From 5c3020844e2abaae7ce25236723c61ce658b22d8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 14 Mar 2025 22:37:49 -0700 Subject: [PATCH 01/37] car interfaces: each specify their own dependencies (#34874) * remove these * fix * oops * clean up * nl * bump --- opendbc_repo | 2 +- selfdrive/car/card.py | 4 ++-- selfdrive/car/tests/test_car_interfaces.py | 4 ++-- selfdrive/car/tests/test_models.py | 10 +++++----- selfdrive/controls/controlsd.py | 4 ++-- selfdrive/controls/lib/tests/test_latcontrol.py | 4 ++-- selfdrive/test/process_replay/process_replay.py | 2 +- 7 files changed, 15 insertions(+), 15 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 96896d3509..b46e6340c1 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 96896d35098464661de5c96f075bf5053eeefede +Subproject commit b46e6340c15428ef72435b163ce03ffe66ffe563 diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 8a21df3340..607f5590c4 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -15,7 +15,7 @@ from opendbc.car import DT_CTRL, structs from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable from opendbc.car.carlog import carlog from opendbc.car.fw_versions import ObdCallback -from opendbc.car.car_helpers import get_car, get_radar_interface +from opendbc.car.car_helpers import get_car, interfaces from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase from opendbc.safety import ALTERNATIVE_EXPERIENCE from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp @@ -99,7 +99,7 @@ class Car: cached_params = _cached_params self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params) - self.RI = get_radar_interface(self.CI.CP) + self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP) self.CP = self.CI.CP # continue onto next fingerprinting step in pandad diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index ca96884d7c..e0cd5a1e91 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -34,14 +34,14 @@ class TestCarInterfaces: phases=(Phase.reuse, Phase.generate, Phase.shrink)) @given(data=st.data()) def test_car_interfaces(self, car_name, data): - CarInterface, CarController, CarState, RadarInterface = interfaces[car_name] + CarInterface = interfaces[car_name] args = get_fuzzy_car_interface_args(data.draw) car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'], experimental_long=args['experimental_long'], docs=False) car_params = car_params.as_reader() - car_interface = CarInterface(car_params, CarController, CarState) + car_interface = CarInterface(car_params) assert car_params assert car_interface diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 9885358e71..906fa99320 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -151,8 +151,8 @@ class TestCarModelBase(unittest.TestCase): # if relay is expected to be open in the route cls.openpilot_enabled = cls.car_safety_mode_frame is not None - cls.CarInterface, cls.CarController, cls.CarState, cls.RadarInterface = interfaces[cls.platform] - cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, experimental_long, docs=False) + cls.CarInterface = interfaces[cls.platform] + cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, experimental_long, docs=False) assert cls.CP assert cls.CP.carFingerprint == cls.platform @@ -163,7 +163,7 @@ class TestCarModelBase(unittest.TestCase): del cls.can_msgs def setUp(self): - self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState) + self.CI = self.CarInterface(self.CP.copy()) assert self.CI # TODO: check safetyModel is in release panda build @@ -210,7 +210,7 @@ class TestCarModelBase(unittest.TestCase): self.assertEqual(can_invalid_cnt, 0) def test_radar_interface(self): - RI = self.RadarInterface(self.CP) + RI = self.CarInterface.RadarInterface(self.CP) assert RI # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting, @@ -273,7 +273,7 @@ class TestCarModelBase(unittest.TestCase): def test_car_controller(car_control): now_nanos = 0 msgs_sent = 0 - CI = self.CarInterface(self.CP, self.CarController, self.CarState) + CI = self.CarInterface(self.CP) for _ in range(round(10.0 / DT_CTRL)): # make sure we hit the slowest messages CI.update([]) _, sendcan = CI.apply(car_control, now_nanos) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index dcc1c74794..f6fabfc421 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -9,7 +9,7 @@ from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper from openpilot.common.swaglog import cloudlog -from opendbc.car.car_helpers import get_car_interface +from opendbc.car.car_helpers import interfaces from opendbc.car.vehicle_model import VehicleModel from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED @@ -33,7 +33,7 @@ class Controls: self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams) cloudlog.info("controlsd got CarParams") - self.CI = get_car_interface(self.CP) + self.CI = interfaces[self.CP.carFingerprint](self.CP) self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState', 'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput', diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py index 564c93be0d..a01f013ddd 100644 --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ b/selfdrive/controls/lib/tests/test_latcontrol.py @@ -17,9 +17,9 @@ class TestLatControl: @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque), (NISSAN.NISSAN_LEAF, LatControlAngle)]) def test_saturation(self, car_name, controller): - CarInterface, CarController, CarState, RadarInterface = interfaces[car_name] + CarInterface = interfaces[car_name] CP = CarInterface.get_non_essential_params(car_name) - CI = CarInterface(CP, CarController, CarState) + CI = CarInterface(CP) VM = VehicleModel(CP) controller = controller(CP.as_reader(), CI) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 34ca98fdc2..16761225d3 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -342,7 +342,7 @@ def card_fingerprint_callback(rc, pm, msgs, fingerprint): def get_car_params_callback(rc, pm, msgs, fingerprint): params = Params() if fingerprint: - CarInterface, _, _, _ = interfaces[fingerprint] + CarInterface = interfaces[fingerprint] CP = CarInterface.get_non_essential_params(fingerprint) else: can = DummySocket() From fb7b9c0f9420d228f03362970ebcfb7237095cf3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 15 Mar 2025 14:02:03 -0700 Subject: [PATCH 02/37] camerad: log failed sync time (#34878) * camerad: log failed sync time * mv --------- Co-authored-by: Comma Device --- system/camerad/cameras/spectra.cc | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 247b0dd215..d12dbb2444 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -266,7 +266,7 @@ int SpectraCamera::clear_req_queue() { req_mgr_flush_request.link_hdl = link_handle; req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL; int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request)); - LOGD("flushed all req: %d", ret); + LOGD("flushed all req: %d", ret); // returns a "time until timeout" on clearing the workq for (int i = 0; i < MAX_IFE_BUFS; ++i) { destroySyncObjectAt(i); @@ -1418,11 +1418,13 @@ bool SpectraCamera::waitForFrameReady(uint64_t request_id) { } auto waitForSync = [&](uint32_t sync_obj, int timeout_ms, const char *sync_type) { + double st = millis_since_boot(); struct cam_sync_wait sync_wait = {}; sync_wait.sync_obj = sync_obj; sync_wait.timeout_ms = stress_test(sync_type) ? 1 : timeout_ms; bool ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait)) == 0; - if (!ret) LOGE("camera %d %s failed", cc.camera_num, sync_type); + double et = millis_since_boot(); + if (!ret) LOGE("camera %d %s failed after %.2fms", cc.camera_num, sync_type, et-st); return ret; }; @@ -1434,6 +1436,7 @@ bool SpectraCamera::waitForFrameReady(uint64_t request_id) { // BPS is typically 7ms success = waitForSync(sync_objs_bps[buf_idx], 50, "BPS sync"); } + return success; } From 519ea9dcab2affdd3edcd10401675fee8dbdeaff Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 15 Mar 2025 15:55:29 -0700 Subject: [PATCH 03/37] Make model daemons Python processes (#34880) --- system/manager/process.py | 6 +++++- system/manager/process_config.py | 6 ++---- 2 files changed, 7 insertions(+), 5 deletions(-) diff --git a/system/manager/process.py b/system/manager/process.py index 0e9c9b9804..6c233c21ab 100644 --- a/system/manager/process.py +++ b/system/manager/process.py @@ -221,8 +221,12 @@ class PythonProcess(ManagerProcess): if self.proc is not None: return + # TODO: this is just a workaround for this tinygrad check: + # https://github.com/tinygrad/tinygrad/blob/ac9c96dae1656dc220ee4acc39cef4dd449aa850/tinygrad/device.py#L26 + name = self.name if "modeld" not in self.name else "MainProcess" + cloudlog.info(f"starting python {self.module}") - self.proc = Process(name=self.name, target=self.launcher, args=(self.module, self.name)) + self.proc = Process(name=name, target=self.launcher, args=(self.module, self.name)) self.proc.start() self.watchdog_seen = False self.shutting_down = False diff --git a/system/manager/process_config.py b/system/manager/process_config.py index 96315eeb29..6e048c339e 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -75,10 +75,8 @@ procs = [ PythonProcess("micd", "system.micd", iscar), PythonProcess("timed", "system.timed", always_run, enabled=not PC), - # TODO: Make python process once TG allows opening QCOM from child pro - # https://github.com/tinygrad/tinygrad/blob/ac9c96dae1656dc220ee4acc39cef4dd449aa850/tinygrad/device.py#L26 - NativeProcess("modeld", "selfdrive/modeld", ["./modeld.py"], only_onroad), - NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld.py"], driverview, enabled=(WEBCAM or not PC)), + PythonProcess("modeld", "selfdrive.modeld.modeld", only_onroad), + PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)), NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC), NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)), From 561d33d81e4cf64d22897bc8ca1e09c19d205312 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 15 Mar 2025 20:55:03 -0700 Subject: [PATCH 04/37] remove '-release' suffix --- release/build_release.sh | 2 -- 1 file changed, 2 deletions(-) diff --git a/release/build_release.sh b/release/build_release.sh index 735ef5e043..220da05c17 100755 --- a/release/build_release.sh +++ b/release/build_release.sh @@ -40,8 +40,6 @@ rm -f panda/board/obj/panda.bin.signed rm -f panda/board/obj/panda_h7.bin.signed VERSION=$(cat common/version.h | awk -F[\"-] '{print $2}') -echo "#define COMMA_VERSION \"$VERSION-release\"" > common/version.h - echo "[-] committing version $VERSION T=$SECONDS" git add -f . git commit -a -m "openpilot v$VERSION release" From c0b39d328db4e467a67557e63fd67cd64177da0e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 15 Mar 2025 22:08:43 -0700 Subject: [PATCH 05/37] fix typo --- RELEASES.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 8a5638bc84..071622f89a 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -6,7 +6,7 @@ Version 0.9.8 (2025-02-28) ======================== * New driving model * Model now gates applying positive acceleration in Chill mode -* New driving monitoring model +* New driver monitoring model * Reduced false positives related to passengers * Image processing pipeline moved to the ISP * More GPU time for bigger driving models From abc1c5fb959810a654c6115e80b29fb18fc4bb19 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 15 Mar 2025 22:21:58 -0700 Subject: [PATCH 06/37] selfdrived: add canError for radar can errors (#34873) radar can invalid --- selfdrive/selfdrived/selfdrived.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index fdf1b77871..c7320f9350 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -270,7 +270,9 @@ class SelfdriveD: if not REPLAY and self.rk.lagging: self.events.add(EventName.selfdrivedLagging) if not self.sm.valid['radarState']: - if self.sm['radarState'].radarErrors.radarUnavailableTemporary: + if self.sm['radarState'].radarErrors.canError: + self.events.add(EventName.canError) + elif self.sm['radarState'].radarErrors.radarUnavailableTemporary: self.events.add(EventName.radarTempUnavailable) else: self.events.add(EventName.radarFault) From 9571fc56079bf13f6ca74ed9cb0eb98c7b8755eb Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 15 Mar 2025 23:49:22 -0700 Subject: [PATCH 07/37] radard: use a filter for aLeadTau (#34883) use a filter --- selfdrive/controls/radard.py | 14 +++++--------- 1 file changed, 5 insertions(+), 9 deletions(-) diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 84420e3584..98fce1cb26 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -6,6 +6,7 @@ from typing import Any import capnp from cereal import messaging, log, car +from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.params import Params from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process from openpilot.common.swaglog import cloudlog @@ -51,7 +52,7 @@ class Track: def __init__(self, identifier: int, v_lead: float, kalman_params: KalmanParams): self.identifier = identifier self.cnt = 0 - self.aLeadTau = _LEAD_ACCEL_TAU + self.aLeadTau = FirstOrderFilter(_LEAD_ACCEL_TAU, 0.45, DT_MDL) self.K_A = kalman_params.A self.K_C = kalman_params.C self.K_K = kalman_params.K @@ -74,17 +75,12 @@ class Track: # Learn if constant acceleration if abs(self.aLeadK) < 0.5: - self.aLeadTau = _LEAD_ACCEL_TAU + self.aLeadTau.x = _LEAD_ACCEL_TAU else: - self.aLeadTau *= 0.9 + self.aLeadTau.update(0.0) self.cnt += 1 - def reset_a_lead(self, aLeadK: float, aLeadTau: float): - self.kf = KF1D([[self.vLead], [aLeadK]], self.K_A, self.K_C, self.K_K) - self.aLeadK = aLeadK - self.aLeadTau = aLeadTau - def get_RadarState(self, model_prob: float = 0.0): return { "dRel": float(self.dRel), @@ -93,7 +89,7 @@ class Track: "vLead": float(self.vLead), "vLeadK": float(self.vLeadK), "aLeadK": float(self.aLeadK), - "aLeadTau": float(self.aLeadTau), + "aLeadTau": float(self.aLeadTau.x), "status": True, "fcw": self.is_potential_fcw(model_prob), "modelProb": model_prob, From d1042df6322c28168ee2edb5fa4aec6d632ef09a Mon Sep 17 00:00:00 2001 From: eFini Date: Mon, 17 Mar 2025 11:39:50 +0800 Subject: [PATCH 08/37] Multilang: Update ZH translations (#34889) update zh translations --- selfdrive/ui/translations/main_zh-CHS.ts | 20 +++++++++++--------- selfdrive/ui/translations/main_zh-CHT.ts | 20 +++++++++++--------- 2 files changed, 22 insertions(+), 18 deletions(-) diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index f78d8dcdff..4cc2d401eb 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -315,28 +315,30 @@ openpilot learns to drive by watching humans, like you, drive. Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode. - + openpilot 通过观察人类驾驶（包括您）来学习如何驾驶。 + +“训练数据上传模式”允许您最大化上传训练数据，以改进 openpilot 的驾驶模型。更多数据意味着更强大的模型，也就意味着更优秀的“实验模式”。 Firehose Mode: ACTIVE - + 训练数据上传模式：激活中 ACTIVE - + 激活中 <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>未激活</span>：请连接至不限流量的网络 For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - + 为了达到最佳效果，请每周将您的设备带回室内，并连接到优质的 USB-C 充电器和 Wi-Fi。<br><br>Firehose 模式在行驶时也能运行，但需连接到移动热点或使用不限流量的 SIM 卡。<br><br><br><b>常见问题</b><br><br><i>我开车的方式或地点有影响吗？</i>不会，请像平常一样驾驶即可。<br><br><i>Firehose 模式会上传所有的驾驶片段吗？</i>不会，我们会选择性地上传部分片段。<br><br><i>什么是好的 USB-C 充电器？</i>任何快速手机或笔记本电脑充电器都应该适用。<br><br><i>我使用的软件版本有影响吗？</i>有的，只有官方 openpilot（以及特定的分支）可以用于训练。 <b>%n segment(s)</b> of your driving is in the training dataset so far. - - + + <b>目前已有 %n 段</b> 您的驾驶数据被纳入训练数据集。 @@ -995,11 +997,11 @@ This may take up to a minute. Welcome to openpilot - + 欢迎使用 openpilot You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing. - + 您必须接受《条款与条件》才能使用 openpilot。在继续之前，请先阅读最新条款：<span style='color: #465BEA;'>https://comma.ai/terms</span>。 diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 8547c90410..78519f2647 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -315,28 +315,30 @@ openpilot learns to drive by watching humans, like you, drive. Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode. - + openpilot 透過觀察人類駕駛（包括您）來學習如何駕駛。 + +「訓練資料上傳模式」可讓您最大化上傳訓練數據，以改進 openpilot 的駕駛模型。更多數據代表更強大的模型，也就意味著更優秀的「實驗模式」。 Firehose Mode: ACTIVE - + 訓練資料上傳模式：啟用中 ACTIVE - + 啟用中 <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>未啟用</span>：請連接至不限流量的網路 For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - + 為了達到最佳效果，請每週將您的裝置帶回室內，並連接至優質的 USB-C 充電器與 Wi-Fi。<br><br>訓練資料上傳模式在行駛時也能運作，但需連接至行動熱點或使用不限流量的 SIM 卡。<br><br><br><b>常見問題</b><br><br><i>我開車的方式或地點有影響嗎？</i> 不會，請像平常一樣駕駛即可。<br><br><i>訓練資料上傳模式會上傳所有的駕駛片段嗎？</i>不會，我們會選擇性地上傳部分片段。<br><br><i>什麼是好的 USB-C 充電器？</i>任何快速手機或筆電充電器都應該適用。<br><br><i>我使用的軟體版本有影響嗎？</i>有的，只有官方 openpilot（以及特定的分支）可以用於訓練。 <b>%n segment(s)</b> of your driving is in the training dataset so far. - - + + <b>目前已有 %n 段</b> 您的駕駛數據被納入訓練資料集。 @@ -995,11 +997,11 @@ This may take up to a minute. Welcome to openpilot - + 歡迎使用 openpilot You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing. - + 您必須接受《條款與條件》才能使用 openpilot。在繼續之前，請先閱讀最新條款：<span style='color: #465BEA;'>https://comma.ai/terms</span>。 From 5cffaf5bb5e2756e8dcbb4f38621bc76c152950c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 17 Mar 2025 20:23:57 +0800 Subject: [PATCH 09/37] url_file.py: remove the unnecessary str() wrapping around the hexdigest() (#34891) remove the unnecessary str() wrapping around the hexdigest() --- tools/lib/url_file.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py index fe8bd3ea84..b2a11dc77b 100644 --- a/tools/lib/url_file.py +++ b/tools/lib/url_file.py @@ -16,8 +16,7 @@ CHUNK_SIZE = 1000 * K logging.getLogger("urllib3").setLevel(logging.WARNING) def hash_256(link: str) -> str: - hsh = str(sha256((link.split("?")[0]).encode('utf-8')).hexdigest()) - return hsh + return sha256((link.split("?")