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single longitudinal toggle for e2e and disable radar (#25688)

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* single longitudinal toggle for e2e and disable radar

* write disable radar param

* rename

* better param name

* clean that up

* update refs

* update translations

* not live for experimental

* write it out

* vanish
pull/25698/head
Adeeb Shihadeh 3 years ago committed by GitHub
parent 445492a6d8
commit 655a64b603
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GPG Key ID: 4AEE18F83AFDEB23
33 changed files with 191 additions and 164 deletions
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  1. 4
      common/params.cc
  2. 62
      docs/CARS.md
  3. 2
      selfdrive/car/body/interface.py
  4. 4
      selfdrive/car/car_helpers.py
  5. 2
      selfdrive/car/chrysler/interface.py
  6. 6
      selfdrive/car/docs.py
  7. 2
      selfdrive/car/docs_definitions.py
  8. 2
      selfdrive/car/ford/interface.py
  9. 2
      selfdrive/car/gm/interface.py
  10. 5
      selfdrive/car/honda/interface.py
  11. 5
      selfdrive/car/hyundai/interface.py
  12. 2
      selfdrive/car/interfaces.py
  13. 2
      selfdrive/car/mazda/interface.py
  14. 2
      selfdrive/car/mock/interface.py
  15. 2
      selfdrive/car/nissan/interface.py
  16. 2
      selfdrive/car/subaru/interface.py
  17. 2
      selfdrive/car/tesla/interface.py
  18. 6
      selfdrive/car/tests/test_models.py
  19. 2
      selfdrive/car/toyota/interface.py
  20. 5
      selfdrive/car/volkswagen/interface.py
  21. 6
      selfdrive/controls/controlsd.py
  22. 17
      selfdrive/debug/set_car_params.py
  23. 3
      selfdrive/manager/manager.py
  24. 2
      selfdrive/test/process_replay/ref_commit
  25. 1
      selfdrive/ui/installer/installer.cc
  26. 81
      selfdrive/ui/qt/offroad/settings.cc
  27. 7
      selfdrive/ui/qt/offroad/settings.h
  28. 13
      selfdrive/ui/qt/widgets/controls.h
  29. 20
      selfdrive/ui/translations/main_ja.ts
  30. 22
      selfdrive/ui/translations/main_ko.ts
  31. 22
      selfdrive/ui/translations/main_pt-BR.ts
  32. 20
      selfdrive/ui/translations/main_zh-CHS.ts
  33. 20
      selfdrive/ui/translations/main_zh-CHT.ts

4
common/params.cc
Unescape View File

@ -93,6 +93,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"CarBatteryCapacity", PERSISTENT},
{"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"CarParamsCache", CLEAR_ON_MANAGER_START},
{"CarParamsPersistent", PERSISTENT},
{"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"CompletedTrainingVersion", PERSISTENT},
{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
@ -101,8 +102,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"DisablePowerDown", PERSISTENT},
{"EndToEndLong", PERSISTENT},
{"DisableRadar_Allow", PERSISTENT},
{"DisableRadar", PERSISTENT}, // WARNING: THIS DISABLES AEB
{"ExperimentalLongitudinalEnabled", PERSISTENT}, // WARNING: THIS MAY DISABLE AEB
{"DisableUpdates", PERSISTENT},
{"DisengageOnAccelerator", PERSISTENT},
{"DongleId", PERSISTENT},

