sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' of https://github.com/commaai/openpilot into debayer10

Browse Source
pull/31674/head
Comma Device 1 year ago
parent 77a095fd10 03c183cb05
commit 72caee2933
18 changed files with 116 additions and 26 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 12
      Jenkinsfile
  2. 2
      cereal
  3. 7
      docs/CARS.md
  4. 2
      panda
  5. 3
      selfdrive/car/chrysler/fingerprints.py
  6. 1
      selfdrive/car/ford/fingerprints.py
  7. 8
      selfdrive/car/ford/values.py
  8. 1
      selfdrive/car/honda/fingerprints.py
  9. 11
      selfdrive/car/hyundai/fingerprints.py
  10. 5
      selfdrive/car/hyundai/values.py
  11. 6
      selfdrive/car/tests/test_fw_fingerprint.py
  12. 5
      selfdrive/car/volkswagen/fingerprints.py
  13. 4
      selfdrive/car/volkswagen/values.py
  14. 2
      selfdrive/manager/helpers.py
  15. 2
      system/loggerd/logger.cc
  16. 1
      tools/README.md
  17. 66
      tools/camerastream/README.md
  18. 4
      tools/camerastream/compressed_vipc.py

12
Jenkinsfile vendored
Unescape View File

@ -78,8 +78,8 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
def extra = extra_env.collect { "export ${it}" }.join('\n'); def extra = extra_env.collect { "export ${it}" }.join('\n');
def branch = env.BRANCH_NAME ?: 'master'; def branch = env.BRANCH_NAME ?: 'master';
docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') { lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') { docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
timeout(time: 20, unit: 'MINUTES') { timeout(time: 20, unit: 'MINUTES') {
retry (3) { retry (3) {
device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh")) device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
@ -106,7 +106,7 @@ def pcStage(String stageName, Closure body) {
checkout scm checkout scm
def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE}"; def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE} --cpus=8 --memory 16g -e PYTEST_ADDOPTS='-n8'";
def openpilot_base = retryWithDelay (3, 15) { def openpilot_base = retryWithDelay (3, 15) {
return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .") return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .")
@ -205,7 +205,7 @@ node {
]) ])
}, },
'HW + Unit Tests': { 'HW + Unit Tests': {
deviceStage("tici", "tici-common", ["UNSAFE=1"], [ deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"], ["build", "cd selfdrive/manager && ./build.py"],
["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py", ["panda/", "selfdrive/boardd/"]], ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py", ["panda/", "selfdrive/boardd/"]],
["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"], ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
@ -215,7 +215,7 @@ node {
]) ])
}, },
'loopback': { 'loopback': {
deviceStage("tici", "tici-loopback", ["UNSAFE=1"], [ deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
["build openpilot", "cd selfdrive/manager && ./build.py"], ["build openpilot", "cd selfdrive/manager && ./build.py"],
["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"], ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
]) ])
@ -243,7 +243,7 @@ node {
]) ])
}, },
'replay': { 'replay': {
deviceStage("tici", "tici-replay", ["UNSAFE=1"], [ deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
["build", "cd selfdrive/manager && ./build.py"], ["build", "cd selfdrive/manager && ./build.py"],
["model replay", "selfdrive/test/process_replay/model_replay.py"], ["model replay", "selfdrive/test/process_replay/model_replay.py"],
]) ])

2
cereal

@ -1 +1 @@
Subproject commit c54369f8ad4e0bcb18c96feb4334755c6f65e8f1 Subproject commit 80e1e55f0dd71cea7f596e8b80c7c33865b689f3

7
docs/CARS.md
Unescape View File

@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
# 275 Supported Cars # 276 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video| |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@ -138,6 +138,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>|| |Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>|| |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
|Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>|| |Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
|Kia|Niro Plug-in Hybrid 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
|Kia|Niro Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>|| |Kia|Niro Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2022">Buy Here</a></sub></details>||
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>|| |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>|| |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
@ -267,8 +268,8 @@ A supported vehicle is one that just works when you install a comma device. All
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>|| |Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>|| |Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-22">Buy Here</a></sub></details>|| |Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-22">Buy Here</a></sub></details>|| |Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
|Volkswagen|Passat 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>|| |Volkswagen|Passat 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>|| |Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>|| |Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||