[0]).encode('utf-8')).hexdigest() class URLFileException(Exception): From fe08e526833f2c820f309814af9ce91f49110be3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 17 Mar 2025 09:26:52 -0700 Subject: [PATCH 10/37] 0.9.9 soon --- RELEASES.md | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 071622f89a..ced7e3d4fc 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,6 +1,10 @@ -Version 0.9.9 (2025-04-XX) +Version 0.9.9 (2025-04-30) ======================== +* New driving model * Tesla Model 3 and Y support thanks to lukasloetkolben! +* Coming soon + * New driving model supervised by MLSIM + * An online learner for steering actuator delay Version 0.9.8 (2025-02-28) ======================== From 469b494026fbd23a546cd4ca793545a363a92b0a Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 17 Mar 2025 12:47:49 -0700 Subject: [PATCH 11/37] [bot] Update Python packages (#34893) * Update Python packages * fix ruff --------- Co-authored-by: Vehicle Researcher Co-authored-by: Maxime Desroches --- opendbc_repo | 2 +- panda | 2 +- selfdrive/test/process_replay/migration.py | 2 +- tools/joystick/joystick_control.py | 4 +- uv.lock | 1441 ++++++++++---------- 5 files changed, 721 insertions(+), 730 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index b46e6340c1..3db676c5cc 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit b46e6340c15428ef72435b163ce03ffe66ffe563 +Subproject commit 3db676c5cc509d0141a2cb3dc312765abb4360f7 diff --git a/panda b/panda index 1d5b89956b..998ac9d5d8 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 1d5b89956b32bbda2940724ce70c5166e44668c5 +Subproject commit 998ac9d5d82f10d7dd926ac66800b1efa20ff9b2 diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index fd13c4f239..e1d0352262 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -276,7 +276,7 @@ def migrate_pandaStates(msgs): "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEERING, } # TODO: get new Ford route - safety_param_migration |= {car: FordSafetyFlags.LONG_CONTROL for car in (set(FORD) - FORD.with_flags(FordFlags.CANFD))} + safety_param_migration |= dict.fromkeys((set(FORD) - FORD.with_flags(FordFlags.CANFD)), FordSafetyFlags.LONG_CONTROL) # Migrate safety param base on carParams CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None) diff --git a/tools/joystick/joystick_control.py b/tools/joystick/joystick_control.py index 74d034d505..11d17e587e 100755 --- a/tools/joystick/joystick_control.py +++ b/tools/joystick/joystick_control.py @@ -28,7 +28,7 @@ class Keyboard: key = self.kb.getch().lower() self.cancel = False if key == 'r': - self.axes_values = {ax: 0. for ax in self.axes_values} + self.axes_values = 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60px; font-weight: bold; color: #2ecc71;"); } else { - toggle_label->setText(tr("INACTIVE: connect to unmetered network")); + toggle_label->setText(tr("INACTIVE: connect to an unmetered network")); toggle_label->setStyleSheet("font-size: 60px;"); } } From ed56ac52f4770e5ebe42db2a7b78140f2b07c0da Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Tue, 18 Mar 2025 19:33:15 +0100 Subject: [PATCH 14/37] ci: Add ui previews for new ui elements as well (#34886) * Add previews for new ui elements as well * Actualizar ui_preview.yaml Co-authored-by: Maxime Desroches --------- Co-authored-by: Maxime Desroches --- .github/workflows/ui_preview.yaml | 14 +++++++++++++- 1 file changed, 13 insertions(+), 1 deletion(-) diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml index 75e6249b76..f3fdc270db 100644 --- a/.github/workflows/ui_preview.yaml +++ b/.github/workflows/ui_preview.yaml @@ -93,8 +93,20 @@ jobs: for ((i=0; i<${#A[*]}; i=i+1)); do + # Check if the master file exists + if [ ! -f "${{ github.workspace }}/master_ui/${A[$i]}.png" ]; then + # This is a new file in PR UI that doesn't exist in master + DIFF="${DIFF}
" + DIFF="${DIFF}${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$" + DIFF="${DIFF}" - if ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then + DIFF="${DIFF}" + DIFF="${DIFF} " + DIFF="${DIFF}" + + DIFF="${DIFF}
" + DIFF="${DIFF}
" + elif ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png convert -delay 100 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif From c3bba7431ab1b6dd1b2e5b0e937a446b606e4e67 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 18 Mar 2025 11:38:27 -0700 Subject: [PATCH 15/37] update to latest userdata partition (#34898) update cache --- system/hardware/tici/all-partitions.json | 26 ++++++++++++------------ 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json index 4d15e76b0e..3c88e82420 100644 --- a/system/hardware/tici/all-partitions.json +++ b/system/hardware/tici/all-partitions.json @@ -366,35 +366,35 @@ }, { "name": "userdata_90", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-17f46ba0d0eec10cf14804c84d9bcf4f6fa864074f1b90ff2fb4873399d64b1a.img.xz", - "hash": "1442ae218daff960783bc493a32dd489fa787e4025c64fa3132f48b1e627647f", - "hash_raw": "17f46ba0d0eec10cf14804c84d9bcf4f6fa864074f1b90ff2fb4873399d64b1a", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-0cbfcaba867b8c637a297492fe008aac82cea89a479077585faaa62c8bdc4bcf.img.xz", + "hash": "4a48581a9e2e416ae3b695d1fca7a056eeb8b12e7819fee16a3419ba56662ca1", + "hash_raw": "0cbfcaba867b8c637a297492fe008aac82cea89a479077585faaa62c8bdc4bcf", "size": 96636764160, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "a64fea9c3a7bec11b850a55d50ceb30a032742c90aadf0ce35cdbef9349bebba" + "ondevice_hash": "51b690c08c7876d5f6f81c36cdfc64bd7e2326986329923b4eb391dbeb45ced1" }, { "name": "userdata_89", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-69b2404839f87b1de5c05766550ca0217d5ed566c9f2ea41c46b5a301540a3ac.img.xz", - "hash": "332e6cf5c221690a01ebfd0582420e039c7796a8fb2d499e44a8b657dffe4af2", - "hash_raw": "69b2404839f87b1de5c05766550ca0217d5ed566c9f2ea41c46b5a301540a3ac", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-5043e8058de94159e4b36590403120e76bdabe75542743bb41e251158aa14f7c.img.xz", + "hash": "7eca201ce9e6440b389a469eeffe635df50c81c18a7b6af9b73dfe462af7c174", + "hash_raw": "5043e8058de94159e4b36590403120e76bdabe75542743bb41e251158aa14f7c", "size": 95563022336, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "c560c76007fd8997e01e516ab16ff445048945a13bf830bb2a4c7f6e9d2fe5f6" + "ondevice_hash": "2c25fb92c7c7085783b3ea1f96d3919acefafe3b4897529ced30540fdb7dc772" }, { "name": "userdata_30", - "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-ffc34d8753520e684448185db801c05bb81e23c54a499cc40a2e38b7009cdf36.img.xz", - "hash": "8bfb1fdec9c8f96c97bcce1efbc7d502447bdb3b481cc408b24b5feef66839fd", - "hash_raw": "ffc34d8753520e684448185db801c05bb81e23c54a499cc40a2e38b7009cdf36", + "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-cf9c15c127fb4e776843e7fce36e545b8c8848991186a7ff2cd0d5c2fffe2a1d.img.xz", + "hash": "c0866a0a8e4eedb9f0f1a4d853ace9c83038c955f88e8bfffbaf441dc103c1a6", + "hash_raw": "cf9c15c127fb4e776843e7fce36e545b8c8848991186a7ff2cd0d5c2fffe2a1d", "size": 32212254720, "sparse": true, "full_check": true, "has_ab": false, - "ondevice_hash": "8f840157d73fa4469aa650d668e046c9750304af84248ab83453cbd285918859" + "ondevice_hash": "78086497dd01efd87b491fe16a9abd382f14ec7366c8eb7acfe0ec0c5d192df6" } -] \ No newline at end of file +] From 988fc477eb066a915a10bfdcb2fd97ebe10637a4 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 20 Mar 2025 00:27:23 +0800 Subject: [PATCH 16/37] camerad: remove duplicate include (#34905) remove duplicate include --- system/camerad/cameras/spectra.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index d12dbb2444..4535078771 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -19,7 +19,6 @@ #include "system/camerad/cameras/ife.h" #include "system/camerad/cameras/spectra.h" #include "system/camerad/cameras/bps_blobs.h" -#include "third_party/linux/include/msm_media_info.h" // ************** low level camera helpers **************** From 2fca8451536a21fc6bf1a25bd73985acd934bb52 Mon Sep 17 00:00:00 2001 From: programanichiro <99449198+programanichiro@users.noreply.github.com> Date: Thu, 20 Mar 2025 02:41:44 +0900 Subject: [PATCH 17/37] Multilang: Update JA translations (#34904) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * 日本語訳2025/3/19 * numerusform追加。 --- selfdrive/ui/translations/main_ja.ts | 28 +++++++++++++++------------- 1 file changed, 15 insertions(+), 13 deletions(-) diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 7c67d83020..00f6acbd77 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -315,28 +315,30 @@ openpilot learns to drive by watching humans, like you, drive. Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode. - + openpilotは人間であるあなたの運転から学び、AI学習します。 + +Firehoseモードを有効にすると、学習データを最大限アップロードし、openpilotの運転モデルを向上させることができます。より多くのデータはより大きなモデルとなり、Experimentalモードの精度を向上させます。 Firehose Mode: ACTIVE - + Firehoseモード: 作動中 ACTIVE - + 動作中 <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>動作停止</span>: 大容量のネットワークに接続してください For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - + 最大の効果を得るためにはデバイスを屋内に持ち込み、大容量のUSB-C充電器とWi-Fiに毎週接続してください。<br><br>Firehoseモードは公衆無線LANや大容量契約のSIMカードに接続していれば、運転中でも動作します。<br><br><br><b>よくある質問(FAQ)</b><br><br><i>運転のやり方や走る場所は重要ですか？</i> いいえ、普段どおりに運転するだけで大丈夫です。<br><br><i>Firehoseモードでは全てのデータがアップロードされますか？</i> いいえ、アップロードするデータを選ぶことができます。<br><br><i>大容量のUSB-C充電器とは何ですか？</i> スマートフォンやノートパソコンを高速に充電できるものを使って下さい。<br><br><i>どのフォークを使うかは重要ですか？</i>はい、トレーニングには公式のopenpilot(および特定のフォーク)のみが使用できます。 <b>%n segment(s)</b> of your driving is in the training dataset so far. - - + + あなたの運転の<b>%nセグメント</b>がこれまでのトレーニングデータに含まれています。 @@ -945,7 +947,7 @@ This may take up to a minute. Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. - 警告: これは、GitHub の設定にあるすべての公開鍵への SSH アクセスを許可するものです。自分以外の GitHub のユーザー名を入力しないでください。commaのスタッフが GitHub のユーザー名を追加するようお願いすることはありません。 + 警告: これはGitHubの設定にあるすべての公開鍵への SSH アクセスを許可するものです。自分以外のGitHubユーザー名を入力しないでください。commaのスタッフがGitHubのユーザー名を追加するようお願いすることはありません。 ADD @@ -953,7 +955,7 @@ This may take up to a minute. Enter your GitHub username - GitHub のユーザー名を入力してください + GitHubのユーザー名を入力してください LOADING @@ -995,18 +997,18 @@ This may take up to a minute. Welcome to openpilot - + openpilotへようこそ You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing. - + openpilotを使用するには利用規約に同意する必要があります。続行する前に最新の規約を以下でご確認ください: <span style='color: #465BEA;'>https://comma.ai/terms</span> TogglesPanel Enable openpilot - openpilot を有効化 + openpilotを有効化 Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. @@ -1014,7 +1016,7 @@ This may take up to a minute. Enable Lane Departure Warnings - 車線逸脱警報機能の有効化 + 車線逸脱警報の有効化 Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). From e785026a98a8745057a560742fa030c4df14c55a Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Wed, 19 Mar 2025 12:22:54 -0700 Subject: [PATCH 18/37] feat(athenad): priority uploads (#34856) Today, Firehose uploads and user-requested uploads from Connect are treated the same. This is not ideal behavior if the user wants to upload routes immediately for a bug report and the queue is full of uploads for Firehose. The workaround is to clear the queue and retry the upload from Connect. This PR adds an optional `priority` to requested file uploads in `athenad`. By default, all requests are marked `Low`. However, if the caller wishes to mark their uploads as "more important," then the upload queue will prioritize those requests when uploading. The only caveat to this PR is that we won't reorder files currently being uploaded. Most connections are quick enough to finish uploading max 4 files before polling the new high-priority items in the queue. Closes https://github.com/commaai/openpilot/issues/34836 **Verification** Added test case to insert upload tasks with differing priorities. Polling the queue produces items in the correct order (smallest # to largest). PR to mark Connect uploads as high priority: https://github.com/commaai/connect/pull/557 --------- Co-authored-by: Cameron Clough --- system/athena/athenad.py | 23 +++++++++++++++++++---- system/athena/tests/test_athenad.py | 22 +++++++++++++++++++++- 2 files changed, 40 insertions(+), 5 deletions(-) diff --git a/system/athena/athenad.py b/system/athena/athenad.py index b36bdb103d..5813bc90a5 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -16,7 +16,7 @@ import threading import time from dataclasses import asdict, dataclass, replace from datetime import datetime -from functools import partial +from functools import partial, total_ordering from queue import Queue from typing import cast from collections.abc import Callable @@ -53,6 +53,7 @@ MAX_RETRY_COUNT = 30 # Try for at most 5 minutes if upload fails immediately MAX_AGE = 31 * 24 * 3600 # seconds WS_FRAME_SIZE = 4096 DEVICE_STATE_UPDATE_INTERVAL = 1.0 # in seconds +DEFAULT_UPLOAD_PRIORITY = 99 # higher number = lower priority NetworkType = log.DeviceState.NetworkType @@ -68,13 +69,15 @@ class UploadFile: url: str headers: dict[str, str] allow_cellular: bool + priority: int = DEFAULT_UPLOAD_PRIORITY @classmethod def from_dict(cls, d: dict) -> UploadFile: - return cls(d.get("fn", ""), d.get("url", ""), d.get("headers", {}), d.get("allow_cellular", False)) + return cls(d.get("fn", ""), d.get("url", ""), d.get("headers", {}), d.get("allow_cellular", False), d.get("priority", DEFAULT_UPLOAD_PRIORITY)) @dataclass +@total_ordering class UploadItem: path: str url: str @@ -85,17 +88,28 @@ class UploadItem: current: bool = False progress: float = 0 allow_cellular: bool = False + priority: int = DEFAULT_UPLOAD_PRIORITY @classmethod def from_dict(cls, d: dict) -> UploadItem: return cls(d["path"], d["url"], d["headers"], d["created_at"], d["id"], d["retry_count"], d["current"], - d["progress"], d["allow_cellular"]) + d["progress"], d["allow_cellular"], d["priority"]) + + def __lt__(self, other): + if not isinstance(other, UploadItem): + return NotImplemented + return self.priority < other.priority + + def __eq__(self, other): + if not isinstance(other, UploadItem): + return NotImplemented + return self.priority == other.priority dispatcher["echo"] = lambda s: s recv_queue: Queue[str] = queue.Queue() send_queue: Queue[str] = queue.Queue() -upload_queue: Queue[UploadItem] = queue.Queue() +upload_queue: Queue[UploadItem] = queue.PriorityQueue() low_priority_send_queue: Queue[str] = queue.Queue() log_recv_queue: Queue[str] = queue.Queue() cancelled_uploads: set[str] = set() @@ -398,6 +412,7 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo created_at=int(time.time() * 1000), id=None, allow_cellular=file.allow_cellular, + priority=file.priority, ) upload_id = hashlib.sha1(str(item).encode()).hexdigest() item = replace(item, id=upload_id) diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py index e16e73a7ea..dd82325815 100644 --- a/system/athena/tests/test_athenad.py +++ b/system/athena/tests/test_athenad.py @@ -76,7 +76,7 @@ class TestAthenadMethods: self.params.put(k, v) self.params.put_bool("GsmMetered", True) - athenad.upload_queue = queue.Queue() + athenad.upload_queue = queue.PriorityQueue() athenad.cur_upload_items.clear() athenad.cancelled_uploads.clear() @@ -321,6 +321,26 @@ class TestAthenadMethods: assert len(items) == 1 assert items[0]['current'] + def test_list_upload_queue_priority(self): + priorities = (25, 50, 99, 75, 0) + + for i in priorities: + fn = f'qlog_{i}.zst' + fp = self._create_file(fn) + item = athenad.UploadItem( + path=fp, + url=f"http://localhost:44444/{fn}", + headers={}, + created_at=int(time.time()*1000), + id='', + allow_cellular=True, + priority=i + ) + athenad.upload_queue.put_nowait(item) + + for i in sorted(priorities): + assert athenad.upload_queue.get_nowait().priority == i + def test_list_upload_queue(self): item = athenad.UploadItem(path="qlog.zst", url="http://localhost:44444/qlog.zst", headers={}, created_at=int(time.time()*1000), id='id', allow_cellular=True) From 6d12ade231afcd4854c1dd1ad1c963e01d6031ff Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 20 Mar 2025 04:11:22 +0800 Subject: [PATCH 19/37] python ui: refactor spinner&text (#34897) refactor spinner&text --- system/ui/lib/application.py | 6 +++- system/ui/spinner.py | 67 ++++++++++++++++++------------------ system/ui/text.py | 44 ++++++++++++----------- 3 files changed, 61 insertions(+), 56 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index c7b7a36e5d..fd1ad52068 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -64,11 +64,16 @@ class GuiApplication: return texture def close(self): + if not rl.is_window_ready(): + return + for texture in self._textures: rl.unload_texture(texture) + self._textures = [] for font in self._fonts.values(): rl.unload_font(font) + self._fonts = [] rl.close_window() @@ -120,7 +125,6 @@ class GuiApplication: rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_SIZE, DEFAULT_TEXT_SIZE) rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.BACKGROUND_COLOR, rl.color_to_int(rl.BLACK)) rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(DEFAULT_TEXT_COLOR)) - rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.BACKGROUND_COLOR, rl.color_to_int(rl.Color(30, 30, 30, 255))) rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.BASE_COLOR_NORMAL, rl.color_to_int(rl.Color(50, 50, 50, 255))) def _monitor_fps(self): diff --git a/system/ui/spinner.py b/system/ui/spinner.py index 639de26744..9809307474 100755 --- a/system/ui/spinner.py +++ b/system/ui/spinner.py @@ -1,8 +1,7 @@ #!