controleer op Updates
+ Controleer op Updates
-
CHECKING
- CONTROLEER
+ CONTROLEER
-
Switch Branch
- Branch Verwisselen
+ Branch Verwisselen
-
ENTER
- INVOEREN
+ INVOEREN
-
-
The new branch will be pulled the next time the updater runs.
- Tijdens de volgende update wordt de nieuwe branch opgehaald.
+ Tijdens de volgende update wordt de nieuwe branch opgehaald.
-
Enter branch name
- Voer branch naam in
+ Voer branch naam in
-
Uninstall %1
Verwijder %1
-
UNINSTALL
VERWIJDER
-
Are you sure you want to uninstall?
Weet u zeker dat u de installatie ongedaan wilt maken?
-
failed to fetch update
- ophalen van update mislukt
+ ophalen van update mislukt
-
-
CHECK
CONTROLEER
+
+ Updates are only downloaded while the car is off.
+
+
+
+ Current Version
+
+
+
+ Download
+
+
+
+ Install Update
+
+
+
+ INSTALL
+
+
+
+ Target Branch
+
+
+
+ SELECT
+
+
+
+ Select a branch
+
+
SshControl
-
SSH Keys
SSH Sleutels
-
Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.
Waarschuwing: dit geeft SSH toegang tot alle openbare sleutels in uw GitHub-instellingen. Voer nooit een andere GitHub-gebruikersnaam in dan die van uzelf. Een medewerker van comma zal u NOOIT vragen om zijn GitHub-gebruikersnaam toe te voegen.
-
-
ADD
TOEVOEGEN
-
Enter your GitHub username
Voer uw GitHub gebruikersnaam in
-
LOADING
LADEN
-
REMOVE
VERWIJDEREN
-
Username '%1' has no keys on GitHub
Gebruikersnaam '%1' heeft geen SSH sleutels op GitHub
-
Request timed out
Time-out van aanvraag
-
Username '%1' doesn't exist on GitHub
Gebruikersnaam '%1' bestaat niet op GitHub
@@ -1126,7 +949,6 @@ ingesteld
SshToggle
-
Enable SSH
SSH Inschakelen
@@ -1134,22 +956,18 @@ ingesteld
TermsPage
-
Terms & Conditions
Algemene Voorwaarden
-
Decline
Afwijzen
-
Scroll to accept
Scroll om te accepteren
-
Agree
Akkoord
@@ -1157,125 +975,125 @@ ingesteld
TogglesPanel
-
Enable openpilot
openpilot Inschakelen
-
Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.
Gebruik het openpilot-systeem voor adaptieve cruisecontrol en rijstrookassistentie. Uw aandacht is te allen tijde vereist om deze functie te gebruiken. Het wijzigen van deze instelling wordt van kracht wanneer de auto wordt uitgeschakeld.
-
Enable Lane Departure Warnings
Waarschuwingen bij Verlaten Rijstrook Inschakelen
-
Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).
Ontvang waarschuwingen om terug naar de rijstrook te sturen wanneer uw voertuig over een gedetecteerde rijstrookstreep drijft zonder dat de richtingaanwijzer wordt geactiveerd terwijl u harder rijdt dan 50 km/u (31 mph).
-
Use Metric System
Gebruik Metrisch Systeem
-
Display speed in km/h instead of mph.
Geef snelheid weer in km/u in plaats van mph.
-
Record and Upload Driver Camera
Opnemen en Uploaden van de Bestuurders Camera
-
Upload data from the driver facing camera and help improve the driver monitoring algorithm.
Upload gegevens van de bestuurders camera en help het algoritme voor het monitoren van de bestuurder te verbeteren.
-
Disengage On Accelerator Pedal
Deactiveren Met Gaspedaal
-
When enabled, pressing the accelerator pedal will disengage openpilot.
Indien ingeschakeld, zal het indrukken van het gaspedaal openpilot deactiveren.
-
Show ETA in 24h Format
Toon verwachte aankomsttijd in 24-uurs formaat
-
Use 24h format instead of am/pm
Gebruik 24-uurs formaat in plaats van AM en PM
-
Show Map on Left Side of UI
Toon kaart aan linkerkant van het scherm
-
Show map on left side when in split screen view.
Toon kaart links in gesplitste schermweergave.
-
openpilot Longitudinal Control
- openpilot Longitudinale Controle
+ openpilot Longitudinale Controle
-
openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB!
- openpilot zal de radar van de auto uitschakelen en de controle over gas en remmen overnemen. Waarschuwing: hierdoor wordt AEB (automatische noodrem) uitgeschakeld!
+ openpilot zal de radar van de auto uitschakelen en de controle over gas en remmen overnemen. Waarschuwing: hierdoor wordt AEB (automatische noodrem) uitgeschakeld!
+
+
+ 🌮 End-to-end longitudinal (extremely alpha) 🌮
+
+
+
+ Experimental openpilot longitudinal control
+
+
+
+ <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b>
+
+
+
+ Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.
+
+
+
+ openpilot longitudinal control is not currently available for this car.
+
+
+
+ Enable experimental longitudinal control to enable this.
+
Updater
-
Update Required
Update Vereist
-
An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.
Een update van het besturingssysteem is vereist. Verbind je apparaat met Wi-Fi voor de snelste update-ervaring. De downloadgrootte is ongeveer 1 GB.
-
Connect to Wi-Fi
Maak verbinding met Wi-Fi
-
Install
Installeer
-
Back
Terug
-
Loading...
Aan het laden...
-
Reboot
Opnieuw Opstarten
-
Update failed
Update mislukt
@@ -1283,23 +1101,18 @@ ingesteld
WifiUI
-
-
Scanning for networks...
Scannen naar netwerken...
-
CONNECTING...
VERBINDEN...
-
FORGET
VERGETEN
-
Forget Wi-Fi Network "%1"?
Vergeet Wi-Fi Netwerk "%1"?
diff --git a/selfdrive/ui/translations/main_pl.ts b/selfdrive/ui/translations/main_pl.ts
index 8593d68261..bdce181375 100644
--- a/selfdrive/ui/translations/main_pl.ts
+++ b/selfdrive/ui/translations/main_pl.ts
@@ -4,17 +4,14 @@
AbstractAlert
-
Close
Zamknij
-
Snooze Update
Zaktualizuj później
-
Reboot and Update
Uruchom ponownie i zaktualizuj
@@ -22,67 +19,84 @@
AdvancedNetworking
-
Back
Wróć
-
Enable Tethering
Włącz hotspot osobisty
-
Tethering Password
Hasło do hotspotu
-
-
EDIT
EDYTUJ
-
Enter new tethering password
Wprowadź nowe hasło do hotspotu
-
IP Address
Adres IP
-
Enable Roaming
Włącz roaming danych
-
APN Setting
Ustawienia APN
-
Enter APN
Wprowadź APN
-
leave blank for automatic configuration
Pozostaw puste, aby użyć domyślnej konfiguracji
+
+ Cellular Metered
+
+
+
+ Prevent large data uploads when on a metered connection
+
+
+
+
+ AnnotatedCameraWidget
+
+ km/h
+ km/h
+
+
+ mph
+ mph
+
+
+ MAX
+ MAX
+
+
+ SPEED
+ PRĘDKOŚĆ
+
+
+ LIMIT
+ OGRANICZENIE
+
ConfirmationDialog
-
-
Ok
Ok
-
Cancel
Anuluj
@@ -90,17 +104,14 @@
DeclinePage
-
You must accept the Terms and Conditions in order to use openpilot.
Aby korzystać z openpilota musisz zaakceptować regulamin.
-
Back
Wróć
-
Decline, uninstall %1
Odrzuć, odinstaluj %1
@@ -108,152 +119,122 @@
DevicePanel
-
Dongle ID
ID adaptera
-
N/A
N/A
-
Serial
Numer seryjny
-
Driver Camera
Kamera kierowcy
-
PREVIEW
PODGLĄD
-
Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)
Wyświetl podgląd z kamery skierowanej na kierowcę, aby upewnić się, że monitoring kierowcy ma dobry zakres widzenia. (pojazd musi być wyłączony)
-
Reset Calibration
Zresetuj kalibrację
-
RESET
ZRESETUJ
-
Are you sure you want to reset calibration?
Czy na pewno chcesz zresetować kalibrację?
-
Review Training Guide
Zapoznaj się z samouczkiem
-
REVIEW
ZAPOZNAJ SIĘ
-
Review the rules, features, and limitations of openpilot
Zapoznaj się z zasadami, funkcjami i ograniczeniami openpilota
-
Are you sure you want to review the training guide?
Czy na pewno chcesz się zapoznać z samouczkiem?
-
Regulatory
Regulacja
-
VIEW
WIDOK
-
Change Language
Zmień język
-
CHANGE
ZMIEŃ
-
Select a language
Wybierz język
-
Reboot
Uruchom ponownie
-
Power Off
Wyłącz
-
openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.
openpilot wymaga, aby urządzenie było zamontowane z maksymalnym odchyłem 4° poziomo, 5° w górę oraz 8° w dół. openpilot jest ciągle kalibrowany, rzadko konieczne jest resetowania urządzenia.
-
Your device is pointed %1° %2 and %3° %4.
Twoje urządzenie jest skierowane %1° %2 oraz %3° %4.
-
down
w dół
-
up
w górę
-
left
w lewo
-
right
w prawo
-
Are you sure you want to reboot?
Czy na pewno chcesz uruchomić ponownie urządzenie?
-
Disengage to Reboot
Aby uruchomić ponownie, odłącz sterowanie
-
Are you sure you want to power off?
Czy na pewno chcesz wyłączyć urządzenie?