62
docs/CARS.md
Unescape View File

@ -10,7 +10,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Acura|RDX 2019-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Acura|RDX 2019-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Audi|A3 2014-19|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Audi|Q2 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
@ -26,77 +26,77 @@ A supported vehicle is one that just works when you install a comma three. All s
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|comma|body|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|
|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Genesis|G70 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Genesis|G90 2017-18|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Genesis|G90 2017-18|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
|Honda|Accord 2018-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Accord Hybrid 2018-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Accord 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Accord Hybrid 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Civic 2019-21|All|Stock|0 mph|2 mph[<sup>2</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Civic 2019-21|All|openpilot|0 mph|2 mph[<sup>2</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
|Honda|Civic Hatchback 2017-21|Honda Sensing|Stock|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|CR-V 2017-22|Honda Sensing|Stock|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|CR-V Hybrid 2017-19|Honda Sensing|Stock|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|e 2020|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|CR-V 2017-22|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|e 2020|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Insight 2019-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Inspire 2018|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Insight 2019-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Inspire 2018|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|
|Hyundai|Ioniq 5 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
|Hyundai|Ioniq 5 2022|Highway Driving Assist II|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC) & LFA|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai O|
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I|
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I|
|Hyundai|Palisade 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Santa Fe 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D|
|Hyundai|Santa Fe 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Santa Fe Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Santa Fe 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Santa Fe Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Hyundai|Sonata 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Hyundai|Sonata Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Tucson Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Tucson Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Kia|EV6 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|
|Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Kia|Forte 2019-21|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Kia|K5 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Kia|EV6 2022|Highway Driving Assist II|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|
|Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Kia|Forte 2019-21|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Kia|Niro Electric 2019|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro Electric 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Kia|Niro Electric 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Niro Electric 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro Plug-in Hybrid 2018-19|Smart Cruise Control (SCC) & LKAS|openpilot|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Optima 2017|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Kia|Optima 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Kia|Seltos 2021|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Kia|Sorento 2018|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Sorento 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Kia|Stinger 2018-20|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|

2
selfdrive/car/body/interface.py
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@ -8,7 +8,7 @@ from selfdrive.car.body.values import SPEED_FROM_RPM
class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=None, car_fw=None, disable_radar=False):
def get_params(candidate, fingerprint=None, car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

4
selfdrive/car/car_helpers.py
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@ -177,10 +177,10 @@ def get_car(logcan, sendcan):
cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
candidate = "mock"
disable_radar = Params().get_bool("DisableRadar")
experimental_long = Params().get_bool("ExperimentalLongitudinalEnabled")
CarInterface, CarController, CarState = interfaces[candidate]
CP = CarInterface.get_params(candidate, fingerprints, car_fw, disable_radar)
CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long)
CP.carVin = vin
CP.carFw = car_fw
CP.fingerprintSource = source

2
selfdrive/car/chrysler/interface.py
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@ -8,7 +8,7 @@ from selfdrive.car.interfaces import CarInterfaceBase
class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "chrysler"

6
selfdrive/car/docs.py
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@ -11,7 +11,6 @@ from common.basedir import BASEDIR
from selfdrive.car import gen_empty_fingerprint
from selfdrive.car.docs_definitions import CarInfo, Column
from selfdrive.car.car_helpers import interfaces, get_interface_attr
from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR as HKG_RADAR_START_ADDR
def get_all_footnotes() -> Dict[Enum, int]:
@ -29,10 +28,7 @@ def get_all_car_info() -> List[CarInfo]:
all_car_info: List[CarInfo] = []
footnotes = get_all_footnotes()
for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
# Hyundai exception: those with radar have openpilot longitudinal
fingerprint = gen_empty_fingerprint()
fingerprint[1] = {HKG_RADAR_START_ADDR: 8}
CP = interfaces[model][0].get_params(model, fingerprint=fingerprint, disable_radar=True)
CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), experimental_long=True)
if CP.dashcamOnly or car_info is None:
continue

2
selfdrive/car/docs_definitions.py
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@ -132,7 +132,7 @@ class CarInfo:
Column.MAKE: self.make,
Column.MODEL: self.model,
Column.PACKAGE: self.package,
Column.LONGITUDINAL: "openpilot" if CP.openpilotLongitudinalControl and not CP.radarOffCan else "Stock",
Column.LONGITUDINAL: "openpilot" if CP.openpilotLongitudinalControl or CP.experimentalLongitudinalAvailable else "Stock",
Column.FSR_LONGITUDINAL: f"{max(self.min_enable_speed * CV.MS_TO_MPH, 0):.0f} mph",
Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph",
Column.STEERING_TORQUE: Star.EMPTY,