2
panda

@ -1 +1 @@
Subproject commit 457e3b262d798aa6e400033c92d12a0b0f52a7ed Subproject commit f48fc21a17079bc04cfb3d8042fd2d67d0aac104

3
selfdrive/car/chrysler/fingerprints.py
Unescape View File

@ -359,6 +359,7 @@ FW_VERSIONS = {
b'68294051AG', b'68294051AG',
b'68294051AI', b'68294051AI',
b'68294052AG', b'68294052AG',
b'68294052AH',
b'68294063AG', b'68294063AG',
b'68294063AH', b'68294063AH',
b'68294063AI', b'68294063AI',
@ -478,10 +479,12 @@ FW_VERSIONS = {
b'05149605AE ', b'05149605AE ',
b'05149846AA ', b'05149846AA ',
b'05149848AA ', b'05149848AA ',
b'05149848AC ',
b'05190341AD', b'05190341AD',
b'68378695AJ ', b'68378695AJ ',
b'68378696AJ ', b'68378696AJ ',
b'68378701AI ', b'68378701AI ',
b'68378702AI ',
b'68378710AL ', b'68378710AL ',
b'68378748AL ', b'68378748AL ',
b'68378758AM ', b'68378758AM ',

1
selfdrive/car/ford/fingerprints.py
Unescape View File

@ -24,6 +24,7 @@ FW_VERSIONS = {
(Ecu.eps, 0x730, None): [ (Ecu.eps, 0x730, None): [
b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
(Ecu.abs, 0x760, None): [ (Ecu.abs, 0x760, None): [

8
selfdrive/car/ford/values.py
Unescape View File

@ -111,21 +111,15 @@ FW_QUERY_CONFIG = FwQueryConfig(
requests=[ requests=[
# CAN and CAN FD queries are combined. # CAN and CAN FD queries are combined.
# FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus # FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus
# TODO: properly handle auxiliary requests to separate queries and add back whitelists
Request( Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
# whitelist_ecus=[Ecu.engine],
),
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
# whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
bus=0, bus=0,
auxiliary=True, auxiliary=True,
), ),
], ],
extra_ecus=[ extra_ecus=[
# We are unlikely to get a response from the PCM from behind the gateway
(Ecu.engine, 0x7e0, None), (Ecu.engine, 0x7e0, None),
(Ecu.shiftByWire, 0x732, None), (Ecu.shiftByWire, 0x732, None),
], ],

1
selfdrive/car/honda/fingerprints.py
Unescape View File

@ -985,6 +985,7 @@ FW_VERSIONS = {
b'37805-RLV-F120\x00\x00', b'37805-RLV-F120\x00\x00',
b'37805-RLV-L080\x00\x00', b'37805-RLV-L080\x00\x00',
b'37805-RLV-L090\x00\x00', b'37805-RLV-L090\x00\x00',
b'37805-RLV-L150\x00\x00',
b'37805-RLV-L160\x00\x00', b'37805-RLV-L160\x00\x00',
b'37805-RLV-L180\x00\x00', b'37805-RLV-L180\x00\x00',
b'37805-RLV-L350\x00\x00', b'37805-RLV-L350\x00\x00',