/usr/bin/env python3 import pyray as rl import os -import select -import sys +import threading from openpilot.common.basedir import BASEDIR from openpilot.system.ui.lib.application import gui_app @@ -20,57 +19,57 @@ def clamp(value, min_value, max_value): return max(min(value, max_value), min_value) -def check_input_non_blocking(): - if sys.stdin in select.select([sys.stdin], [], [], 0)[0]: - return sys.stdin.readline().strip() - return "" +class Spinner: + def __init__(self): + self._comma_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_comma.png"), TEXTURE_SIZE, TEXTURE_SIZE) + self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE) + self._rotation = 0.0 + self._text: str = "" + self._lock = threading.Lock() + def set_text(self, text: str) -> None: + with self._lock: + self._text = text -def main(): - gui_app.init_window("Spinner") - - # Load textures - comma_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_comma.png"), TEXTURE_SIZE, TEXTURE_SIZE) - spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE) + def render(self): + center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0) + spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0) + comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0) - # Initial values - rotation = 0.0 - user_input = "" - center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0) - spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0) - comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0) - - for _ in gui_app.render(): fps = rl.get_fps() if fps > 0: degrees_per_frame = 360.0 / (ROTATION_TIME_SECONDS * fps) - rotation = (rotation + degrees_per_frame) % 360.0 + self._rotation = (self._rotation + degrees_per_frame) % 360.0 # Draw rotating spinner and static comma logo - rl.draw_texture_pro(spinner_texture, rl.Rectangle(0, 0, TEXTURE_SIZE, TEXTURE_SIZE), + rl.draw_texture_pro(self._spinner_texture, rl.Rectangle(0, 0, TEXTURE_SIZE, TEXTURE_SIZE), rl.Rectangle(center.x, center.y, TEXTURE_SIZE, TEXTURE_SIZE), - spinner_origin, rotation, rl.WHITE) - rl.draw_texture_v(comma_texture, comma_position, rl.WHITE) - - # Read user input - if input_str := check_input_non_blocking(): - user_input = input_str + spinner_origin, self._rotation, rl.WHITE) + rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE) # Display progress bar or text based on user input - if user_input: + text = None + with self._lock: + text = self._text + + if text: y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT - if user_input.isdigit(): - progress = clamp(int(user_input), 0, 100) + if text.isdigit(): + progress = clamp(int(text), 0, 100) bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT) rl.draw_rectangle_rounded(bar, 0.5, 10, rl.GRAY) bar.width *= progress / 100.0 rl.draw_rectangle_rounded(bar, 0.5, 10, rl.WHITE) else: - text_size = rl.measure_text_ex(gui_app.font(), user_input, FONT_SIZE, 1.0) - rl.draw_text_ex(gui_app.font(), user_input, + text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0) + rl.draw_text_ex(gui_app.font(), text, rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE) if __name__ == "__main__": - main() + gui_app.init_window("Spinner") + spinner = Spinner() + spinner.set_text("Spinner text") + for _ in gui_app.render(): + spinner.render() diff --git a/system/ui/text.py b/system/ui/text.py index 33299605d6..97d0ebcce9 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -1,7 +1,5 @@ #!/usr/bin/env python3 -import sys import pyray as rl - from openpilot.system.hardware import HARDWARE from openpilot.system.ui.lib.button import gui_button, ButtonStyle from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel @@ -33,32 +31,36 @@ def wrap_text(text, font_size, max_width): return lines +class TextWindow: + def __init__(self, text: str): + self._textarea_rect = rl.Rectangle(MARGIN, MARGIN, gui_app.width - MARGIN * 2, gui_app.height - MARGIN * 2) + self._wrapped_lines = wrap_text(text, FONT_SIZE, self._textarea_rect.width - 20) + self._content_rect = rl.Rectangle(0, 0, self._textarea_rect.width - 20, len(self._wrapped_lines) * LINE_HEIGHT) + self._scroll_panel = GuiScrollPanel(show_vertical_scroll_bar=True) -def main(): - gui_app.init_window("Text") - - text_content = sys.argv[1] if len(sys.argv) > 1 else DEMO_TEXT - - textarea_rect = rl.Rectangle(MARGIN, MARGIN, gui_app.width - MARGIN * 2, gui_app.height - MARGIN * 2) - wrapped_lines = wrap_text(text_content, FONT_SIZE, textarea_rect.width - 20) - content_rect = rl.Rectangle(0, 0, textarea_rect.width - 20, len(wrapped_lines) * LINE_HEIGHT) - scroll_panel = GuiScrollPanel(show_vertical_scroll_bar=True) - - for _ in gui_app.render(): - scroll = scroll_panel.handle_scroll(textarea_rect, content_rect) - - rl.begin_scissor_mode(int(textarea_rect.x), int(textarea_rect.y), int(textarea_rect.width), int(textarea_rect.height)) - for i, line in enumerate(wrapped_lines): - position = rl.Vector2(textarea_rect.x + scroll.x, textarea_rect.y + scroll.y + i * LINE_HEIGHT) - if position.y + LINE_HEIGHT < textarea_rect.y or position.y > textarea_rect.y + textarea_rect.height: + def render(self): + scroll = self._scroll_panel.handle_scroll(self._textarea_rect, self._content_rect) + rl.begin_scissor_mode(int(self._textarea_rect.x), int(self._textarea_rect.y), int(self._textarea_rect.width), int(self._textarea_rect.height)) + for i, line in enumerate(self._wrapped_lines): + position = rl.Vector2(self._textarea_rect.x + scroll.x, self._textarea_rect.y + scroll.y + i * LINE_HEIGHT) + if position.y + LINE_HEIGHT < self._textarea_rect.y or position.y > self._textarea_rect.y + self._textarea_rect.height: continue rl.draw_text_ex(gui_app.font(), line.strip(), position, FONT_SIZE, 0, rl.WHITE) rl.end_scissor_mode() button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y) - if gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT): + ret = gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT) + if ret: HARDWARE.reboot() + return ret + + +def show_text_in_window(text: str): + gui_app.init_window("Text") + text_window = TextWindow(text) + for _ in gui_app.render(): + text_window.render() if __name__ == "__main__": - main() + show_text_in_window(DEMO_TEXT) From a40ab9a69bd96990cb8dc74e161c1717097399e7 Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" <41898282+github-actions[bot]@users.noreply.github.com> Date: Thu, 20 Mar 2025 14:13:07 -0700 Subject: [PATCH 20/37] [bot] Update translations (#34908) Update translations Co-authored-by: Vehicle Researcher --- selfdrive/ui/translations/main_ar.ts | 8 ++++---- selfdrive/ui/translations/main_de.ts | 8 ++++---- selfdrive/ui/translations/main_es.ts | 8 ++++---- selfdrive/ui/translations/main_fr.ts | 8 ++++---- selfdrive/ui/translations/main_ja.ts | 8 ++++---- selfdrive/ui/translations/main_ko.ts | 8 ++++---- selfdrive/ui/translations/main_pt-BR.ts | 8 ++++---- selfdrive/ui/translations/main_th.ts | 8 ++++---- selfdrive/ui/translations/main_tr.ts | 8 ++++---- selfdrive/ui/translations/main_zh-CHS.ts | 8 ++++---- selfdrive/ui/translations/main_zh-CHT.ts | 8 ++++---- 11 files changed, 44 insertions(+), 44 deletions(-) diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 8f43e64e8a..2afc088b24 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -327,10 +327,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp ACTIVE نشط - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>غير نشط</span>: اتصل بشبكة غير محسوبة - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. للحصول على أقصى فعالية، أحضر جهازك إلى الداخل واتصل بمحول USB-C جيد وشبكة Wi-Fi أسبوعياً.<br><br>يمكن أن يعمل وضع خرطوم الحريق أيضاً أثناء القيادة إذا كنت متصلاً بنقطة اتصال أو ببطاقة SIM غير محدودة.<br><br><br><b>الأسئلة المتكررة</b><br><br><i>هل يهم كيف أو أين أقود؟</i> لا، فقط قد كما تفعل عادة.<br><br><i>هل يتم سحب كل مقاطع رحلاتي في وضع خرطوم الحريق؟</i> لا، نقوم بسحب مجموعة مختارة من مقاطع رحلاتك.<br><br><i>ما هو محول USB-C الجيد؟</i> أي شاحن سريع للهاتف أو اللابتوب يجب أن يكون مناسباً.<br><br><i>هل يهم أي برنامج أستخدم؟</i> نعم، فقط النسخة الأصلية من openpilot (وأفرع معينة) يمكن استخدامها للتدريب. @@ -346,6 +342,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp حتى الآن، يوجد </b>%n مقطع<b>%n من قيادتك في مجموعة بيانات التدريب. + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + + HudRenderer diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index d440e790fc..560e1df2cc 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -325,10 +325,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp ACTIVE - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. @@ -340,6 +336,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + + HudRenderer diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index 235051bb73..2788c56c4e 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -325,10 +325,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp ACTIVE - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. @@ -340,6 +336,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + + HudRenderer diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 4ed97e2338..673056bf3b 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -325,10 +325,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp ACTIVE - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. @@ -340,6 +336,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + + HudRenderer diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 00f6acbd77..ef504a0855 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -327,10 +327,6 @@ Firehoseモードを有効にすると、学習データを最大限アップロ ACTIVE 動作中 - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>動作停止</span>: 大容量のネットワークに接続してください - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. 最大の効果を得るためにはデバイスを屋内に持ち込み、大容量のUSB-C充電器とWi-Fiに毎週接続してください。<br><br>Firehoseモードは公衆無線LANや大容量契約のSIMカードに接続していれば、運転中でも動作します。<br><br><br><b>よくある質問(FAQ)</b><br><br><i>運転のやり方や走る場所は重要ですか？</i> いいえ、普段どおりに運転するだけで大丈夫です。<br><br><i>Firehoseモードでは全てのデータがアップロードされますか？</i> いいえ、アップロードするデータを選ぶことができます。<br><br><i>大容量のUSB-C充電器とは何ですか？</i> スマートフォンやノートパソコンを高速に充電できるものを使って下さい。<br><br><i>どのフォークを使うかは重要ですか？</i>はい、トレーニングには公式のopenpilot(および特定のフォーク)のみが使用できます。 @@ -341,6 +337,10 @@ Firehoseモードを有効にすると、学習データを最大限アップロ あなたの運転の<b>%nセグメント</b>がこれまでのトレーニングデータに含まれています。 + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + + HudRenderer diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 5abc6ce9b2..c241400286 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -327,10 +327,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp ACTIVE 활성화 - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>비활성</span>: 무제한 네트워크에 연결 - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. 