2
selfdrive/car/ford/interface.py
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@ -11,7 +11,7 @@ EventName = car.CarEvent.EventName
class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "ford"

2
selfdrive/car/gm/interface.py
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@ -45,7 +45,7 @@ class CarInterface(CarInterfaceBase):
return CarInterfaceBase.get_steer_feedforward_default
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "gm"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]

5
selfdrive/car/honda/interface.py
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@ -29,7 +29,7 @@ class CarInterface(CarInterfaceBase):
return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disable_radar=False): # pylint: disable=dangerous-default-value
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "honda"
@ -40,7 +40,8 @@ class CarInterface(CarInterfaceBase):
if candidate not in HONDA_BOSCH_RADARLESS:
# Disable the radar and let openpilot control longitudinal
# WARNING: THIS DISABLES AEB!
ret.openpilotLongitudinalControl = disable_radar
ret.experimentalLongitudinalAvailable = True
ret.openpilotLongitudinalControl = experimental_long
ret.pcmCruise = not ret.openpilotLongitudinalControl
else:

5
selfdrive/car/hyundai/interface.py
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@ -21,14 +21,15 @@ class CarInterface(CarInterfaceBase):
return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disable_radar=False): # pylint: disable=dangerous-default-value
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "hyundai"
ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
# WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
ret.openpilotLongitudinalControl = disable_radar and (candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR))
ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR)
ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
ret.pcmCruise = not ret.openpilotLongitudinalControl

2
selfdrive/car/interfaces.py
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@ -85,7 +85,7 @@ class CarInterfaceBase(ABC):
@staticmethod
@abstractmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
pass
@staticmethod

2
selfdrive/car/mazda/interface.py
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@ -15,7 +15,7 @@ class CarInterface(CarInterfaceBase):
return float(accel) / 4.0
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "mazda"

2
selfdrive/car/mock/interface.py
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@ -33,7 +33,7 @@ class CarInterface(CarInterfaceBase):
return accel
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "mock"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)]

2
selfdrive/car/nissan/interface.py
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@ -8,7 +8,7 @@ from selfdrive.car.nissan.values import CAR
class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "nissan"

2
selfdrive/car/subaru/interface.py
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@ -9,7 +9,7 @@ from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS
class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "subaru"

2
selfdrive/car/tesla/interface.py
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@ -8,7 +8,7 @@ from selfdrive.car.interfaces import CarInterfaceBase
class CarInterface(CarInterfaceBase):
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "tesla"

6
selfdrive/car/tests/test_models.py
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@ -67,7 +67,7 @@ class TestCarModelBase(unittest.TestCase):
raise unittest.SkipTest
raise Exception(f"missing test route for {cls.car_model}")
disable_radar = False
experimental_long = False
test_segs = (2, 1, 0)
if cls.test_route.segment is not None:
test_segs = (cls.test_route.segment,)
@ -93,7 +93,7 @@ class TestCarModelBase(unittest.TestCase):
elif msg.which() == "carParams":
car_fw = msg.carParams.carFw
if msg.carParams.openpilotLongitudinalControl:
disable_radar = True
experimental_long = True
if cls.car_model is None and not cls.ci:
cls.car_model = msg.carParams.carFingerprint
@ -105,7 +105,7 @@ class TestCarModelBase(unittest.TestCase):
cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model]
cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, car_fw, disable_radar)
cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, car_fw, experimental_long)
assert cls.CP
assert cls.CP.carFingerprint == cls.car_model

2
selfdrive/car/toyota/interface.py
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@ -16,7 +16,7 @@ class CarInterface(CarInterfaceBase):
return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disable_radar=False): # pylint: disable=dangerous-default-value
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False): # pylint: disable=dangerous-default-value
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "toyota"