-
Disengage to Power Off
Aby wyłączyć urządzenie, odłącz sterowanie
@@ -261,32 +242,26 @@
DriveStats
-
Drives
Przejazdy
-
Hours
Godziny
-
ALL TIME
CAŁKOWICIE
-
PAST WEEK
OSTATNI TYDZIEŃ
-
KM
KM
-
Miles
Mile
@@ -294,7 +269,6 @@
DriverViewScene
-
camera starting
uruchamianie kamery
@@ -302,12 +276,10 @@
InputDialog
-
Cancel
Anuluj
-
Need at least %n character(s)!
Wpisana wartość powinna składać się przynajmniej z %n znaku!
@@ -319,22 +291,18 @@
Installer
-
Installing...
Instalowanie...
-
Receiving objects:
Odbieranie obiektów:
-
Resolving deltas:
Rozwiązywanie różnic:
-
Updating files:
Aktualizacja plików:
@@ -342,27 +310,22 @@
MapETA
-
eta
przewidywany czas
-
min
min
-
hr
godz
-
km
km
-
mi
mi
@@ -370,22 +333,18 @@
MapInstructions
-
km
km
-
m
m
-
mi
mi
-
ft
ft
@@ -393,48 +352,40 @@
MapPanel
-
Current Destination
Miejsce docelowe
-
CLEAR
WYCZYŚĆ
-
Recent Destinations
Ostatnie miejsca docelowe
-
Try the Navigation Beta
Wypróbuj nawigację w wersji beta
-
Get turn-by-turn directions displayed and more with a comma
prime subscription. Sign up now: https://connect.comma.ai
Odblokuj nawigację zakręt po zakęcie i wiele więcej subskrybując
comma prime. Zarejestruj się teraz: https://connect.comma.ai
-
No home
location set
Lokalizacja domu
nie została ustawiona
-
No work
location set
Miejsce pracy
nie zostało ustawione
-
no recent destinations
brak ostatnich miejsc docelowych
@@ -442,12 +393,10 @@ nie zostało ustawione
MapWindow
-
Map Loading
Ładowanie Mapy
-
Waiting for GPS
Oczekiwanie na sygnał GPS
@@ -455,12 +404,10 @@ nie zostało ustawione
MultiOptionDialog
-
Select
Wybierz
-
Cancel
Anuluj
@@ -468,72 +415,33 @@ nie zostało ustawione
Networking
-
Advanced
Zaawansowane
-
Enter password
Wprowadź hasło
-
-
for "%1"
do "%1"
-
Wrong password
Niepoprawne hasło
-
- NvgWindow
-
-
- km/h
- km/h
-
-
-
- mph
- mph
-
-
-
-
- MAX
- MAX
-
-
-
-
- SPEED
- PRĘDKOŚĆ
-
-
-
-
- LIMIT
- OGRANICZENIE
-
-
OffroadHome
-
UPDATE
UAKTUALNIJ
-
ALERTS
ALERTY
-
ALERT
ALERT
@@ -541,22 +449,18 @@ nie zostało ustawione
PairingPopup
-
Pair your device to your comma account
Sparuj swoje urzadzenie ze swoim kontem comma
-
Go to https://connect.comma.ai on your phone
Wejdź na stronę https://connect.comma.ai na swoim telefonie
-
Click "add new device" and scan the QR code on the right
Kliknij "add new device" i zeskanuj kod QR znajdujący się po prawej stronie
-
Bookmark connect.comma.ai to your home screen to use it like an app
Dodaj connect.comma.ai do zakładek na swoim ekranie początkowym, aby korzystać z niej jak z aplikacji
@@ -564,32 +468,26 @@ nie zostało ustawione
PrimeAdWidget
-
Upgrade Now
Uaktualnij teraz
-
Become a comma prime member at connect.comma.ai
Zostań członkiem comma prime na connect.comma.ai
-
PRIME FEATURES:
FUNKCJE PRIME:
-
Remote access
Zdalny dostęp
-
1 year of storage
1 rok przechowywania danych
-
Developer perks
Udogodnienia dla programistów
@@ -597,22 +495,18 @@ nie zostało ustawione
PrimeUserWidget
-
✓ SUBSCRIBED
✓ ZASUBSKRYBOWANO
-
comma prime
comma prime
-
CONNECT.COMMA.AI
CONNECT.COMMA.AI
-
COMMA POINTS
COMMA POINTS
@@ -620,27 +514,22 @@ nie zostało ustawione
QObject
-
Reboot
Uruchom Ponownie
-
Exit
Wyjdź
-
dashcam
wideorejestrator
-
openpilot
openpilot
-
%n minute(s) ago
%n minutę temu
@@ -649,7 +538,6 @@ nie zostało ustawione
-
%n hour(s) ago
% godzinę temu
@@ -658,7 +546,6 @@ nie zostało ustawione
-
%n day(s) ago
%n dzień temu
@@ -670,47 +557,38 @@ nie zostało ustawione
Reset
-
Reset failed. Reboot to try again.
Wymazywanie zakończone niepowodzeniem. Aby spróbować ponownie, uruchom ponownie urządzenie.
-
Are you sure you want to reset your device?
Czy na pewno chcesz wymazać urządzenie?
-
Resetting device...
Wymazywanie urządzenia...
-
System Reset
Przywróć do ustawień fabrycznych
-
System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.
Przywracanie do ustawień fabrycznych. Wciśnij potwierdź, aby usunąć wszystkie dane oraz ustawienia. Wciśnij anuluj, aby wznowić uruchamianie.
-
Cancel
Anuluj
-
Reboot
Uruchom ponownie
-
Confirm
Potwiedź
-
Unable to mount data partition. Press confirm to reset your device.
Partycja nie została zamontowana poprawnie. Wciśnij potwierdź, aby uruchomić ponownie urządzenie.
@@ -718,7 +596,6 @@ nie zostało ustawione
RichTextDialog
-
Ok
Ok
@@ -726,33 +603,26 @@ nie zostało ustawione
SettingsWindow
-
×
x
-
Device
Urządzenie
-
-
Network
Sieć
-
Toggles
Przełączniki
-
Software
Oprogramowanie
-
Navigation
Nawigacja
@@ -760,105 +630,82 @@ nie zostało ustawione
Setup
-
WARNING: Low Voltage
OSTRZEŻENIE: Niskie Napięcie
-
Power your device in a car with a harness or proceed at your own risk.
Podłącz swoje urządzenie do zasilania poprzez podłączenienie go do pojazdu lub kontynuuj na własną odpowiedzialność.
-
Power off
Wyłącz
-
-
-
Continue
Kontynuuj
-
Getting Started
Zacznij
-
Before we get on the road, let’s finish installation and cover some details.
Zanim ruszysz w drogę, dokończ instalację i podaj kilka szczegółów.
-
Connect to Wi-Fi
Połącz z Wi-Fi
-
-
Back
Wróć
-
Continue without Wi-Fi
Kontynuuj bez połączenia z Wif-Fi
-
Waiting for internet
Oczekiwanie na połączenie sieciowe
-
Choose Software to Install
Wybierz oprogramowanie do instalacji
-
Dashcam
Wideorejestrator
-
Custom Software
Własne oprogramowanie
-
Enter URL
Wprowadź adres URL
-
for Custom Software
do własnego oprogramowania
-
Downloading...
Pobieranie...
-
Download Failed
Pobieranie nie powiodło się
-
Ensure the entered URL is valid, and the device’s internet connection is good.
Upewnij się, że wpisany adres URL jest poprawny, a połączenie internetowe działa poprawnie.
-
Reboot device
Uruchom ponownie
-
Start over
Zacznij od początku
@@ -866,17 +713,14 @@ nie zostało ustawione
SetupWidget
-
Finish Setup
Zakończ konfigurację
-
Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.
Sparuj swoje urządzenie z comma connect (connect.comma.ai) i wybierz swoją ofertę comma prime.
-
Pair device
Sparuj urządzenie
@@ -884,106 +728,82 @@ nie zostało ustawione
Sidebar
-
-
CONNECT
POŁĄCZENIE
-
OFFLINE
OFFLINE
-
-
ONLINE
ONLINE
-
ERROR
BŁĄD
-
-
-
TEMP
TEMP
-
HIGH
WYSOKA
-
GOOD
DOBRA
-
OK
OK
-
VEHICLE
POJAZD
-
NO
BRAK
-
PANDA
PANDA
-
GPS
GPS
-
SEARCH
SZUKAJ
-
--
--
-
Wi-Fi
Wi-FI
-
ETH
ETH
-
2G
2G
-
3G
3G
-
LTE
LTE
-
5G
5G
@@ -991,138 +811,141 @@ nie zostało ustawione
SoftwarePanel
-
Git Branch
- Gałąź Git
+ Gałąź Git
-
Git Commit
- Git commit
+ Git commit
-
OS Version
- Wersja systemu
+ Wersja systemu
-
Version
- Wersja
+ Wersja
-
Last Update Check
- Ostatnie sprawdzenie aktualizacji
+ Ostatnie sprawdzenie aktualizacji
-
The last time openpilot successfully checked for an update. The updater only runs while the car is off.
- Ostatni raz kiedy openpilot znalazł aktualizację. Aktualizator może być uruchomiony wyłącznie wtedy, kiedy pojazd jest wyłączony.
+ Ostatni raz kiedy openpilot znalazł aktualizację. Aktualizator może być uruchomiony wyłącznie wtedy, kiedy pojazd jest wyłączony.
-
Check for Update
- Sprawdź uaktualnienia
+ Sprawdź uaktualnienia
-
CHECKING
- SPRAWDZANIE
+ SPRAWDZANIE
-
Switch Branch
- Zmień gąłąź
+ Zmień gąłąź
-
ENTER
- WPROWADŹ
+ WPROWADŹ
-
-
The new branch will be pulled the next time the updater runs.