최대한의 효과를 얻으려면 매주 장치를 실내로 가져와 좋은 USB-C 케이블에 연결하고 Wi-Fi에 연결하세요.<br><br>파이어호스 모드는 핫스팟 또는 무제한 SIM 카드에 연결된 경우에는 운전 중에도 작동할 수 있습니다.<br><br><br><b>자주 묻는 질문</b><br><br><i>운전 방법이나 장소가 중요한가요?</i> 아니요, 평소처럼 운전하시면 됩니다.<br><br><i>파이어호스 모드에서 제 모든 구간을 가져오나요?.<br><br><i> 아니요, 저희는 여러분의 구간 중 일부를 선별적으로 가져옵니다.<br><br><i>좋은 USB-C 케이블은 무엇인가요?</i> 휴대폰이나 노트북 고속 충전기가 있으면 됩니다.<br><br><i>어떤 소프트웨어를 실행하는지가 중요한가요?</i> 예, 오직 공식 openpilot의 특정 포크만 트레이닝에 사용할 수 있습니다. @@ -341,6 +337,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + + HudRenderer diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 57b5b4ffa5..7760046d5d 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -327,10 +327,6 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar ACTIVE ATIVO - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INATIVO</span>: conecte-se a uma rede sem restrição <br> de dados - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. Para maior eficácia, leve seu dispositivo para dentro de casa e conecte-o a um bom adaptador USB-C e Wi-Fi semanalmente.<br><br>O Modo Firehose também pode funcionar enquanto você dirige, se estiver conectado a um hotspot ou a um chip SIM com dados ilimitados.<br><br><br><b>Perguntas Frequentes</b><br><br><i>Importa como ou onde eu dirijo?</i> Não, basta dirigir normalmente.<br><br><i>Todos os meus segmentos são enviados no Modo Firehose?</i> Não, selecionamos apenas um subconjunto dos seus segmentos.<br><br><i>Qual é um bom adaptador USB-C?</i> Qualquer carregador rápido de telefone ou laptop deve ser suficiente.<br><br><i>Importa qual software eu uso?</i> Sim, apenas o openpilot oficial (e alguns forks específicos) podem ser usados para treinamento. @@ -342,6 +338,10 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar <b>%n segmentos</b> da sua direção estão no conjunto de dados de treinamento até agora. + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + + HudRenderer diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 6db0085567..f6b9792dc4 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -325,10 +325,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp ACTIVE - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. @@ -339,6 +335,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + + HudRenderer diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index e640eeab4d..0b0e24dcf4 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -325,10 +325,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp ACTIVE - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. @@ -339,6 +335,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + + HudRenderer diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 4cc2d401eb..cbdfeb3988 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -327,10 +327,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp ACTIVE 激活中 - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>未激活</span>：请连接至不限流量的网络 - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. 为了达到最佳效果，请每周将您的设备带回室内，并连接到优质的 USB-C 充电器和 Wi-Fi。<br><br>Firehose 模式在行驶时也能运行，但需连接到移动热点或使用不限流量的 SIM 卡。<br><br><br><b>常见问题</b><br><br><i>我开车的方式或地点有影响吗？</i>不会，请像平常一样驾驶即可。<br><br><i>Firehose 模式会上传所有的驾驶片段吗？</i>不会，我们会选择性地上传部分片段。<br><br><i>什么是好的 USB-C 充电器？</i>任何快速手机或笔记本电脑充电器都应该适用。<br><br><i>我使用的软件版本有影响吗？</i>有的，只有官方 openpilot（以及特定的分支）可以用于训练。 @@ -341,6 +337,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <b>目前已有 %n 段</b> 您的驾驶数据被纳入训练数据集。 + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + + HudRenderer diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 78519f2647..d023524aea 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -327,10 +327,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp ACTIVE 啟用中 - - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>未啟用</span>：請連接至不限流量的網路 - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. 為了達到最佳效果，請每週將您的裝置帶回室內，並連接至優質的 USB-C 充電器與 Wi-Fi。<br><br>訓練資料上傳模式在行駛時也能運作，但需連接至行動熱點或使用不限流量的 SIM 卡。<br><br><br><b>常見問題</b><br><br><i>我開車的方式或地點有影響嗎？</i> 不會，請像平常一樣駕駛即可。<br><br><i>訓練資料上傳模式會上傳所有的駕駛片段嗎？</i>不會，我們會選擇性地上傳部分片段。<br><br><i>什麼是好的 USB-C 充電器？</i>任何快速手機或筆電充電器都應該適用。<br><br><i>我使用的軟體版本有影響嗎？</i>有的，只有官方 openpilot（以及特定的分支）可以用於訓練。 @@ -341,6 +337,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <b>目前已有 %n 段</b> 您的駕駛數據被納入訓練資料集。 + + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network + + HudRenderer From 05700433d8e01baf4c051d39f2c75b7898297761 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Thu, 20 Mar 2025 14:28:24 -0700 Subject: [PATCH 21/37] [bot] Update Python packages (#34909) * Update Python packages * update refs --------- Co-authored-by: Vehicle Researcher Co-authored-by: Shane Smiskol --- opendbc_repo | 2 +- 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tools/plotjuggler/layouts/torque-controller.xml | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/tools/plotjuggler/layouts/torque-controller.xml b/tools/plotjuggler/layouts/torque-controller.xml index 5a0a7625e0..606df03611 100644 --- a/tools/plotjuggler/layouts/torque-controller.xml +++ b/tools/plotjuggler/layouts/torque-controller.xml @@ -150,44 +150,44 @@ - - + + - + - + - + - + - + - + From c55ef3ae1b49e69f3452ee3f726a213ce6c374ae Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 20 Mar 2025 17:09:52 -0700 Subject: [PATCH 23/37] Rivian: enable torqued learning (#34912) --- selfdrive/locationd/torqued.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 590b6cc6f7..fcaa19df73 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -32,7 +32,7 @@ MIN_BUCKET_POINTS = np.array([100, 300, 500, 500, 500, 500, 300, 100]) MIN_ENGAGE_BUFFER = 2 # secs VERSION = 1 # bump this to invalidate old parameter caches -ALLOWED_CARS = ['toyota', 'hyundai'] +ALLOWED_CARS = ['toyota', 'hyundai', 'rivian'] def slope2rot(slope): From 5c6c438bcb6e3362eb2b48d5f5bfb1acf7ee79e4 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 20 Mar 2025 18:22:12 -0700 Subject: [PATCH 24/37] Rivian: adjust lateral actuator delay (#34913) * bump * update refs --- opendbc_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 3a4cc39da5..5638a35c8b 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 3a4cc39da5ffdfdc5ed5e68a1a17e7215fccc945 +Subproject commit 5638a35c8b1565728d115a1e4448d73539d1f60f diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 2be0a85ae0..b31d9ffe5d 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -fe27acb9d0249b7d08b2e147ad86b62129569bfb \ No newline at end of file +359b08b1a914d61697e10bbcac22d96dc90699fa \ No newline at end of file From 46e435f124e6e9bd2f4ea66e35d08c39031be6c0 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Thu, 20 Mar 2025 19:23:42 -0700 Subject: [PATCH 25/37] [bot] Update Python packages (#34914) Update Python packages Co-authored-by: Vehicle Researcher --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 5638a35c8b..0235e0e5d5 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 5638a35c8b1565728d115a1e4448d73539d1f60f +Subproject commit 0235e0e5d54d92f0df689426f79e9ba298b26b77 From b511fb72450714201b5adb926e8d167828bf4a91 Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Thu, 20 Mar 2025 20:45:41 -0700 Subject: [PATCH 26/37] fix: macOS CI (#34911) force brew update --- tools/mac_setup.sh | 2 ++ 1 file changed, 2 insertions(+) diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index c626ec4561..d23052d0f0 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -28,6 +28,8 @@ if [[ $(command -v brew) == "" ]]; then echo 'eval "$(/opt/homebrew/bin/brew shellenv)"' >> $RC_FILE eval "$(/opt/homebrew/bin/brew shellenv)" fi +else + brew up fi brew bundle --file=- <<-EOS From 2413f73108025a6cad5d0a3de21ef5a781c944c1 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Fri, 21 Mar 2025 15:38:05 +0900 Subject: [PATCH 27/37] kor translation update (#34915) --- selfdrive/ui/translations/main_ko.ts | 70 ++++++++++++++-------------- 1 file changed, 35 insertions(+), 35 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index c241400286..1d8d76f219 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -102,7 +102,7 @@ DeclinePage You must accept the Terms and Conditions in order to use openpilot. - openpilot을 사용하려면 이용약관에 동의해야 합니다. + 오픈파일럿을 사용하려면 이용약관에 동의해야 합니다. Back @@ -121,19 +121,19 @@ Longitudinal Maneuver Mode - 롱컨 제어 모드 + 가감속 제어 조작 모드 openpilot Longitudinal Control (Alpha) - openpilot 가감속 제어 (알파) + 오픈파일럿 가감속 제어 (알파) WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - 경고: openpilot 가감속 제어는 알파 기능으로 차량의 자동긴급제동(AEB)기능이 작동하지 않습니다. + 경고: 오픈파일럿 가감속 제어는 알파 기능으로 차량의 자동긴급제동(AEB)기능이 작동하지 않습니다. On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - 이 차량에서 openpilot은 openpilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. openpilot 가감속 제어로 전환하려면 이 기능을 활성화하세요. openpilot 가감속 제어 알파 기능을 활성화하는 경우 실험 모드 활성화를 권장합니다. + 이 차량에서 오픈파일럿은 오픈파일럿 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. 오픈파일럿 가감속 제어로 전환하려면 이 기능을 활성화하세요. 