11
selfdrive/car/hyundai/fingerprints.py
Unescape View File

@ -914,12 +914,14 @@ FW_VERSIONS = {
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
b'\xf1\x87VDGMD15352242DD3w\x87gxwvgv\x87wvw\x88wXwffVfffUfw\x88o\xff\x06J\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7', b'\xf1\x87VDGMD15352242DD3w\x87gxwvgv\x87wvw\x88wXwffVfffUfw\x88o\xff\x06J\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7',
b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7', b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7',
b'\xf1\x87VDHMD16446682DD3WwwxxvGw\x88\x88\x87\x88\x88whxx\x87\x87\x87\x85fUfwu_\xffT\xf8\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7',
], ],
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00HI__ SCC F-CUP 1.00 1.01 96400-D2100 ', b'\xf1\x00HI__ SCC F-CUP 1.00 1.01 96400-D2100 ',
], ],
(Ecu.fwdCamera, 0x7c4, None): [ (Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00HI LKAS AT USA LHD 1.00 1.00 95895-D2020 160302', b'\xf1\x00HI LKAS AT USA LHD 1.00 1.00 95895-D2020 160302',
b'\xf1\x00HI LKAS AT USA LHD 1.00 1.00 95895-D2030 170208',
], ],
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x810000000000\x00', b'\xf1\x810000000000\x00',
@ -1198,16 +1200,19 @@ FW_VERSIONS = {
}, },
CAR.KIA_NIRO_PHEV_2022: { CAR.KIA_NIRO_PHEV_2022: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL3\x00\x00\x00\x00', b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL3\x00\x00\x00\x00',
b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL3\x00\x00\x00\x00',
], ],
(Ecu.eps, 0x7d4, None): [ (Ecu.eps, 0x7d4, None): [
b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101', b'\xf1\x00DE MDPS C 1.00 1.01 56310G5520\x00 4DEPC101',
], ],
(Ecu.fwdCamera, 0x7c4, None): [ (Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00DEP MFC AT USA LHD 1.00 1.00 99211-G5500 210428', b'\xf1\x00DEP MFC AT USA LHD 1.00 1.00 99211-G5500 210428',
b'\xf1\x00DEP MFC AT USA LHD 1.00 1.06 99211-G5000 201028',
], ],
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00DEhe SCC F-CUP 1.00 1.00 99110-G5600 ', b'\xf1\x00DEhe SCC F-CUP 1.00 1.00 99110-G5600 ',
@ -1347,22 +1352,28 @@ FW_VERSIONS = {
CAR.ELANTRA_GT_I30: { CAR.ELANTRA_GT_I30: {
(Ecu.fwdCamera, 0x7c4, None): [ (Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00PD LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51', b'\xf1\x00PD LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51',
b'\xf1\x00PD LKAS AT USA LHD 1.00 1.02 95740-G3000 A51',
b'\xf1\x00PD LKAS AT USA LHD 1.01 1.01 95740-G3100 A54', b'\xf1\x00PD LKAS AT USA LHD 1.01 1.01 95740-G3100 A54',
], ],
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
b'\xf1\x006U2U0_C2\x00\x006U2T0051\x00\x00DPD0D16KS0u\xce\x1fk', b'\xf1\x006U2U0_C2\x00\x006U2T0051\x00\x00DPD0D16KS0u\xce\x1fk',
b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DPD0T16NS4\x00\x00\x00\x00',
b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DPD0T16NS4\xda\x7f\xd6\xa7',
b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DPD0H16NS0e\x0e\xcd\x8e', b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DPD0H16NS0e\x0e\xcd\x8e',
], ],
(Ecu.eps, 0x7d4, None): [ (Ecu.eps, 0x7d4, None): [
b'\xf1\x00PD MDPS C 1.00 1.00 56310G3300\x00 4PDDC100', b'\xf1\x00PD MDPS C 1.00 1.00 56310G3300\x00 4PDDC100',
b'\xf1\x00PD MDPS C 1.00 1.03 56310/G3300 4PDDC103',
b'\xf1\x00PD MDPS C 1.00 1.04 56310/G3300 4PDDC104', b'\xf1\x00PD MDPS C 1.00 1.04 56310/G3300 4PDDC104',
], ],
(Ecu.abs, 0x7d1, None): [ (Ecu.abs, 0x7d1, None): [
b'\xf1\x00PD ESC \t 104\x18\t\x03 58920-G3350', b'\xf1\x00PD ESC \t 104\x18\t\x03 58920-G3350',
b'\xf1\x00PD ESC \x0b 103\x17\x110 58920-G3350',
b'\xf1\x00PD ESC \x0b 104\x18\t\x03 58920-G3350', b'\xf1\x00PD ESC \x0b 104\x18\t\x03 58920-G3350',
], ],
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00PD__ SCC F-CUP 1.00 1.00 96400-G3300 ', b'\xf1\x00PD__ SCC F-CUP 1.00 1.00 96400-G3300 ',
b'\xf1\x00PD__ SCC F-CUP 1.01 1.00 96400-G3100 ',
b'\xf1\x00PD__ SCC FNCUP 1.01 1.00 96400-G3000 ', b'\xf1\x00PD__ SCC FNCUP 1.01 1.00 96400-G3000 ',
], ],
}, },

5
selfdrive/car/hyundai/values.py
Unescape View File

@ -248,7 +248,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])), HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
], ],
CAR.KIA_NIRO_PHEV_2022: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), CAR.KIA_NIRO_PHEV_2022: [
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
],
CAR.KIA_NIRO_HEV_2021: [ CAR.KIA_NIRO_HEV_2021: [
HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])), HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])), HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),