5
selfdrive/car/volkswagen/interface.py
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@ -21,7 +21,7 @@ class CarInterface(CarInterfaceBase):
self.cp_ext = self.cp_cam
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "volkswagen"
ret.radarOffCan = True
@ -49,9 +49,10 @@ class CarInterface(CarInterfaceBase):
# Panda ALLOW_DEBUG firmware required.
ret.dashcamOnly = True
if disable_radar and ret.networkLocation == NetworkLocation.gateway:
if experimental_long and ret.networkLocation == NetworkLocation.gateway:
# Proof-of-concept, prep for E2E only. No radar points available. Follow-to-stop not yet supported, but should
# be simple to add when a suitable test car becomes available. Panda ALLOW_DEBUG firmware required.
ret.experimentalLongitudinalAvailable = True
ret.openpilotLongitudinalControl = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL

6
selfdrive/controls/controlsd.py
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@ -12,7 +12,7 @@ import cereal.messaging as messaging
from common.conversions import Conversions as CV
from panda import ALTERNATIVE_EXPERIENCE
from system.swaglog import cloudlog
from system.version import get_short_branch
from system.version import is_tested_branch, get_short_branch
from selfdrive.boardd.boardd import can_list_to_can_capnp
from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
from selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET
@ -134,10 +134,14 @@ class Controls:
safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
self.CP.safetyConfigs = [safety_config]
if is_tested_branch():
self.CP.experimentalLongitudinalAvailable = False
# Write CarParams for radard
cp_bytes = self.CP.to_bytes()
params.put("CarParams", cp_bytes)
put_nonblocking("CarParamsCache", cp_bytes)
put_nonblocking("CarParamsPersistent", cp_bytes)
self.CC = car.CarControl.new_message()
self.CS_prev = car.CarState.new_message()

17
selfdrive/debug/set_car_params.py
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@ -1,11 +1,22 @@
#!/usr/bin/env python3
import sys
from cereal import car
from common.params import Params
from tools.lib.route import Route
from tools.lib.logreader import LogReader
if __name__ == "__main__":
r = Route(sys.argv[1])
cp = [m for m in LogReader(r.qlog_paths()[0]) if m.which() == 'carParams']
Params().put("CarParams", cp[0].carParams.as_builder().to_bytes())
CP = None
if len(sys.argv) > 1:
r = Route(sys.argv[1])
cps = [m for m in LogReader(r.qlog_paths()[0]) if m.which() == 'carParams']
CP = cps[0].carParams.as_builder()
else:
CP = car.CarParams.new_message()
CP.openpilotLongitudinalControl = True
CP.experimentalLongitudinalAvailable = False
cp_bytes = CP.to_bytes()
for p in ("CarParams", "CarParamsCache", "CarParamsPersistent"):
Params().put(p, cp_bytes)

3
selfdrive/manager/manager.py
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@ -49,9 +49,6 @@ def manager_init() -> None:
if params.get_bool("RecordFrontLock"):
params.put_bool("RecordFront", True)
if not params.get_bool("DisableRadar_Allow"):
params.remove("DisableRadar")
# set unset params
for k, v in default_params:
if params.get(k) is None:

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
209423f468194c77443110078639ff67a8b99073
8137b41a0520d2b4a0ca223f9934957ae21695e5

1
selfdrive/ui/installer/installer.cc
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@ -182,7 +182,6 @@ void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) {
std::map<std::string, std::string> params = {
{"SshEnabled", "1"},
{"RecordFrontLock", "1"},
{"DisableRadar_Allow", "1"},
{"GithubSshKeys", SSH_KEYS},
};
for (const auto& [key, value] : params) {