- Nowa gałąź będzie pobrana przy następnym uruchomieniu aktualizatora.
+ Nowa gałąź będzie pobrana przy następnym uruchomieniu aktualizatora.
-
Enter branch name
- Wprowadź nazwę gałęzi
+ Wprowadź nazwę gałęzi
-
Uninstall %1
Odinstaluj %1
-
UNINSTALL
ODINSTALUJ
-
Are you sure you want to uninstall?
Czy na pewno chcesz odinstalować?
-
failed to fetch update
- pobieranie aktualizacji zakończone niepowodzeniem
+ pobieranie aktualizacji zakończone niepowodzeniem
-
-
CHECK
SPRAWDŹ
+
+ Updates are only downloaded while the car is off.
+
+
+
+ Current Version
+
+
+
+ Download
+
+
+
+ Install Update
+
+
+
+ INSTALL
+
+
+
+ Target Branch
+
+
+
+ SELECT
+
+
+
+ Select a branch
+
+
SshControl
-
SSH Keys
Klucze SSH
-
Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.
Ostrzeżenie: To spowoduje przekazanie dostępu do wszystkich Twoich publicznych kuczy z ustawień GitHuba. Nigdy nie wprowadzaj nazwy użytkownika innej niż swoja. Pracownik comma NIGDY nie poprosi o dodanie swojej nazwy uzytkownika.
-
-
ADD
DODAJ
-
Enter your GitHub username
Wpisz swoją nazwę użytkownika GitHub
-
LOADING
ŁADOWANIE
-
REMOVE
USUŃ
-
Username '%1' has no keys on GitHub
Użytkownik '%1' nie posiada żadnych kluczy na GitHubie
-
Request timed out
Limit czasu rządania
-
Username '%1' doesn't exist on GitHub
Użytkownik '%1' nie istnieje na GitHubie
@@ -1130,7 +953,6 @@ nie zostało ustawione
SshToggle
-
Enable SSH
Włącz SSH
@@ -1138,22 +960,18 @@ nie zostało ustawione
TermsPage
-
Terms & Conditions
Regulamin
-
Decline
Odrzuć
-
Scroll to accept
Przewiń w dół, aby zaakceptować
-
Agree
Zaakceptuj
@@ -1161,125 +979,125 @@ nie zostało ustawione
TogglesPanel
-
Enable openpilot
Włącz openpilota
-
Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.
Użyj openpilota do zachowania bezpiecznego odstępu między pojazdami i do asystowania w utrzymywaniu pasa ruchu. Twoja pełna uwaga jest wymagana przez cały czas korzystania z tej funkcji. Ustawienie to może być wdrożone wyłącznie wtedy, gdy pojazd jest wyłączony.
-
Enable Lane Departure Warnings
Włącz ostrzeganie przed zmianą pasa ruchu
-
Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).
Otrzymuj alerty o powrocie na właściwy pas, kiedy Twój pojazd przekroczy linię bez włączonego kierunkowskazu jadąc powyżej 50 km/h (31 mph).
-
Use Metric System
Korzystaj z systemu metrycznego
-
Display speed in km/h instead of mph.
Wyświetl prędkość w km/h zamiast mph.
-
Record and Upload Driver Camera
Nagraj i prześlij nagranie z kamery kierowcy
-
Upload data from the driver facing camera and help improve the driver monitoring algorithm.
Prześlij dane z kamery skierowanej na kierowcę i pomóż poprawiać algorytm monitorowania kierowcy.
-
Disengage On Accelerator Pedal
Odłącz poprzez naciśnięcie gazu
-
When enabled, pressing the accelerator pedal will disengage openpilot.
Po włączeniu, naciśnięcie na pedał gazu odłączy openpilota.
-
Show ETA in 24h Format
Pokaż oczekiwany czas dojazdu w formacie 24-godzinnym
-
Use 24h format instead of am/pm
Korzystaj z formatu 24-godzinnego zamiast 12-godzinnego
-
Show Map on Left Side of UI
Pokaż mapę po lewej stronie ekranu
-
Show map on left side when in split screen view.
Pokaż mapę po lewej stronie kiedy ekran jest podzielony.
-
openpilot Longitudinal Control
- Kontrola wzdłużna openpilota
+ Kontrola wzdłużna openpilota
-
openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB!
- openpilot wyłączy radar samochodu i przejmie kontrolę nad gazem i hamulcem. Ostrzeżenie: wyłączony zostanie system AEB!
+ openpilot wyłączy radar samochodu i przejmie kontrolę nad gazem i hamulcem. Ostrzeżenie: wyłączony zostanie system AEB!
+
+
+ 🌮 End-to-end longitudinal (extremely alpha) 🌮
+
+
+
+ Experimental openpilot longitudinal control
+
+
+
+ <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b>
+
+
+
+ Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.
+
+
+
+ openpilot longitudinal control is not currently available for this car.
+
+
+
+ Enable experimental longitudinal control to enable this.
+
Updater
-
Update Required
Wymagana Aktualizacja
-
An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.
Wymagana aktualizacja systemu operacyjnego. Aby przyspieszyć proces aktualizacji połącz swoje urzeądzenie do Wi-Fi. Rozmiar pobieranej paczki wynosi około 1GB.
-
Connect to Wi-Fi
Połącz się z Wi-Fi
-
Install
Zainstaluj
-
Back
Wróć
-
Loading...
Ładowanie...
-
Reboot
Uruchom ponownie
-
Update failed
Aktualizacja nie powiodła się
@@ -1287,23 +1105,18 @@ nie zostało ustawione
WifiUI
-
-
Scanning for networks...
Wyszukiwanie sieci...
-
CONNECTING...
ŁĄCZENIE...
-
FORGET
ZAPOMNIJ
-
Forget Wi-Fi Network "%1"?
Czy chcesz zapomnieć sieć "%1"?
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 8f59bf4715..2afdaf3388 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -67,6 +67,29 @@
Evite grandes uploads de dados quando estiver em uma conexão limitada
+
+ AnnotatedCameraWidget
+
+ km/h
+ km/h
+
+
+ mph
+ mph
+
+
+ MAX
+ LIMITE
+
+
+ SPEED
+ MAX
+
+
+ LIMIT
+ VELO
+
+
ConfirmationDialog
@@ -407,29 +430,6 @@ trabalho definido
Senha incorreta
-
- NvgWindow
-
- km/h
- km/h
-
-
- mph
- mph
-
-
- MAX
- LIMITE
-
-
- SPEED
- MAX
-
-
- LIMIT
- VELO
-
-
OffroadHome
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 7e7fcf2788..95880e69c9 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -4,17 +4,14 @@
AbstractAlert
-
Close
ปิด
-
Snooze Update
เลื่อนการอัปเดต
-
Reboot and Update
รีบูตและอัปเดต
@@ -22,67 +19,84 @@
AdvancedNetworking
-
Back
ย้อนกลับ
-
Enable Tethering
ปล่อยฮอตสปอต
-
Tethering Password
รหัสผ่านฮอตสปอต
-
-
EDIT
แก้ไข
-
Enter new tethering password
ป้อนรหัสผ่านฮอตสปอตใหม่
-
IP Address
หมายเลขไอพี
-
Enable Roaming
เปิดใช้งานโรมมิ่ง
-
APN Setting
ตั้งค่า APN
-
Enter APN
ป้อนค่า APN
-
leave blank for automatic configuration
เว้นว่างเพื่อตั้งค่าอัตโนมัติ
+
+ Cellular Metered
+ ลดการส่งข้อมูลผ่านเซลลูล่าร์
+
+
+ Prevent large data uploads when on a metered connection
+ ปิดการอัพโหลดข้อมูลขนาดใหญ่เมื่อเชื่อมต่อผ่านเซลลูล่าร์
+
+
+
+ AnnotatedCameraWidget
+
+ km/h
+ กม./ชม.
+
+
+ mph
+ ไมล์/ชม.
+
+
+ MAX
+ สูงสุด
+
+
+ SPEED
+ ความเร็ว
+
+
+ LIMIT
+ จำกัด
+
ConfirmationDialog
-
-
Ok
ตกลง
-
Cancel
ยกเลิก
@@ -90,17 +104,14 @@
DeclinePage
-
You must accept the Terms and Conditions in order to use openpilot.
คุณต้องยอมรับเงื่อนไขและข้อตกลง เพื่อใช้งาน openpilot
-
Back
ย้อนกลับ
-
Decline, uninstall %1
ปฏิเสธ และถอนการติดตั้ง %1
@@ -108,152 +119,122 @@
DevicePanel
-
Dongle ID
Dongle ID
-
N/A
ไม่มี
-
Serial
ซีเรียล
-
Driver Camera
กล้องฝั่งคนขับ
-
PREVIEW
แสดงภาพ
-
Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)
ดูภาพตัวอย่างกล้องที่หันเข้าหาคนขับเพื่อให้แน่ใจว่าการตรวจสอบคนขับมีทัศนวิสัยที่ดี (รถต้องดับเครื่องยนต์)
-
Reset Calibration
รีเซ็ตการคาลิเบรท
-
RESET
รีเซ็ต
-
Are you sure you want to reset calibration?
คุณแน่ใจหรือไม่ว่าต้องการรีเซ็ตการคาลิเบรท?
-
Review Training Guide
ทบทวนคู่มือการใช้งาน
-
REVIEW
ทบทวน
-
Review the rules, features, and limitations of openpilot
ตรวจสอบกฎ คุณสมบัติ และข้อจำกัดของ openpilot
-
Are you sure you want to review the training guide?
คุณแน่ใจหรือไม่ว่าต้องการทบทวนคู่มือการใช้งาน?