오픈파일럿 가감속 제어 알파 기능을 활성화하는 경우 실험 모드 활성화를 권장합니다. Enable ADB @@ -192,7 +192,7 @@ Review the rules, features, and limitations of openpilot - openpilot의 규칙, 기능 및 제한 다시 확인 + 오픈파일럿의 규칙, 기능 및 제한 다시 확인 Are you sure you want to review the training guide? @@ -228,7 +228,7 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot 장치는 좌우 4°, 위로 5°, 아래로 9° 이내 각도로 장착되어야 합니다. openpilot은 지속적으로 자동 보정되며 재설정은 거의 필요하지 않습니다. + 오픈파일럿 장치는 좌우 4°, 위로 5°, 아래로 9° 이내 각도로 장착되어야 합니다. 오픈파일럿은 지속적으로 자동 보정되며 재설정은 거의 필요하지 않습니다. Your device is pointed %1° %2 and %3° %4. @@ -317,7 +317,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode. 오픈파일럿은 여러분과 같은 사람이 운전하는 모습을 보면서 운전하는 법을 배웁니다. -파이어호스 모드를 사용하면 훈련 데이터 업로드를 최대화하여 오픈파일럿의 주행 모델을 개선할 수 있습니다. 더 많은 데이터는 더 큰 모델을 의미하며, 이는 더 나은 실험 모드를 의미합니다. +파이어호스 모드를 사용하면 학습 데이터 업로드를 최대화하여 오픈파일럿의 주행 모델을 개선할 수 있습니다. 더 많은 데이터는 더 큰 모델을 의미하며, 이는 더 나은 실험 모드를 의미합니다. Firehose Mode: ACTIVE @@ -325,21 +325,21 @@ Firehose Mode allows you to maximize your training data uploads to improve openp ACTIVE - 활성화 + 활성 상태 For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - 최대한의 효과를 얻으려면 매주 장치를 실내로 가져와 좋은 USB-C 케이블에 연결하고 Wi-Fi에 연결하세요.<br><br>파이어호스 모드는 핫스팟 또는 무제한 SIM 카드에 연결된 경우에는 운전 중에도 작동할 수 있습니다.<br><br><br><b>자주 묻는 질문</b><br><br><i>운전 방법이나 장소가 중요한가요?</i> 아니요, 평소처럼 운전하시면 됩니다.<br><br><i>파이어호스 모드에서 제 모든 구간을 가져오나요?.<br><br><i> 아니요, 저희는 여러분의 구간 중 일부를 선별적으로 가져옵니다.<br><br><i>좋은 USB-C 케이블은 무엇인가요?</i> 휴대폰이나 노트북 고속 충전기가 있으면 됩니다.<br><br><i>어떤 소프트웨어를 실행하는지가 중요한가요?</i> 예, 오직 공식 openpilot의 특정 포크만 트레이닝에 사용할 수 있습니다. + 최대한의 효과를 얻으려면 매주 장치를 실내로 가져와 좋은 USB-C 충전기와 Wi-Fi에 연결하세요.<br><br>파이어호스 모드는 핫스팟 또는 무제한 네트워크에 연결된 경우 주행 중에도 작동할 수 있습니다.<br><br><br><b>자주 묻는 질문</b><br><br><i>운전 방법이나 장소가 중요한가요?</i> 아니요, 평소처럼 운전하시면 됩니다.<br><br><i>파이어호스 모드에서 제 모든 구간을 가져오나요?<br><br><i> 아니요, 저희는 여러분의 구간 중 일부를 선별적으로 가져옵니다.<br><br><i>좋은 USB-C 충전기는 무엇인가요?</i> 휴대폰이나 노트북충전이 가능한 고속 충전기이면 괜찮습니다.<br><br><i>어떤 소프트웨어를 실행하는지가 중요한가요?</i> 예, 오직 공식 오픈파일럿의 특정 포크만 트레이닝에 사용할 수 있습니다. <b>%n segment(s)</b> of your driving is in the training dataset so far. - - + + <b>%n 구간</b> 의 운전이 지금까지의 학습 데이터셋에 포함되어 있습니다. <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to an unmetered network - + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>비활성 상태</span>: 무제한 네트워크에 연결 하세요 @@ -411,11 +411,11 @@ Firehose Mode allows you to maximize your training data uploads to improve openp OffroadAlert Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1 - 즉시 인터넷에 연결하여 업데이트를 확인하세요. 인터넷에 연결되어 있지 않으면 %1 이후에는 openpilot이 활성화되지 않습니다. + 즉시 인터넷에 연결하여 업데이트를 확인하세요. 인터넷에 연결되어 있지 않으면 %1 이후에는 오픈파일럿이 활성화되지 않습니다. Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates. - 업데이트를 확인하려면 인터넷에 연결하세요. openpilot은 업데이트를 확인하기 위해 인터넷에 연결할 때까지 자동으로 시작되지 않습니다. + 업데이트 확인을 위해 인터넷 연결이 필요합니다. 오픈파일럿은 업데이트 확인을 위해 인터넷에 연결될 때까지 자동으로 시작되지 않습니다. Unable to download updates @@ -445,15 +445,15 @@ Firehose Mode allows you to maximize your training data uploads to improve openp openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. - openpilot이 차량을 식별할 수 없습니다. 지원되지 않는 차량이거나 ECU가 인식되지 않습니다. 해당 차량에 맞는 펌웨어 버전을 추가하려면 PR을 제출하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요. + 오픈파일럿이 차량을 식별할 수 없습니다. 지원되지 않는 차량이거나 ECU가 인식되지 않습니다. 해당 차량에 맞는 펌웨어 버전을 추가하려면 PR을 제출하세요. 도움이 필요하시면 discord.comma.ai에 참여하세요. openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. - openpilot 장치의 장착 위치가 변경되었습니다. 장치가 마운트에 완전히 장착되고 마운트가 앞유리에 단단히 고정되었는지 확인하세요. + 오픈파일럿 장치의 장착 위치가 변경되었습니다. 장치가 마운트에 완전히 장착되고 마운트가 앞유리에 단단히 고정되었는지 확인하세요. Device temperature too high. System cooling down before starting. Current internal component temperature: %1 - 장치의 온도가 너무 높습니다. 시작 전에 온도를 낮춰주세요. 현재 내부 구성 요소 온도: %1 + 장치 온도가 너무 높습니다. 시작하기 전에 시스템을 냉각하고 있습니다. 현재 내부 구성 요소 온도: %1 @@ -536,7 +536,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Become a comma prime member at connect.comma.ai - connect.comma.ai에 접속하여 comma prime 회원으로 등록하세요 + connect.comma.ai에서 comma prime 사용자로 등록하세요 PRIME FEATURES: @@ -552,7 +552,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 1 year of drive storage - 1년간 드라이브 로그 저장 + 1년간 주행 로그 저장 Remote snapshots @@ -582,7 +582,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp openpilot - openpilot + 오픈파일럿 %n minute(s) ago @@ -767,7 +767,7 @@ This may take up to a minute. openpilot - openpilot + 오픈파일럿 Custom Software @@ -997,7 +997,7 @@ This may take up to a minute. Welcome to openpilot - 오픈 파일럿에 오신 것을 환영합니다. + 오픈파일럿에 오신 것을 환영합니다. You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing. @@ -1008,11 +1008,11 @@ This may take up to a minute. TogglesPanel Enable openpilot - openpilot 사용 + 오픈파일럿 사용 Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - 어댑티브 크루즈 컨트롤 및 차로 유지 보조를 위해 openpilot 시스템을 사용할 수 있습니다. 이 기능을 사용할 때에는 언제나 주의를 기울여야 합니다. 설정을 변경하면 차량 시동이 꺼졌을 때 적용됩니다. + 오픈파일럿 시스템을 사용하여 어댑티브 크루즈 컨트롤과 차로 유지 보조 기능을 활용하십시오. 이 기능을 사용할 때에는 항상 주의를 기울여야 합니다. 설정 변경은 차량을 재시동해야 적용됩니다. Enable Lane Departure Warnings @@ -1044,7 +1044,7 @@ This may take up to a minute. When enabled, pressing the accelerator pedal will disengage openpilot. - 활성화된 경우 가속 페달을 밟으면 openpilot이 해제됩니다. + 활성화된 경우 가속 페달을 밟으면 오픈파일럿이 해제됩니다. Experimental Mode @@ -1052,11 +1052,11 @@ This may take up to a minute. openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: - openpilot은 기본적으로 <b>안정 모드</b>로 주행합니다. 실험 모드는 안정화되지 않은 <b>알파 수준의 기능</b>을 활성화합니다. 실험 모드의 기능은 아래와 같습니다: + 오픈파일럿은 기본적으로 <b>안정 모드</b>로 주행합니다. 실험 모드는 안정화되지 않은 <b>알파 수준의 기능</b>을 활성화합니다. 실험 모드의 기능은 아래와 같습니다: Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected. - openpilot의 주행모델이 가감속을 제어합니다. openpilot은 신호등과 정지 표지판을 보고 멈추는 것을 포함하여 인간이 운전하는 것처럼 생각하고 주행합니다. 주행 모델이 주행할 속도를 결정하므로 설정된 속도는 최대 주행 속도로만 기능합니다. 이 기능은 알파 수준이므로 사용에 각별히 주의해야 합니다. + 주행모델이 가감속을 제어하도록 합니다. 오픈파일럿은 빨간불과 정지신호를 보고 정지하는것을 포함하여 사람이 운전하는 방식대로 작동하며 주행 모델이 속도를 결정하므로 설정 속도는 최대 제한 속도로만 작동합니다. 이는 알파 수준의 기능이며 오류가 발생할수있으니 사용에 주의해야 합니다. New Driving Visualization @@ -1064,11 +1064,11 @@ This may take up to a minute. Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. - 차량에 장착된 ACC로 가감속을 제어하기 때문에 현재 이 차량에서는 실험 모드를 사용할 수 없습니다. + 차량의 ACC가 가감속 제어에 사용되기 때문에, 이 차량에서는 실험 모드를 사용할 수 없습니다. openpilot longitudinal control may come in a future update. - openpilot 가감속 제어는 향후 업데이트에서 지원될 수 있습니다. + 오픈파일럿 가감속 제어는 향후 업데이트에서 지원될 수 있습니다. Aggressive @@ -1088,11 +1088,11 @@ This may take up to a minute. An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - openpilot 가감속 제어 알파 버전은 비 릴리즈 브랜치에서 실험 모드와 함께 테스트할 수 있습니다. + 오픈파일럿 가감속 제어 알파 버전은 비 릴리즈 브랜치에서 실험 모드와 함께 테스트할 수 있습니다. Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. - 실험 모드를 사용하려면 openpilot E2E 가감속 제어 (알파) 토글을 활성화하세요. + 실험 모드를 사용하려면 오픈파일럿 E2E 가감속 제어 (알파) 토글을 활성화하세요. End-to-End Longitudinal Control @@ -1100,7 +1100,7 @@ This may take up to a minute. Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button. - 표준 모드를 권장합니다. 공격적 모드의 openpilot은 선두 차량을 더 가까이 따라가고 가감속제어를 사용하여 더욱 공격적으로 움직입니다. 편안한 모드의 openpilot은 선두 차량으로부터 더 멀리 떨어져 있습니다. 지원되는 차량에서는 스티어링 휠 거리 버튼을 사용하여 이러한 특성을 순환할 수 있습니다. + 표준 모드를 권장합니다. 공격적 모드의 오픈파일럿은 선두 차량을 더 가까이 따라가고 가감속제어를 사용하여 더욱 공격적으로 움직입니다. 편안한 모드의 오픈파일럿은 선두 차량으로부터 더 멀리 떨어져 있습니다. 지원되는 차량에서는 차간거리 버튼을 사용하여 이러한 특성을 순환할 수 있습니다. The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. @@ -1112,7 +1112,7 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. - openpilot이 활성화되지 않은 경우에도 드라이버 모니터링을 활성화합니다. + 오픈파일럿이 활성화되지 않은 경우에도 드라이버 모니터링을 활성화합니다. @@ -1158,7 +1158,7 @@ This may take up to a minute. Maximize your training data uploads to improve openpilot's driving models. - 훈련 데이터 업로드를 최대화하여 오픈파일럿의 주행 모델을 개선하세요. + 오픈파일럿의 주행 모델 개선을 위해 학습 데이터 업로드를 최대화하세요. <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> From b8229ebca6b04903ac38eb5d60246dc7271687d2 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 22 Mar 2025 05:43:48 +0800 Subject: [PATCH 28/37] logreader: avoid repeated prompts in auto_strategy when rlogs are missing (#34890) * avoid repeated prompts in auto_strategy when rlogs are missing * shorter --------- Co-authored-by: Shane Smiskol --- tools/lib/logreader.py | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 9fe73825a8..df981c6184 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -119,7 +119,14 @@ def default_valid_file(fn: LogPath) -> bool: def auto_strategy(rlog_paths: list[LogPath], qlog_paths: list[LogPath], interactive: bool, valid_file: ValidFileCallable) -> list[LogPath]: # auto select logs based on availability - missing_rlogs = [rlog is None or not valid_file(rlog) for rlog in rlog_paths].count(True) + missing_rlogs = sum(rlog is None or not valid_file(rlog) for rlog in rlog_paths) + # If all rlogs are missing, check qlogs + if missing_rlogs == len(rlog_paths): + missing_qlogs = sum(qlog is None or not valid_file(qlog) for qlog in qlog_paths) + if missing_qlogs == len(qlog_paths): + # Neither rlogs nor qlogs are available, return rlog_paths as-is + return rlog_paths + if missing_rlogs != 0: if interactive: if input(f"{missing_rlogs}/{len(rlog_paths)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/n) ").lower() != "y": From 124c75a94f300b4907cd9ecca36f0ae5c796a5d9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 21 Mar 2025 15:01:59 -0700 Subject: [PATCH 29/37] Remove duplicate radar fault event (#34917) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 🤦 --- selfdrive/selfdrived/selfdrived.py | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index c7320f9350..e09ea9ad56 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -276,7 +276,6 @@ class SelfdriveD: self.events.add(EventName.radarTempUnavailable) else: self.events.add(EventName.radarFault) - self.events.add(EventName.radarFault) if not self.sm.valid['pandaStates']: self.events.add(EventName.usbError) if CS.canTimeout: From 715a38fd6a88e78e376840c7a8a962351af8e95a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 21 Mar 2025 16:16:53 -0700 Subject: [PATCH 30/37] max_lat_accel: support multiple routes --- selfdrive/debug/max_lat_accel.py | 24 ++++++++++++++++-------- 1 file changed, 16 insertions(+), 8 deletions(-) diff --git a/selfdrive/debug/max_lat_accel.py b/selfdrive/debug/max_lat_accel.py index 2369d99d86..a957b512d7 100755 --- a/selfdrive/debug/max_lat_accel.py +++ b/selfdrive/debug/max_lat_accel.py @@ -2,6 +2,7 @@ import argparse import numpy as np import matplotlib.pyplot as plt +from tqdm import tqdm from typing import NamedTuple from openpilot.tools.lib.logreader import LogReader from openpilot.selfdrive.locationd.models.pose_kf import EARTH_G @@ -75,16 +76,23 @@ if __name__ == '__main__': parser = argparse.ArgumentParser(description="Find max lateral acceleration events", formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument("route") + parser.add_argument("route", nargs='+') args = parser.parse_args() - lr = LogReader(args.route, sort_by_time=True) - qlog = args.route.endswith('/q') - if qlog: - print('WARNING: Treating route as qlog!') + events = [] + for route in tqdm(args.route): + try: + lr = LogReader(route, sort_by_time=True) + except: + print(f'Skipping {route}') + continue + + qlog = route.endswith('/q') + if qlog: + print('WARNING: Treating route as qlog!') - print('Finding events...') - events = find_events(lr, qlog=qlog) + print('Finding events...') + events += find_events(lr, qlog=qlog) print() print(f'Found {len(events)} events') @@ -97,7 +105,7 @@ if __name__ == '__main__': plt.ion() plt.clf() plt.suptitle(f'{CP.carFingerprint} - Max lateral acceleration events') - plt.title(args.route) + plt.title(', '.join(args.route)) plt.scatter([ev.speed for ev in events], [ev.lateral_accel for ev in events], label='max lateral accel events') plt.plot([0, 35], [3, 3], c='r', label='ISO 11270 - 3 m/s^2') From 27ce30587a0d5f8c88997063a5258bb11f5060b2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 21 Mar 2025 16:18:39 -0700 Subject: [PATCH 31/37] fix --- selfdrive/debug/max_lat_accel.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/debug/max_lat_accel.py b/selfdrive/debug/max_lat_accel.py index a957b512d7..889a855356 100755 --- a/selfdrive/debug/max_lat_accel.py +++ b/selfdrive/debug/max_lat_accel.py @@ -83,7 +83,7 @@ if __name__ == '__main__': for route in tqdm(args.route): try: lr = LogReader(route, sort_by_time=True) - except: + except Exception: print(f'Skipping {route}') continue From 65d667e60e698d61fd53ffbd2b0e5101e249af6a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 21 Mar 2025 17:28:19 -0700 Subject: [PATCH 32/37] Revert "logreader: avoid repeated prompts in auto_strategy when rlogs are missing" (#34919) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Revert "logreader: avoid repeated prompts in auto_strategy when rlogs are mis…" This reverts commit b8229ebca6b04903ac38eb5d60246dc7271687d2. --- tools/lib/logreader.py | 9 +-------- 1 file changed, 1 insertion(+), 8 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index df981c6184..9fe73825a8 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -119,14 +119,7 @@ def default_valid_file(fn: LogPath) -> bool: def auto_strategy(rlog_paths: list[LogPath], qlog_paths: list[LogPath], interactive: bool, valid_file: ValidFileCallable) -> list[LogPath]: # auto select logs based on availability - missing_rlogs = sum(rlog is None or not valid_file(rlog) for rlog in rlog_paths) - # If all rlogs are missing, check qlogs - if missing_rlogs == len(rlog_paths): - missing_qlogs = sum(qlog is None or not valid_file(qlog) for qlog in qlog_paths) - if missing_qlogs == len(qlog_paths): - # Neither rlogs nor qlogs are available, return rlog_paths as-is - return rlog_paths - + missing_rlogs = [rlog is None or not valid_file(rlog) for rlog in rlog_paths].count(True) if missing_rlogs != 0: if interactive: if input(f"{missing_rlogs}/{len(rlog_paths)} rlogs were not found, would you like to fallback to qlogs for those segments? 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Avoid IndexError in max_lat_accel.py due to empty values in dataset (#34926) * Update max_lat_accel.py The error you're encountering is due to the fact that the code is trying to calculate the 90th percentile of lateral acceleration values that are less than 0, but there are no such values in the dataset. This results in an empty list, which causes the np.percentile function to fail with an IndexError * fix * simpler --------- Co-authored-by: Shane Smiskol --- selfdrive/debug/max_lat_accel.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/debug/max_lat_accel.py b/selfdrive/debug/max_lat_accel.py index 889a855356..d562e5d3f3 100755 --- a/selfdrive/debug/max_lat_accel.py +++ b/selfdrive/debug/max_lat_accel.py @@ -97,8 +97,8 @@ if __name__ == '__main__': print() print(f'Found {len(events)} events') - perc_left_accel = -np.percentile([-ev.lateral_accel for ev in events if ev.lateral_accel < 0], 90) - perc_right_accel = np.percentile([ev.lateral_accel for ev in events if ev.lateral_accel > 0], 90) + perc_left_accel = -np.percentile([-ev.lateral_accel for ev in events if ev.lateral_accel < 0] or [0], 90) + perc_right_accel = np.percentile([ev.lateral_accel for ev in events if ev.lateral_accel > 0] or [0], 90) CP = lr.first('carParams') From de8806cdfd9ba681887012bf2715819fec0cb2d2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 24 Mar 2025 15:21:36 -0700 Subject: [PATCH 37/37] Add extrapolate option to max_lat_accel.py (#34931) * add extrapolate * -e * adjust --- selfdrive/debug/max_lat_accel.py | 20 +++++++++++++------- 1 file changed, 13 insertions(+), 7 deletions(-) diff --git a/selfdrive/debug/max_lat_accel.py b/selfdrive/debug/max_lat_accel.py index d562e5d3f3..a2390833bc 100755 --- a/selfdrive/debug/max_lat_accel.py +++ b/selfdrive/debug/max_lat_accel.py @@ -21,14 +21,15 @@ class Event(NamedTuple): timestamp: float # relative to start of route (s) -def find_events(lr: LogReader, qlog: bool = False) -> list[Event]: +def find_events(lr: LogReader, extrapolate: bool = False, qlog: bool = False) -> list[Event]: min_lat_active = RLOG_MIN_LAT_ACTIVE // QLOG_DECIMATION if qlog else RLOG_MIN_LAT_ACTIVE min_steering_unpressed = RLOG_MIN_STEERING_UNPRESSED // QLOG_DECIMATION if qlog else RLOG_MIN_STEERING_UNPRESSED min_requesting_max = RLOG_MIN_REQUESTING_MAX // QLOG_DECIMATION if qlog else RLOG_MIN_REQUESTING_MAX - events = [] + # if we test with driver torque safety, max torque can be slightly noisy + steer_threshold = 0.7 if extrapolate else 0.95 - start_ts = 0 + events = [] # state tracking steering_unpressed = 0 # frames @@ -39,7 +40,9 @@ def find_events(lr: LogReader, qlog: bool = False) -> list[Event]: curvature = 0 v_ego = 0 roll = 0 + out_torque = 0 + start_ts = 0 for msg in lr: if msg.which() == 'carControl': if start_ts == 0: @@ -48,8 +51,8 @@ def find_events(lr: LogReader, qlog: bool = False) -> list[Event]: lat_active = lat_active + 1 if msg.carControl.latActive else 0 elif msg.which() == 'carOutput': - # if we test with driver torque safety, max torque can be slightly noisy - requesting_max = requesting_max + 1 if abs(msg.carOutput.actuatorsOutput.torque) > 0.95 else 0 + out_torque = msg.carOutput.actuatorsOutput.torque + requesting_max = requesting_max + 1 if abs(out_torque) > steer_threshold else 0 elif msg.which() == 'carState': steering_unpressed = steering_unpressed + 1 if not msg.carState.steeringPressed else 0 @@ -65,7 +68,8 @@ def find_events(lr: LogReader, qlog: bool = False) -> list[Event]: # TODO: record max lat accel at the end of the event, need to use the past lat accel as overriding can happen before we detect it requesting_max = 0 - current_lateral_accel = curvature * v_ego ** 2 - roll * EARTH_G + factor = 1 / abs(out_torque) + current_lateral_accel = (curvature * v_ego ** 2 * factor) - roll * EARTH_G events.append(Event(current_lateral_accel, v_ego, roll, round((msg.logMonoTime - start_ts) * 1e-9, 2))) print(events[-1]) @@ -77,6 +81,8 @@ if __name__ == '__main__': formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument("route", nargs='+') + parser.add_argument("-e", "--extrapolate", action="store_true", help="Extrapolates max lateral acceleration events linearly. " + + "This option can be far less accurate.") args = parser.parse_args() events = [] @@ -92,7 +98,7 @@ if __name__ == '__main__': print('WARNING: Treating route as qlog!') print('Finding events...') - events += find_events(lr, qlog=qlog) + events += find_events(lr, extrapolate=args.extrapolate, qlog=qlog) print() print(f'Found {len(events)} events')