81
selfdrive/ui/qt/offroad/settings.cc
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@ -28,7 +28,7 @@
TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
// param, title, desc, icon
std::vector<std::tuple<QString, QString, QString, QString>> toggles{
std::vector<std::tuple<QString, QString, QString, QString>> toggle_defs{
{
"OpenpilotEnabledToggle",
tr("Enable openpilot"),
@ -62,7 +62,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
{
"EndToEndLong",
tr("🌮 End-to-end longitudinal (extremely alpha) 🌮"),
tr("Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental."),
"",
"../assets/offroad/icon_road.png",
},
#ifdef ENABLE_MAPS
@ -82,22 +82,75 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
};
Params params;
if (params.getBool("DisableRadar_Allow")) {
toggles.push_back({
"DisableRadar",
tr("openpilot Longitudinal Control"),
tr("openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB!"),
"../assets/offroad/icon_speed_limit.png",
});
}
for (auto &[param, title, desc, icon] : toggles) {
for (auto &[param, title, desc, icon] : toggle_defs) {
auto toggle = new ParamControl(param, title, desc, icon, this);
bool locked = params.getBool((param + "Lock").toStdString());
toggle->setEnabled(!locked);
addItem(toggle);
toggles[param.toStdString()] = toggle;
}
QObject::connect(toggles["EndToEndLong"], &ParamControl::toggleFlipped, [=](bool state) {
auto cp_bytes = params.get("CarParamsPersistent");
if (!cp_bytes.empty()) {
AlignedBuffer aligned_buf;
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
if (CP.getExperimentalLongitudinalAvailable()) {
params.putBool("ExperimentalLongitudinalEnabled", state);
} else {
params.remove("ExperimentalLongitudinalEnabled");
}
} else {
params.remove("ExperimentalLongitudinalEnabled");
}
});
connect(uiState(), &UIState::offroadTransition, [=]() {
updateToggles();
});
}
void TogglesPanel::showEvent(QShowEvent *event) {
updateToggles();
}
void TogglesPanel::updateToggles() {
// update e2e toggle
auto toggle = toggles["EndToEndLong"];
const QString e2e_description = tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.");
auto cp_bytes = params.get("CarParamsPersistent");
if (!cp_bytes.empty()) {
AlignedBuffer aligned_buf;
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
const bool exp_long = CP.getExperimentalLongitudinalAvailable();
const bool op_long = CP.getOpenpilotLongitudinalControl() && !CP.getExperimentalLongitudinalAvailable();
if (op_long) {
// normal description and toggle
params.remove("ExperimentalLongitudinalEnabled");
toggle->setDescription(e2e_description);
} else if (exp_long) {
toggle->setDescription("<b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b><br><br>" + e2e_description);
if (params.getBool("EndToEndLong") && !params.getBool("ExperimentalLongitudinalEnabled")) {
params.remove("EndToEndLong");
}
} else {
// no long for now
params.remove("EndToEndLong");
params.remove("ExperimentalLongitudinalEnabled");
toggle->setDescription("<b>openpilot longitudinal control is not currently available for this car.</b><br><br>" + e2e_description);
}
toggle->refresh();
toggle->setEnabled(op_long || (exp_long && !uiState()->scene.started));
} else {
toggle->setDescription(e2e_description);
}
}

7
selfdrive/ui/qt/offroad/settings.h
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@ -54,6 +54,13 @@ class TogglesPanel : public ListWidget {
Q_OBJECT
public:
explicit TogglesPanel(SettingsWindow *parent);
void showEvent(QShowEvent *event) override;
private:
Params params;
std::map<std::string, ParamControl*> toggles;
void updateToggles();
};
class SoftwarePanel : public ListWidget {

13
selfdrive/ui/qt/widgets/controls.h
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@ -105,7 +105,10 @@ public:
QObject::connect(&toggle, &Toggle::stateChanged, this, &ToggleControl::toggleFlipped);
}
void setEnabled(bool enabled) { toggle.setEnabled(enabled); toggle.update(); }
void setEnabled(bool enabled) {
toggle.setEnabled(enabled);
toggle.update();
}
signals:
void toggleFlipped(bool state);
@ -121,17 +124,21 @@ class ParamControl : public ToggleControl {
public:
ParamControl(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr) : ToggleControl(title, desc, icon, false, parent) {
key = param.toStdString();
QObject::connect(this, &ToggleControl::toggleFlipped, [=](bool state) {
QObject::connect(this, &ParamControl::toggleFlipped, [=](bool state) {
params.putBool(key, state);
});
}
void showEvent(QShowEvent *event) override {
void refresh() {
if (params.getBool(key) != toggle.on) {
toggle.togglePosition();
}
};
void showEvent(QShowEvent *event) override {
refresh();
};
private:
std::string key;
Params params;