-
Regulatory
ระเบียบข้อบังคับ
-
VIEW
ดู
-
Change Language
เปลี่ยนภาษา
-
CHANGE
เปลี่ยน
-
Select a language
เลือกภาษา
-
Reboot
รีบูต
-
Power Off
ปิดเครื่อง
-
openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.
openpilot กำหนดให้ติดตั้งอุปกรณ์ โดยสามารถเอียงด้านซ้ายหรือขวาไม่เกิน 4° และเอียงขึ้นด้านบนไม่เกิน 5° หรือเอียงลงด้านล่างไม่เกิน 8° openpilot ทำการคาลิเบรทอย่างต่อเนื่อง แทบจะไม่จำเป็นต้องทำการรีเซ็ตการคาลิเบรท
-
Your device is pointed %1° %2 and %3° %4.
อุปกรณ์ของคุณเอียงไปทาง %2 %1° และ %4 %3°
-
down
ด้านล่าง
-
up
ด้านบน
-
left
ด้านซ้าย
-
right
ด้านขวา
-
Are you sure you want to reboot?
คุณแน่ใจหรือไม่ว่าต้องการรีบูต?
-
Disengage to Reboot
ยกเลิกระบบช่วยขับเพื่อรีบูต
-
Are you sure you want to power off?
คุณแน่ใจหรือไม่ว่าต้องการปิดเครื่อง?
-
Disengage to Power Off
ยกเลิกระบบช่วยขับเพื่อปิดเครื่อง
@@ -261,32 +242,26 @@
DriveStats
-
Drives
การขับขี่
-
Hours
ชั่วโมง
-
ALL TIME
ทั้งหมด
-
PAST WEEK
สัปดาห์ที่ผ่านมา
-
KM
กิโลเมตร
-
Miles
ไมล์
@@ -294,7 +269,6 @@
DriverViewScene
-
camera starting
กำลังเปิดกล้อง
@@ -302,12 +276,10 @@
InputDialog
-
Cancel
ยกเลิก
-
Need at least %n character(s)!
ต้องการอย่างน้อย %n ตัวอักษร!
@@ -317,22 +289,18 @@
Installer
-
Installing...
กำลังติดตั้ง...
-
Receiving objects:
กำลังรับข้อมูล:
-
Resolving deltas:
การแก้ไขเดลต้า:
-
Updating files:
กำลังอัปเดตไฟล์:
@@ -340,27 +308,22 @@
MapETA
-
eta
eta
-
min
นาที
-
hr
ชม.
-
km
กม.
-
mi
ไมล์
@@ -368,22 +331,18 @@
MapInstructions
-
km
กม.
-
m
ม.
-
mi
ไมล์
-
ft
ฟุต
@@ -391,48 +350,40 @@
MapPanel
-
Current Destination
ปลายทางปัจจุบัน
-
CLEAR
ล้างข้อมูล
-
Recent Destinations
ปลายทางล่าสุด
-
Try the Navigation Beta
ลองใช้ระบบนำทาง (เบต้า)
-
Get turn-by-turn directions displayed and more with a comma
prime subscription. Sign up now: https://connect.comma.ai
รับการแสดงเส้นทางแบบเลี้ยวต่อเลี้ยว และอื่นๆ ด้วยการสมัครบริการ
comma prime สมัครเลย: https://connect.comma.ai
-
No home
location set
ยังไม่ได้กำหนด
ตำแหน่งของบ้าน
-
No work
location set
ยังไม่ได้กำหนด
ตำแหน่งของที่ทำงาน
-
no recent destinations
ไม่พบปลายทางล่าสุด
@@ -440,12 +391,10 @@ location set
MapWindow
-
Map Loading
กำลังโหลดแผนที่
-
Waiting for GPS
กำลังรอสัญญาณ GPS
@@ -453,12 +402,10 @@ location set
MultiOptionDialog
-
Select
เลือก
-
Cancel
ยกเลิก
@@ -466,72 +413,33 @@ location set
Networking
-
Advanced
ขั้นสูง
-
Enter password
ใส่รหัสผ่าน
-
-
for "%1"
สำหรับ "%1"
-
Wrong password
รหัสผ่านผิด
-
- NvgWindow
-
-
- km/h
- กม./ชม.
-
-
-
- mph
- ไมล์/ชม.
-
-
-
-
- MAX
- สูงสุด
-
-
-
-
- SPEED
- ความเร็ว
-
-
-
-
- LIMIT
- จำกัด
-
-
OffroadHome
-
UPDATE
อัปเดต
-
ALERTS
การแจ้งเตือน
-
ALERT
การแจ้งเตือน
@@ -539,22 +447,18 @@ location set
PairingPopup
-
Pair your device to your comma account
จับคู่อุปกรณ์ของคุณกับบัญชี comma ของคุณ
-
Go to https://connect.comma.ai on your phone
ไปที่ https://connect.comma.ai ด้วยโทรศัพท์ของคุณ
-
Click "add new device" and scan the QR code on the right
กดที่ "add new device" และสแกนคิวอาร์โค้ดทางด้านขวา
-
Bookmark connect.comma.ai to your home screen to use it like an app
จดจำ connect.comma.ai โดยการเพิ่มไปยังหน้าจอโฮม เพื่อใช้งานเหมือนเป็นแอปพลิเคชัน
@@ -562,32 +466,26 @@ location set
PrimeAdWidget
-
Upgrade Now
อัพเกรดเดี๋ยวนี้
-
Become a comma prime member at connect.comma.ai
สมัครสมาชิก comma prime ได้ที่ connect.comma.ai
-
PRIME FEATURES:
คุณสมบัติของ PRIME:
-
Remote access
การเข้าถึงระยะไกล
-
1 year of storage
จัดเก็บข้อมูลนาน 1 ปี
-
Developer perks
สิทธิพิเศษสำหรับนักพัฒนา
@@ -595,22 +493,18 @@ location set
PrimeUserWidget
-
✓ SUBSCRIBED
✓ สมัครสำเร็จ
-
comma prime
comma prime
-
CONNECT.COMMA.AI
CONNECT.COMMA.AI
-
COMMA POINTS
คะแนน COMMA
@@ -618,41 +512,34 @@ location set
QObject
-
Reboot
รีบูต
-
Exit
ปิด
-
dashcam
กล้องติดรถยนต์
-
openpilot
openpilot
-
%n minute(s) ago
%n นาทีที่แล้ว
-
%n hour(s) ago
%n ชั่วโมงที่แล้ว
-
%n day(s) ago
%n วันที่แล้ว
@@ -662,47 +549,38 @@ location set
Reset
-
Reset failed. Reboot to try again.
การรีเซ็ตล้มเหลว รีบูตเพื่อลองอีกครั้ง
-
Are you sure you want to reset your device?
คุณแน่ใจหรือไม่ว่าต้องการรีเซ็ตอุปกรณ์?
-
Resetting device...
กำลังรีเซ็ตอุปกรณ์...
-
System Reset
รีเซ็ตระบบ
-
System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.
มีการสั่งรีเซ็ตระบบ กดยืนยันเพื่อลบข้อมูลและการตั้งค่าทั้งหมด กดยกเลิกเพื่อบูตเข้าระบบตามปกติ
-
Cancel
ยกเลิก
-
Reboot
รีบูต
-
Confirm
ยืนยัน
-
Unable to mount data partition. Press confirm to reset your device.
ไม่สามารถเมานต์พาร์ติชั่นข้อมูล กดยืนยันเพื่อรีเซ็ตอุปกรณ์ของคุณ
@@ -710,7 +588,6 @@ location set
RichTextDialog
-
Ok
ตกลง
@@ -718,33 +595,26 @@ location set
SettingsWindow
-
×
×
-
Device
อุปกรณ์
-
-
Network
เครือข่าย
-
Toggles
ตัวเลือก
-
Software
ซอฟต์แวร์
-
Navigation
การนำทาง
@@ -752,105 +622,82 @@ location set
Setup
-
WARNING: Low Voltage
คำเตือน: แรงดันแบตเตอรี่ต่ำ
-
Power your device in a car with a harness or proceed at your own risk.
โปรดต่ออุปกรณ์ของคุณเข้ากับสายควบคุมในรถยนต์ หรือดำเนินการด้วยความเสี่ยงของคุณเอง
-
Power off
ปิดเครื่อง
-
-
-
Continue
ดำเนินการต่อ
-
Getting Started
เริ่มกันเลย
-
Before we get on the road, let’s finish installation and cover some details.
ก่อนออกเดินทาง เรามาทำการติดตั้งซอฟต์แวร์ และตรวจสอบการตั้งค่า
-
Connect to Wi-Fi
เชื่อมต่อ Wi-Fi
-
-
Back
ย้อนกลับ
-
Continue without Wi-Fi
ดำเนินการต่อโดยไม่ใช้ Wi-Fi
-
Waiting for internet
กำลังรอสัญญาณอินเตอร์เน็ต
-
Choose Software to Install
เลือกซอฟต์แวร์ที่จะติดตั้ง
-
Dashcam
กล้องติดรถยนต์
-
Custom Software
ซอฟต์แวร์ที่กำหนดเอง
-
Enter URL
ป้อน URL
-
for Custom Software
สำหรับซอฟต์แวร์ที่กำหนดเอง
-
Downloading...
กำลังดาวน์โหลด...
-
Download Failed
ดาวน์โหลดล้มเหลว
-
Ensure the entered URL is valid, and the device’s internet connection is good.
ตรวจสอบให้แน่ใจว่า URL ที่ป้อนนั้นถูกต้อง และอุปกรณ์เชื่อมต่ออินเทอร์เน็ตอยู่
-
Reboot device
รีบูตอุปกรณ์
-
Start over
เริ่มต้นใหม่
@@ -858,17 +705,14 @@ location set
SetupWidget
-
Finish Setup
ตั้งค่าเสร็จสิ้น
-
Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.