20
selfdrive/ui/translations/main_ja.ts
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@ -108,7 +108,7 @@
<context>
<name>DevicePanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="+106"/>
<location filename="../qt/offroad/settings.cc" line="+159"/>
<source>Dongle ID</source>
<translation>ドングル番号 (Dongle ID)</translation>
</message>
@ -1153,7 +1153,7 @@ location set</source>
<context>
<name>TogglesPanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="-279"/>
<location filename="../qt/offroad/settings.cc" line="-332"/>
<source>Enable openpilot</source>
<translation>openpilot を有効化</translation>
</message>
@ -1198,12 +1198,12 @@ location set</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+1"/>
<source>Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental.</source>
<location line="+59"/>
<source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="-7"/>
<location line="-65"/>
<source>Disengage On Accelerator Pedal</source>
<translation>ｱｸｾﾙ踏むと openpilot をｷｬﾝｾﾙ</translation>
</message>
@ -1232,16 +1232,6 @@ location set</source>
<source>Show map on left side when in split screen view.</source>
<translation>分割画面表示の場合、ディスプレイの左側にマップを表示します。</translation>
</message>
<message>
<location line="+12"/>
<source>openpilot Longitudinal Control</source>
<translation>openpilot 縦方向制御</translation>
</message>
<message>
<location line="+1"/>
<source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
<translation>openpilot は、車のレーダーを無効化し、アクセルとブレーキの制御を引き継ぎます。注意：AEB を無効化にします！</translation>
</message>
</context>
<context>
<name>Updater</name>

22
selfdrive/ui/translations/main_ko.ts
Unescape View File

@ -108,7 +108,7 @@
<context>
<name>DevicePanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="+106"/>
<location filename="../qt/offroad/settings.cc" line="+159"/>
<source>Dongle ID</source>
<translation>Dongle ID</translation>
</message>
@ -1153,7 +1153,7 @@ location set</source>
<context>
<name>TogglesPanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="-279"/>
<location filename="../qt/offroad/settings.cc" line="-332"/>
<source>Enable openpilot</source>
<translation>openpilot 사용</translation>
</message>
@ -1198,12 +1198,12 @@ location set</source>
<translation>🌮 e2e long 사용 (매우 실험적) 🌮 </translation>
</message>
<message>
<location line="+1"/>
<source>Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental.</source>
<translation>주행모델이 가속과 감속을 제어하도록 하면 openpilot은 운전자가 생각하는것처럼 운전합니다. (매우 실험적)</translation>
<location line="+59"/>
<source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="-7"/>
<location line="-65"/>
<source>Disengage On Accelerator Pedal</source>
<translation>가속페달 조작시 해제</translation>
</message>
@ -1232,16 +1232,6 @@ location set</source>
<source>Show map on left side when in split screen view.</source>
<translation>분할 화면 보기에서 지도를 왼쪽에 표시합니다.</translation>
</message>
<message>
<location line="+12"/>
<source>openpilot Longitudinal Control</source>
<translation>openpilot Longitudinal Control</translation>
</message>
<message>
<location line="+1"/>
<source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
<translation>openpilot은 차량&apos;의 레이더를 무력화시키고 가속페달과 브레이크의 제어를 인계받을 것이다. 경고: AEB를 비활성화합니다!</translation>
</message>
</context>
<context>
<name>Updater</name>