จับคู่อุปกรณ์ของคุณกับ comma connect (connect.comma.ai) และรับข้อเสนอ comma prime ของคุณ
-
Pair device
จับคู่อุปกรณ์
@@ -876,106 +720,82 @@ location set
Sidebar
-
-
CONNECT
เชื่อมต่อ
-
OFFLINE
ออฟไลน์
-
-
ONLINE
ออนไลน์
-
ERROR
เกิดข้อผิดพลาด
-
-
-
TEMP
อุณหภูมิ
-
HIGH
สูง
-
GOOD
ดี
-
OK
พอใช้
-
VEHICLE
รถยนต์
-
NO
ไม่พบ
-
PANDA
PANDA
-
GPS
จีพีเอส
-
SEARCH
ค้นหา
-
--
--
-
Wi-Fi
Wi-Fi
-
ETH
ETH
-
2G
2G
-
3G
3G
-
LTE
LTE
-
5G
5G
@@ -983,138 +803,89 @@ location set
SoftwarePanel
-
- Git Branch
- Git Branch
-
-
-
- Git Commit
- Git Commit
-
-
-
- OS Version
- เวอร์ชันระบบปฏิบัติการ
-
-
-
- Version
- เวอร์ชั่น
-
-
-
- Last Update Check
- ตรวจสอบการอัปเดตล่าสุด
-
-
-
- The last time openpilot successfully checked for an update. The updater only runs while the car is off.
- ครั้งสุดท้ายที่ openpilot ตรวจสอบการอัปเดตสำเร็จ ตัวอัปเดตจะทำงานในขณะที่รถดับเครื่องอยู่เท่านั้น
+ Uninstall %1
+ ถอนการติดตั้ง %1
-
- Check for Update
- ตรวจสอบการอัปเดต
+ UNINSTALL
+ ถอนการติดตั้ง
-
- CHECKING
- กำลังตรวจสอบ
+ Are you sure you want to uninstall?
+ คุณแน่ใจหรือไม่ว่าต้องการถอนการติดตั้ง?
-
- Switch Branch
- เปลี่ยน Branch
+ CHECK
+ ตรวจสอบ
-
- ENTER
- เปลี่ยน
+ Updates are only downloaded while the car is off.
+ ตัวอัปเดตจะดำเนินการดาวน์โหลดเมื่อรถดับเครื่องยนต์อยู่เท่านั้น
-
-
- The new branch will be pulled the next time the updater runs.
- Branch ใหม่จะถูกติดตั้งในครั้งต่อไปที่ตัวอัปเดตทำงาน
+ Current Version
+ เวอร์ชั่นปัจจุบัน
-
- Enter branch name
- ใส่ชื่อ Branch
+ Download
+ ดาวน์โหลด
-
- Uninstall %1
- ถอนการติดตั้ง %1
+ Install Update
+ ติดตั้งตัวอัปเดต
-
- UNINSTALL
- ถอนการติดตั้ง
+ INSTALL
+ ติดตั้ง
-
- Are you sure you want to uninstall?
- คุณแน่ใจหรือไม่ว่าต้องการถอนการติดตั้ง?
+ Target Branch
+ Branch ที่เลือก
-
- failed to fetch update
- โหลดข้อมูลอัปเดตไม่สำเร็จ
+ SELECT
+ เลือก
-
-
- CHECK
- ตรวจสอบ
+ Select a branch
+ เลือก Branch
SshControl
-
SSH Keys
คีย์ SSH
-
Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.
คำเตือน: สิ่งนี้ให้สิทธิ์ SSH เข้าถึงคีย์สาธารณะทั้งหมดใน GitHub ของคุณ อย่าป้อนชื่อผู้ใช้ GitHub อื่นนอกเหนือจากของคุณเอง พนักงาน comma จะไม่ขอให้คุณเพิ่มชื่อผู้ใช้ GitHub ของพวกเขา
-
-
ADD
เพิ่ม
-
Enter your GitHub username
ป้อนชื่อผู้ใช้ GitHub ของคุณ
-
LOADING
กำลังโหลด
-
REMOVE
ลบ
-
Username '%1' has no keys on GitHub
ชื่อผู้ใช้ '%1' ไม่มีคีย์บน GitHub
-
Request timed out
ตรวจสอบไม่สำเร็จ เนื่องจากใช้เวลามากเกินไป
-
Username '%1' doesn't exist on GitHub
ไม่พบชื่อผู้ใช้ '%1' บน GitHub
@@ -1122,7 +893,6 @@ location set
SshToggle
-
Enable SSH
เปิดใช้งาน SSH
@@ -1130,22 +900,18 @@ location set
TermsPage
-
Terms & Conditions
ข้อตกลงและเงื่อนไข
-
Decline
ปฏิเสธ
-
Scroll to accept
เลื่อนเพื่อตอบรับข้อตกลง
-
Agree
ยอมรับ
@@ -1153,125 +919,117 @@ location set
TogglesPanel
-
Enable openpilot
เปิดใช้งาน openpilot
-
Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.
ใช้ระบบ openpilot สำหรับระบบควบคุมความเร็วอัตโนมัติ และระบบช่วยควบคุมรถให้อยู่ในเลน คุณจำเป็นต้องให้ความสนใจตลอดเวลาที่ใช้คุณสมบัตินี้ การเปลี่ยนการตั้งค่านี้จะมีผลเมื่อคุณดับเครื่องยนต์
-
Enable Lane Departure Warnings
เปิดใช้งานการเตือนการออกนอกเลน
-
Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).
รับการแจ้งเตือนให้เลี้ยวกลับเข้าเลนเมื่อรถของคุณตรวจพบการข้ามช่องจราจรโดยไม่เปิดสัญญาณไฟเลี้ยวในขณะขับขี่ที่ความเร็วเกิน 31 ไมล์ต่อชั่วโมง (50 กม./ชม)
-
Use Metric System
ใช้ระบบเมตริก
-
Display speed in km/h instead of mph.
แสดงความเร็วเป็น กม./ชม. แทน ไมล์/ชั่วโมง
-
Record and Upload Driver Camera
บันทึกและอัปโหลดภาพจากกล้องคนขับ
-
Upload data from the driver facing camera and help improve the driver monitoring algorithm.
อัปโหลดข้อมูลจากกล้องที่หันหน้าไปทางคนขับ และช่วยปรับปรุงอัลกอริธึมการตรวจสอบผู้ขับขี่
-
Disengage On Accelerator Pedal
ยกเลิกระบบช่วยขับเมื่อเหยียบคันเร่ง
-
When enabled, pressing the accelerator pedal will disengage openpilot.
เมื่อเปิดใช้งาน การกดแป้นคันเร่งจะเป็นการยกเลิกระบบช่วยขับโดย openpilot
-
Show ETA in 24h Format
แสดงเวลา ETA ในรูปแบบ 24 ชั่วโมง
-
Use 24h format instead of am/pm
ใช้รูปแบบเวลา 24 ชั่วโมง แทน am/pm
-
Show Map on Left Side of UI
แสดงแผนที่ที่ด้านซ้ายของหน้าจอ
-
Show map on left side when in split screen view.
แสดงแผนที่ด้านซ้ายของหน้าจอเมื่ออยู่ในโหมดแบ่งหน้าจอ
-
- openpilot Longitudinal Control
- openpilot การควบคุมการเร่งและลดความเร็ว
+ 🌮 End-to-end longitudinal (extremely alpha) 🌮
+ 🌮 ควบคุมเร่ง/เบรคแบบ End-to-end (อยู่ขั้นพัฒนา) 🌮
+
+
+ Experimental openpilot longitudinal control
+ ทดลองใช้ระบบควบคุมการเร่ง/เบรคโดย openpilot
+
+
+ <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b>
+ <b>คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในขั้นทดลอง และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด</b>
+
+
+ Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.
+ ให้ openpilot ควบคุมการเร่ง/เบรคแบบ end-to-end โดย openpilot จะขับอย่างที่มนุษย์คิด ระบบยังอยู่ในขั้นทดลอง
+
+
+ openpilot longitudinal control is not currently available for this car.
+ ขณะนี้ยังไม่มีระบบควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้
-
- openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB!
- openpilot จะปิดการใช้งานเรดาร์ของรถ และจะเข้าควบคุมการเร่งและเบรก คำเตือน: สิ่งนี้จะปิดระบบ AEB!
+ Enable experimental longitudinal control to enable this.
+ เปิดใช้งานระบบควบคุมการเร่ง/เบรคขั้นทดลอง เพื่อเปิดใช้งานสิ่งนี้
Updater
-
Update Required
จำเป็นต้องอัปเดต
-
An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.
จำเป็นต้องมีการอัปเดตระบบปฏิบัติการ เชื่อมต่ออุปกรณ์ของคุณกับ Wi-Fi เพื่อประสบการณ์การอัปเดตที่เร็วที่สุด ขนาดดาวน์โหลดประมาณ 1GB
-
Connect to Wi-Fi
เชื่อมต่อกับ Wi-Fi
-
Install
ติดตั้ง
-
Back
ย้อนกลับ
-
Loading...
กำลังโหลด...
-
Reboot
รีบูต
-
Update failed
การอัปเดตล้มเหลว
@@ -1279,23 +1037,18 @@ location set
WifiUI
-
-
Scanning for networks...
กำลังสแกนหาเครือข่าย...
-
CONNECTING...
กำลังเชื่อมต่อ...
-
FORGET
เลิกใช้
-
Forget Wi-Fi Network "%1"?
เลิกใช้เครือข่าย Wi-Fi "%1"?