22
selfdrive/ui/translations/main_pt-BR.ts
Unescape View File

@ -108,7 +108,7 @@
<context>
<name>DevicePanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="+106"/>
<location filename="../qt/offroad/settings.cc" line="+159"/>
<source>Dongle ID</source>
<translation>Dongle ID</translation>
</message>
@ -1157,7 +1157,7 @@ trabalho definido</translation>
<context>
<name>TogglesPanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="-279"/>
<location filename="../qt/offroad/settings.cc" line="-332"/>
<source>Enable openpilot</source>
<translation>Ativar openpilot</translation>
</message>
@ -1202,12 +1202,12 @@ trabalho definido</translation>
<translation>🌮 End-to-end longitudinal (experimental) 🌮</translation>
</message>
<message>
<location line="+1"/>
<source>Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental.</source>
<translation>Deixe o modelo de direção controlar o acelerador e o freio, o openpilot dirigirá da maneira como ele entende que um humano o faria. Super experimental.</translation>
<location line="+59"/>
<source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="-7"/>
<location line="-65"/>
<source>Disengage On Accelerator Pedal</source>
<translation>Desacionar Com Pedal Do Acelerador</translation>
</message>
@ -1236,16 +1236,6 @@ trabalho definido</translation>
<source>Show map on left side when in split screen view.</source>
<translation>Exibir mapa do lado esquerdo quando a tela for dividida.</translation>
</message>
<message>
<location line="+12"/>
<source>openpilot Longitudinal Control</source>
<translation>openpilot Controle Longitudinal</translation>
</message>
<message>
<location line="+1"/>
<source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
<translation>openpilot desativará o radar do carro e assumirá o controle do acelerador e freios. Atenção: isso desativa AEB!</translation>
</message>
</context>
<context>
<name>Updater</name>

20
selfdrive/ui/translations/main_zh-CHS.ts
Unescape View File

@ -108,7 +108,7 @@
<context>
<name>DevicePanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="+106"/>
<location filename="../qt/offroad/settings.cc" line="+159"/>
<source>Dongle ID</source>
<translation>设备ID（Dongle ID）</translation>
</message>
@ -1151,7 +1151,7 @@ location set</source>
<context>
<name>TogglesPanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="-279"/>
<location filename="../qt/offroad/settings.cc" line="-332"/>
<source>Enable openpilot</source>
<translation>启用openpilot</translation>
</message>
@ -1196,12 +1196,12 @@ location set</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+1"/>
<source>Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental.</source>
<location line="+59"/>
<source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="-7"/>
<location line="-65"/>
<source>Disengage On Accelerator Pedal</source>
<translation>踩油门时取消控制</translation>
</message>
@ -1230,16 +1230,6 @@ location set</source>
<source>Show map on left side when in split screen view.</source>
<translation>在分屏模式中，将地图置于屏幕左侧。</translation>
</message>
<message>
<location line="+12"/>
<source>openpilot Longitudinal Control</source>
<translation>openpilot纵向控制</translation>
</message>
<message>
<location line="+1"/>
<source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
<translation>openpilot将禁用车辆的雷达并接管油门和刹车的控制。警告：AEB将被禁用！</translation>
</message>
</context>
<context>
<name>Updater</name>

20
selfdrive/ui/translations/main_zh-CHT.ts
Unescape View File

@ -108,7 +108,7 @@
<context>
<name>DevicePanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="+106"/>
<location filename="../qt/offroad/settings.cc" line="+159"/>
<source>Dongle ID</source>
<translation>Dongle ID</translation>
</message>
@ -1153,7 +1153,7 @@ location set</source>
<context>
<name>TogglesPanel</name>
<message>
<location filename="../qt/offroad/settings.cc" line="-279"/>
<location filename="../qt/offroad/settings.cc" line="-332"/>
<source>Enable openpilot</source>
<translation>啟用 openpilot</translation>
</message>
@ -1198,12 +1198,12 @@ location set</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+1"/>
<source>Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental.</source>
<location line="+59"/>
<source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="-7"/>
<location line="-65"/>
<source>Disengage On Accelerator Pedal</source>
<translation>油門取消控車</translation>
</message>
@ -1232,16 +1232,6 @@ location set</source>
<source>Show map on left side when in split screen view.</source>
<translation>進入分割畫面後，地圖將會顯示在畫面的左側。</translation>
</message>
<message>
<location line="+12"/>
<source>openpilot Longitudinal Control</source>
<translation>openpilot 縱向控制</translation>
</message>
<message>
<location line="+1"/>
<source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
<translation>openpilot 將會關閉雷達訊號並接管油門和剎車的控制。注意：這也會關閉自動緊急煞車 (AEB) 系統！</translation>
</message>
</context>
<context>
<name>Updater</name>

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