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 1d942387e0..9e7c354444 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -67,6 +67,29 @@
+
+ AnnotatedCameraWidget
+
+ km/h
+ km/h
+
+
+ mph
+ mph
+
+
+ MAX
+ 最高定速
+
+
+ SPEED
+ SPEED
+
+
+ LIMIT
+ LIMIT
+
+
ConfirmationDialog
@@ -404,29 +427,6 @@ location set
密码错误
-
- NvgWindow
-
- km/h
- km/h
-
-
- mph
- mph
-
-
- MAX
- 最高定速
-
-
- SPEED
- SPEED
-
-
- LIMIT
- LIMIT
-
-
OffroadHome
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 816d4fd3cc..513135c7f4 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -67,6 +67,29 @@
+
+ AnnotatedCameraWidget
+
+ km/h
+ km/h
+
+
+ mph
+ mph
+
+
+ MAX
+ 最高
+
+
+ SPEED
+ 速度
+
+
+ LIMIT
+ 速限
+
+
ConfirmationDialog
@@ -406,29 +429,6 @@ location set
密碼錯誤
-
- NvgWindow
-
- km/h
- km/h
-
-
- mph
- mph
-
-
- MAX
- 最高
-
-
- SPEED
- 速度
-
-
- LIMIT
- 速限
-
-
OffroadHome
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 152c7fbfcd..1a6027bf7f 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -163,7 +163,8 @@ static void update_state(UIState *s) {
scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
}
if (sm.updated("wideRoadCameraState")) {
- scene.light_sensor = 100.0f - sm["wideRoadCameraState"].getWideRoadCameraState().getExposureValPercent();
+ float scale = (sm["wideRoadCameraState"].getWideRoadCameraState().getSensor() == cereal::FrameData::ImageSensor::AR0321) ? 6.0f : 1.0f;
+ scene.light_sensor = std::max(100.0f - scale * sm["wideRoadCameraState"].getWideRoadCameraState().getExposureValPercent(), 0.0f);
}
scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
}
diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc
index d6b5cc67a7..ec35c29b6b 100644
--- a/selfdrive/ui/watch3.cc
+++ b/selfdrive/ui/watch3.cc
@@ -19,15 +19,15 @@ int main(int argc, char *argv[]) {
{
QHBoxLayout *hlayout = new QHBoxLayout();
layout->addLayout(hlayout);
- hlayout->addWidget(new CameraViewWidget("navd", VISION_STREAM_MAP, false));
- hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_ROAD, false));
+ hlayout->addWidget(new CameraWidget("navd", VISION_STREAM_MAP, false));
+ hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD, false));
}
{
QHBoxLayout *hlayout = new QHBoxLayout();
layout->addLayout(hlayout);
- hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_DRIVER, false));
- hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_WIDE_ROAD, false));
+ hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER, false));
+ hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD, false));
}
return a.exec();
diff --git a/selfdrive/updated.py b/selfdrive/updated.py
index 9568b28ae3..c261a92a84 100755
--- a/selfdrive/updated.py
+++ b/selfdrive/updated.py
@@ -280,17 +280,25 @@ class Updater:
# Write out current and new version info
def get_description(basedir: str) -> str:
+ if not os.path.exists(basedir):
+ return ""
+
version = ""
branch = ""
commit = ""
+ commit_date = ""
try:
branch = self.get_branch(basedir)
- commit = self.get_commit_hash(basedir)
+ commit = self.get_commit_hash(basedir)[:7]
with open(os.path.join(basedir, "common", "version.h")) as f:
version = f.read().split('"')[1]
+
+ commit_unix_ts = run(["git", "show", "-s", "--format=%ct", "HEAD"], basedir).rstrip()
+ dt = datetime.datetime.fromtimestamp(int(commit_unix_ts))
+ commit_date = dt.strftime("%b %d")
except Exception:
- pass
- return f"{version} / {branch} / {commit[:7]}"
+ cloudlog.exception("updater.get_description")
+ return f"{version} / {branch} / {commit} / {commit_date}"
self.params.put("UpdaterCurrentDescription", get_description(BASEDIR))
self.params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR))
self.params.put("UpdaterNewDescription", get_description(FINALIZED))
@@ -365,6 +373,7 @@ class Updater:
["git", "checkout", "--force", "--no-recurse-submodules", "-B", branch, "FETCH_HEAD"],
["git", "reset", "--hard"],
["git", "clean", "-xdff"],
+ ["git", "submodule", "sync"],
["git", "submodule", "init"],
["git", "submodule", "update"],
]
diff --git a/system/hardware/tici/test_power_draw.py b/system/hardware/tici/test_power_draw.py
index 4830975917..2460152998 100755
--- a/system/hardware/tici/test_power_draw.py
+++ b/system/hardware/tici/test_power_draw.py
@@ -21,7 +21,7 @@ class Proc:
PROCS = [
Proc('camerad', 2.15),
Proc('modeld', 1.15, atol=0.2),
- Proc('dmonitoringmodeld', 0.35),
+ Proc('dmonitoringmodeld', 0.4),
Proc('encoderd', 0.23),
]
diff --git a/tinygrad_repo b/tinygrad_repo
index 870ea766ee..8e22d5ee67 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 870ea766eec7a38d7d590c81436f15271ba2667e
+Subproject commit 8e22d5ee675277181e1eff644dde9e844fc40fce
diff --git a/tools/README.md b/tools/README.md
index 59eea3230d..3969deb24d 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -6,13 +6,12 @@ openpilot is developed and tested on **Ubuntu 20.04**, which is the primary deve
## Setup your PC
-
First, clone openpilot:
``` bash
cd ~
git clone https://github.com/commaai/openpilot.git
-cd openpilot
+cd openpilot
git submodule update --init
```
@@ -26,10 +25,10 @@ tools/ubuntu_setup.sh
tools/mac_setup.sh
```
-Activate a shell with the install Python dependencies:
+Activate a shell with the Python dependencies installed:
``` bash
-cd openpilot && pipenv shell
+cd openpilot && poetry shell
```
Build openpilot with this command:
@@ -43,7 +42,7 @@ Neither openpilot nor any of the tools are developed or tested on Windows, but t
Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-20.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment.
-GUI applications do not work with WSL out of the box. You will have to either [upgrade your system to Windows 11](https://docs.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) or [set up an Xorg server](https://techcommunity.microsoft.com/t5/windows-dev-appconsult/running-wsl-gui-apps-on-windows-10/ba-p/1493242).
+GUI applications do not work with WSL out of the box. You will have to either [upgrade your system to Windows 11](https://docs.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) or [set up an Xorg server](https://techcommunity.microsoft.com/t5/windows-dev-appconsult/running-wsl-gui-apps-on-windows-10/ba-p/1493242).
## CTF
diff --git a/tools/cabana/.gitignore b/tools/cabana/.gitignore
index 88ffab2717..d7a552eabb 100644
--- a/tools/cabana/.gitignore
+++ b/tools/cabana/.gitignore
@@ -3,3 +3,5 @@ moc_*
_cabana
settings
+car_fingerprint_to_dbc.json
+
diff --git a/tools/cabana/README.md b/tools/cabana/README.md
index f64e6b2d2d..99d0d4c9ce 100644
--- a/tools/cabana/README.md
+++ b/tools/cabana/README.md
@@ -6,4 +6,19 @@ Cabana is a tool developed to view raw CAN data. One use for this is creating an
## Usage Instructions
+```bash
+$ ./cabana -h
+Usage: ./_cabana [options] route
+
+Options:
+ -h, --help Displays this help.
+ --demo use a demo route instead of providing your own
+ --qcam load qcamera
+ --data_dir local directory with routes
+
+Arguments:
+ route the drive to replay. find your drives at
+ connect.comma.ai
+```
+
See [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana)
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index 8dbd4f1d1c..4e4e11dbd8 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -1,3 +1,4 @@
+import os
Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib',
'cereal', 'transformations', 'widgets', 'opendbc')
@@ -12,5 +13,10 @@ else:
qt_libs = ['qt_util', 'Qt5Charts'] + base_libs
cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, opendbc,'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs
-qt_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc',
- 'canmessages.cc', 'messageswidget.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
+cabana_env = qt_env.Clone()
+
+prev_moc_path = cabana_env['QT_MOCHPREFIX']
+cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_'
+cabana_env.Execute('./generate_dbc_json.py --out car_fingerprint_to_dbc.json')
+cabana_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc',
+ 'canmessages.cc', 'messageswidget.cc', 'settings.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
new file mode 100644
index 0000000000..26fecd8c38
--- /dev/null
+++ b/tools/cabana/binaryview.cc
@@ -0,0 +1,277 @@
+#include "tools/cabana/binaryview.h"
+
+#include
+#include
+#include
+#include
+#include
+#include
+
+#include "tools/cabana/canmessages.h"
+
+// BinaryView
+
+const int CELL_HEIGHT = 30;
+
+BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
+ model = new BinaryViewModel(this);
+ setModel(model);
+ delegate = new BinaryItemDelegate(this);
+ setItemDelegate(delegate);
+ horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
+ horizontalHeader()->hide();
+ verticalHeader()->setSectionResizeMode(QHeaderView::Stretch);
+ setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+ setMouseTracking(true);
+
+ QObject::connect(model, &QAbstractItemModel::modelReset, [this]() {
+ setFixedHeight((CELL_HEIGHT + 1) * std::min(model->rowCount(), 8) + 2);
+ });
+}
+
+void BinaryView::highlight(const Signal *sig) {
+ if (sig != hovered_sig) {
+ hovered_sig = sig;
+ model->dataChanged(model->index(0, 0), model->index(model->rowCount() - 1, model->columnCount() - 1));
+ emit signalHovered(hovered_sig);
+ }
+}
+
+void BinaryView::setSelection(const QRect &rect, QItemSelectionModel::SelectionFlags flags) {
+ QModelIndex tl = indexAt({qMin(rect.left(), rect.right()), qMin(rect.top(), rect.bottom())});
+ QModelIndex br = indexAt({qMax(rect.left(), rect.right()), qMax(rect.top(), rect.bottom())});
+ if (!tl.isValid() || !br.isValid())
+ return;
+
+ if (tl < anchor_index) {
+ br = anchor_index;
+ } else if (anchor_index < br) {
+ tl = anchor_index;
+ }
+ QItemSelection selection;
+ for (int row = tl.row(); row <= br.row(); ++row) {
+ int left_col = (row == tl.row()) ? tl.column() : 0;
+ int right_col = (row == br.row()) ? br.column() : 7;
+ selection.merge({model->index(row, left_col), model->index(row, right_col)}, flags);
+ }
+ selectionModel()->select(selection, flags);
+}
+
+void BinaryView::mousePressEvent(QMouseEvent *event) {
+ delegate->setSelectionColor(style()->standardPalette().color(QPalette::Active, QPalette::Highlight));
+ anchor_index = indexAt(event->pos());
+ if (getResizingSignal() != nullptr) {
+ auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer();
+ delegate->setSelectionColor(item->bg_color);
+ }
+ QTableView::mousePressEvent(event);
+}
+
+void BinaryView::mouseMoveEvent(QMouseEvent *event) {
+ if (auto index = indexAt(event->pos()); index.isValid()) {
+ auto item = (BinaryViewModel::Item *)index.internalPointer();
+ const Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back();
+ highlight(sig);
+ sig ? QToolTip::showText(event->globalPos(), sig->name.c_str(), this, rect())
+ : QToolTip::hideText();
+ }
+ QTableView::mouseMoveEvent(event);
+}
+
+void BinaryView::mouseReleaseEvent(QMouseEvent *event) {
+ QTableView::mouseReleaseEvent(event);
+
+ if (auto indexes = selectedIndexes(); !indexes.isEmpty()) {
+ int from = indexes.first().row() * 8 + indexes.first().column();
+ int to = indexes.back().row() * 8 + indexes.back().column();
+ if (auto sig = getResizingSignal()) {
+ auto [sig_from, sig_to] = getSignalRange(sig);
+ if (from >= sig_from && to <= sig_to) { // reduce size
+ emit(from == sig_from ? resizeSignal(sig, std::min(to + 1, sig_to), sig_to)
+ : resizeSignal(sig, sig_from, std::max(from - 1, sig_from)));
+ } else { // increase size
+ emit resizeSignal(sig, std::min(from, sig_from), std::max(to, sig_to));
+ }
+ } else {
+ emit addSignal(from, to);
+ }
+ clearSelection();
+ }
+ anchor_index = QModelIndex();
+}
+
+void BinaryView::leaveEvent(QEvent *event) {
+ highlight(nullptr);
+ QTableView::leaveEvent(event);
+}
+
+void BinaryView::setMessage(const QString &message_id) {
+ msg_id = message_id;
+ model->setMessage(message_id);
+ resizeRowsToContents();
+ clearSelection();
+ updateState();
+}
+
+void BinaryView::updateState() {
+ model->updateState();
+}
+
+const Signal *BinaryView::getResizingSignal() const {
+ if (anchor_index.isValid()) {
+ auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer();
+ if (item && item->sigs.size() > 0) {
+ int archor_pos = anchor_index.row() * 8 + anchor_index.column();
+ for (auto s : item->sigs) {
+ auto [sig_from, sig_to] = getSignalRange(s);
+ if (archor_pos == sig_from || archor_pos == sig_to)
+ return s;
+ }
+ }
+ }
+ return nullptr;
+}
+
+QSet BinaryView::getOverlappingSignals() const {
+ QSet overlapping;
+ for (int i = 0; i < model->rowCount(); ++i) {
+ for (int j = 0; j < model->columnCount() - 1; ++j) {
+ auto item = (const BinaryViewModel::Item *)model->index(i, j).internalPointer();
+ if (item && item->sigs.size() > 1) {
+ for (auto s : item->sigs)
+ overlapping.insert(s);
+ }
+ }
+ }
+ return overlapping;
+}
+
+// BinaryViewModel
+
+void BinaryViewModel::setMessage(const QString &message_id) {
+ msg_id = message_id;
+
+ beginResetModel();
+ items.clear();
+ row_count = 0;
+
+ dbc_msg = dbc()->msg(msg_id);
+ if (dbc_msg) {
+ row_count = dbc_msg->size;
+ items.resize(row_count * column_count);
+ for (int i = 0; i < dbc_msg->sigs.size(); ++i) {
+ const auto &sig = dbc_msg->sigs[i];
+ auto [start, end] = getSignalRange(&sig);
+ for (int j = start; j <= end; ++j) {
+ int idx = column_count * (j / 8) + j % 8;
+ if (idx >= items.size()) {
+ qWarning() << "signal " << sig.name.c_str() << "out of bounds.start_bit:" << sig.start_bit << "size:" << sig.size;
+ break;
+ }
+ if (j == start) {
+ sig.is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true;
+ } else if (j == end) {
+ sig.is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true;
+ }
+ items[idx].bg_color = getColor(i);
+ items[idx].sigs.push_back(&dbc_msg->sigs[i]);
+ }
+ }
+ }
+
+ endResetModel();
+}
+
+QModelIndex BinaryViewModel::index(int row, int column, const QModelIndex &parent) const {
+ return createIndex(row, column, (void *)&items[row * column_count + column]);
+}
+
+Qt::ItemFlags BinaryViewModel::flags(const QModelIndex &index) const {
+ return (index.column() == column_count - 1) ? Qt::ItemIsEnabled : Qt::ItemIsEnabled | Qt::ItemIsSelectable;
+}
+
+void BinaryViewModel::updateState() {
+ auto prev_items = items;
+
+ const auto &binary = can->lastMessage(msg_id).dat;
+ // data size may changed.
+ if (!dbc_msg && binary.size() != row_count) {
+ beginResetModel();
+ row_count = binary.size();
+ items.clear();
+ items.resize(row_count * column_count);
+ endResetModel();
+ }
+
+ char hex[3] = {'\0'};
+ for (int i = 0; i < std::min(binary.size(), row_count); ++i) {
+ for (int j = 0; j < column_count - 1; ++j) {
+ items[i * column_count + j].val = QChar((binary[i] >> (7 - j)) & 1 ? '1' : '0');
+ }
+ hex[0] = toHex(binary[i] >> 4);
+ hex[1] = toHex(binary[i] & 0xf);
+ items[i * column_count + 8].val = hex;
+ }
+
+ for (int i = 0; i < items.size(); ++i) {
+ if (i >= prev_items.size() || prev_items[i].val != items[i].val) {
+ auto idx = index(i / column_count, i % column_count);
+ emit dataChanged(idx, idx);
+ }
+ }
+}
+
+QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, int role) const {
+ if (orientation == Qt::Vertical) {
+ switch (role) {
+ case Qt::DisplayRole: return section;
+ case Qt::SizeHintRole: return QSize(30, CELL_HEIGHT);
+ case Qt::TextAlignmentRole: return Qt::AlignCenter;
+ }
+ }
+ return {};
+}
+
+// BinaryItemDelegate
+
+BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(parent) {
+ // cache fonts and color
+ small_font.setPointSize(6);
+ hex_font = QFontDatabase::systemFont(QFontDatabase::FixedFont);
+ hex_font.setBold(true);
+ selection_color = QApplication::style()->standardPalette().color(QPalette::Active, QPalette::Highlight);
+}
+
+QSize BinaryItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const {
+ QSize sz = QStyledItemDelegate::sizeHint(option, index);
+ return {sz.width(), CELL_HEIGHT};
+}
+
+void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
+ auto item = (const BinaryViewModel::Item *)index.internalPointer();
+ BinaryView *bin_view = (BinaryView *)parent();
+ painter->save();
+
+ bool hover = std::find_if(item->sigs.begin(), item->sigs.end(), [=](auto s) { return s == bin_view->hoveredSignal(); }) !=
+ item->sigs.end();
+ // background
+ QColor bg_color = hover ? hoverColor(item->bg_color) : item->bg_color;
+ if (option.state & QStyle::State_Selected) {
+ bg_color = selection_color;
+ }
+ painter->fillRect(option.rect, bg_color);
+
+ // text
+ if (index.column() == 8) { // hex column
+ painter->setFont(hex_font);
+ } else if (hover) {
+ painter->setPen(Qt::white);
+ }
+ painter->drawText(option.rect, Qt::AlignCenter, item->val);
+ if (item->is_msb || item->is_lsb) {
+ painter->setFont(small_font);
+ painter->drawText(option.rect, Qt::AlignHCenter | Qt::AlignBottom, item->is_msb ? "MSB" : "LSB");
+ }
+
+ painter->restore();
+}
diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h
new file mode 100644
index 0000000000..0f58e9ed20
--- /dev/null
+++ b/tools/cabana/binaryview.h
@@ -0,0 +1,83 @@
+#pragma once
+
+#include
+#include
+#include
+#include
+
+#include "tools/cabana/dbcmanager.h"
+
+class BinaryItemDelegate : public QStyledItemDelegate {
+ Q_OBJECT
+
+public:
+ BinaryItemDelegate(QObject *parent);
+ void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
+ QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override;
+ void setSelectionColor(const QColor &color) { selection_color = color; }
+
+private:
+ QFont small_font, hex_font;
+ QColor selection_color;
+};
+
+class BinaryViewModel : public QAbstractTableModel {
+ Q_OBJECT
+
+public:
+ BinaryViewModel(QObject *parent) : QAbstractTableModel(parent) {}
+ void setMessage(const QString &message_id);
+ void updateState();
+ Qt::ItemFlags flags(const QModelIndex &index) const;
+ QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
+ QModelIndex index(int row, int column, const QModelIndex &parent = QModelIndex()) const;
+ QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const { return {}; }
+ int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; }
+ int columnCount(const QModelIndex &parent = QModelIndex()) const override { return column_count; }
+
+ struct Item {
+ QColor bg_color = QColor(Qt::white);
+ bool is_msb = false;
+ bool is_lsb = false;
+ QString val = "0";
+ QList sigs;
+ };
+
+private:
+ QString msg_id;
+ const Msg *dbc_msg;
+ int row_count = 0;
+ const int column_count = 9;
+ std::vector- items;
+};
+
+class BinaryView : public QTableView {
+ Q_OBJECT
+
+public:
+ BinaryView(QWidget *parent = nullptr);
+ void setMessage(const QString &message_id);
+ void updateState();
+ void highlight(const Signal *sig);
+ const Signal *hoveredSignal() const { return hovered_sig; }
+ QSet getOverlappingSignals() const;
+
+signals:
+ void signalHovered(const Signal *sig);
+ void addSignal(int from, int size);
+ void resizeSignal(const Signal *sig, int from, int size);
+
+private:
+ void setSelection(const QRect &rect, QItemSelectionModel::SelectionFlags flags) override;
+ void mousePressEvent(QMouseEvent *event) override;
+ void mouseMoveEvent(QMouseEvent *event) override;
+ void mouseReleaseEvent(QMouseEvent *event) override;
+ void leaveEvent(QEvent *event) override;
+ const Signal *getResizingSignal() const;
+
+ QString msg_id;
+ QModelIndex anchor_index;
+ BinaryViewModel *model;
+ BinaryItemDelegate *delegate;
+ const Signal *hovered_sig = nullptr;
+};
diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc
index b717424ece..3ffc29916f 100644
--- a/tools/cabana/canmessages.cc
+++ b/tools/cabana/canmessages.cc
@@ -3,15 +3,13 @@
#include
#include
-Q_DECLARE_METATYPE(std::vector);
+#include "tools/cabana/dbcmanager.h"
-Settings settings;
CANMessages *can = nullptr;
CANMessages::CANMessages(QObject *parent) : QObject(parent) {
can = this;
- qRegisterMetaType>();
QObject::connect(this, &CANMessages::received, this, &CANMessages::process, Qt::QueuedConnection);
QObject::connect(&settings, &Settings::changed, this, &CANMessages::settingChanged);
}
@@ -26,10 +24,11 @@ static bool event_filter(const Event *e, void *opaque) {
}
bool CANMessages::loadRoute(const QString &route, const QString &data_dir, bool use_qcam) {
- replay = new Replay(route, {"can", "roadEncodeIdx"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this);
+ routeName = route;
+ replay = new Replay(route, {"can", "roadEncodeIdx", "carParams"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this);
replay->setSegmentCacheLimit(settings.cached_segment_limit);
replay->installEventFilter(event_filter, this);
- QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::segmentsMerged);
+ QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::eventsMerged);
if (replay->load()) {
replay->start();
return true;
@@ -37,115 +36,99 @@ bool CANMessages::loadRoute(const QString &route, const QString &data_dir, bool
return false;
}
-void CANMessages::process(QHash> *messages) {
- for (auto it = messages->begin(); it != messages->end(); ++it) {
- ++counters[it.key()];
- auto &msgs = can_msgs[it.key()];
- const auto &new_msgs = it.value();
- if (new_msgs.size() == settings.can_msg_log_size || msgs.empty()) {
- msgs = std::move(new_msgs);
- } else {
- msgs.insert(msgs.begin(), std::make_move_iterator(new_msgs.begin()), std::make_move_iterator(new_msgs.end()));
- while (msgs.size() >= settings.can_msg_log_size) {
- msgs.pop_back();
+QList CANMessages::findSignalValues(const QString &id, const Signal *signal, double value, FindFlags flag, int max_count) {
+ auto evts = events();
+ if (!evts) return {};
+
+ auto l = id.split(':');
+ int bus = l[0].toInt();
+ uint32_t address = l[1].toUInt(nullptr, 16);
+
+ QList ret;
+ ret.reserve(max_count);
+ for (auto &evt : *evts) {
+ if (evt->which != cereal::Event::Which::CAN) continue;
+
+ for (auto c : evt->event.getCan()) {
+ if (bus == c.getSrc() && address == c.getAddress()) {
+ double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *signal);
+ if ((flag == EQ && val == value) || (flag == LT && val < value) || (flag == GT && val > value)) {
+ ret.push_back({(evt->mono_time / (double)1e9) - can->routeStartTime(), val});
+ if (ret.size() >= max_count)
+ return ret;
+ }
}
}
}
- delete messages;
+ return ret;
+}
- if (current_sec < begin_sec || current_sec > end_sec) {
- // loop replay in selected range.
- seekTo(begin_sec);
- } else {
- emit updated();
+void CANMessages::process(QHash *messages) {
+ for (auto it = messages->begin(); it != messages->end(); ++it) {
+ can_msgs[it.key()] = it.value();
}
+ delete messages;
+ emit updated();
}
bool CANMessages::eventFilter(const Event *event) {
- static double prev_update_sec = 0;
- // drop packets when the GUI thread is calling seekTo. to make sure the current_sec is accurate.
- if (!seeking && event->which == cereal::Event::Which::CAN) {
- if (!received_msgs) {
- received_msgs.reset(new QHash>);
- received_msgs->reserve(1000);
+ static std::unique_ptr> new_msgs;
+ static double prev_update_ts = 0;
+
+ if (event->which == cereal::Event::Which::CAN) {
+ if (!new_msgs) {
+ new_msgs.reset(new QHash);
+ new_msgs->reserve(1000);
+ }
+
+ double current_sec = replay->currentSeconds();
+ if (counters_begin_sec == 0) {
+ counters.clear();
+ counters_begin_sec = current_sec;
}
- current_sec = (event->mono_time - replay->routeStartTime()) / (double)1e9;
auto can_events = event->event.getCan();
for (const auto &c : can_events) {
QString id = QString("%1:%2").arg(c.getSrc()).arg(c.getAddress(), 1, 16);
- auto &list = (*received_msgs)[id];
- while (list.size() >= settings.can_msg_log_size) {
+
+ std::lock_guard lk(lock);
+ auto &list = received_msgs[id];
+ while (list.size() > settings.can_msg_log_size) {
list.pop_back();
}
CanData &data = list.emplace_front();
data.ts = current_sec;
data.bus_time = c.getBusTime();
data.dat.append((char *)c.getDat().begin(), c.getDat().size());
+
+ auto &count = counters[id];
+ data.count = ++count;
+ if (double delta = (current_sec - counters_begin_sec); delta > 0) {
+ data.freq = count / delta;
+ }
+ (*new_msgs)[id] = data;
}
- if (current_sec < prev_update_sec || (current_sec - prev_update_sec) > 1.0 / settings.fps) {
- prev_update_sec = current_sec;
+ double ts = millis_since_boot();
+ if ((ts - prev_update_ts) > (1000.0 / settings.fps)) {
+ prev_update_ts = ts;
// use pointer to avoid data copy in queued connection.
- emit received(received_msgs.release());
+ emit received(new_msgs.release());
}
}
return true;
}
-void CANMessages::seekTo(double ts) {
- seeking = true;
- replay->seekTo(ts, false);
- seeking = false;
+const std::deque CANMessages::messages(const QString &id) {
+ std::lock_guard lk(lock);
+ return received_msgs[id];
}
-void CANMessages::setRange(double min, double max) {
- if (begin_sec != min || end_sec != max) {
- begin_sec = min;
- end_sec = max;
- is_zoomed = begin_sec != event_begin_sec || end_sec != event_end_sec;
- emit rangeChanged(min, max);
- }
-}
-
-void CANMessages::segmentsMerged() {
- auto events = replay->events();
- if (!events || events->empty()) return;
-
- auto it = std::find_if(events->begin(), events->end(), [=](const Event *e) { return e->which == cereal::Event::Which::CAN; });
- event_begin_sec = it == events->end() ? 0 : ((*it)->mono_time - replay->routeStartTime()) / (double)1e9;
- event_end_sec = double(events->back()->mono_time - replay->routeStartTime()) / 1e9;
- if (!is_zoomed) {
- begin_sec = event_begin_sec;
- end_sec = event_end_sec;
- }
- emit eventsMerged();
-}
-
-void CANMessages::resetRange() {
- setRange(event_begin_sec, event_end_sec);
+void CANMessages::seekTo(double ts) {
+ replay->seekTo(ts, false);
+ counters_begin_sec = 0;
}
void CANMessages::settingChanged() {
replay->setSegmentCacheLimit(settings.cached_segment_limit);
}
-
-// Settings
-
-Settings::Settings() {
- load();
-}
-
-void Settings::save() {
- QSettings s("settings", QSettings::IniFormat);
- s.setValue("fps", fps);
- s.setValue("log_size", can_msg_log_size);
- s.setValue("cached_segment", cached_segment_limit);
-}
-
-void Settings::load() {
- QSettings s("settings", QSettings::IniFormat);
- fps = s.value("fps", 10).toInt();
- can_msg_log_size = s.value("log_size", 100).toInt();
- cached_segment_limit = s.value("cached_segment", 3.).toInt();
-}
diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h
index 3d33f801a7..5fbccdbe12 100644
--- a/tools/cabana/canmessages.h
+++ b/tools/cabana/canmessages.h
@@ -2,31 +2,21 @@
#include
#include
-#include