6
selfdrive/car/tests/test_fw_fingerprint.py
Unescape View File

@ -254,13 +254,13 @@ class TestFwFingerprintTiming(unittest.TestCase):
@pytest.mark.timeout(60) @pytest.mark.timeout(60)
def test_fw_query_timing(self): def test_fw_query_timing(self):
total_ref_time = 7.0 total_ref_time = 6.8
brand_ref_times = { brand_ref_times = {
1: { 1: {
'gm': 0.5, 'gm': 0.5,
'body': 0.1, 'body': 0.1,
'chrysler': 0.3, 'chrysler': 0.3,
'ford': 0.2, 'ford': 0.1,
'honda': 0.55, 'honda': 0.55,
'hyundai': 0.65, 'hyundai': 0.65,
'mazda': 0.1, 'mazda': 0.1,
@ -271,7 +271,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
'volkswagen': 0.2, 'volkswagen': 0.2,
}, },
2: { 2: {
'ford': 0.3, 'ford': 0.2,
'hyundai': 1.05, 'hyundai': 1.05,
} }
} }

5
selfdrive/car/volkswagen/fingerprints.py
Unescape View File

@ -320,6 +320,7 @@ FW_VERSIONS = {
b'\xf1\x8704E906024L \xf1\x895595', b'\xf1\x8704E906024L \xf1\x895595',
b'\xf1\x8704E906024L \xf1\x899970', b'\xf1\x8704E906024L \xf1\x899970',
b'\xf1\x8704E906027MS\xf1\x896223', b'\xf1\x8704E906027MS\xf1\x896223',
b'\xf1\x8705E906013DB\xf1\x893361',
b'\xf1\x875G0906259T \xf1\x890003', b'\xf1\x875G0906259T \xf1\x890003',
], ],
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
@ -327,6 +328,7 @@ FW_VERSIONS = {
b'\xf1\x8709S927158BS\xf1\x893642', b'\xf1\x8709S927158BS\xf1\x893642',
b'\xf1\x8709S927158BS\xf1\x893694', b'\xf1\x8709S927158BS\xf1\x893694',
b'\xf1\x8709S927158CK\xf1\x893770', b'\xf1\x8709S927158CK\xf1\x893770',
b'\xf1\x8709S927158JC\xf1\x894113',
b'\xf1\x8709S927158R \xf1\x893552', b'\xf1\x8709S927158R \xf1\x893552',
b'\xf1\x8709S927158R \xf1\x893587', b'\xf1\x8709S927158R \xf1\x893587',
b'\xf1\x870GC300020N \xf1\x892803', b'\xf1\x870GC300020N \xf1\x892803',
@ -340,9 +342,11 @@ FW_VERSIONS = {
b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\x1319170031313300314240011550159333463100', b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\x1319170031313300314240011550159333463100',
b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314642021650169333613100', b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314642021650169333613100',
b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314643021650169333613100', b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314643021650169333613100',
b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1317171231313500314642023050309333613100',
], ],
(Ecu.eps, 0x712, None): [ (Ecu.eps, 0x712, None): [
b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A10A11A1', b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A10A11A1',
b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x000_A1080_OM',
b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A10A01A1', b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A10A01A1',
b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521B00404A1', b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521B00404A1',
b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A00642A1', b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A00642A1',
@ -350,6 +354,7 @@ FW_VERSIONS = {
b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\x0571A10A11A1', b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\x0571A10A11A1',
], ],
(Ecu.fwdRadar, 0x757, None): [ (Ecu.fwdRadar, 0x757, None): [
b'\xf1\x872Q0907572AA\xf1\x890396',
b'\xf1\x875Q0907572N \xf1\x890681', b'\xf1\x875Q0907572N \xf1\x890681',
b'\xf1\x875Q0907572P \xf1\x890682', b'\xf1\x875Q0907572P \xf1\x890682',
b'\xf1\x875Q0907572R \xf1\x890771', b'\xf1\x875Q0907572R \xf1\x890771',

4
selfdrive/car/volkswagen/values.py
Unescape View File

@ -223,8 +223,8 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
VWCarInfo("Volkswagen Golf SportsVan 2015-20"), VWCarInfo("Volkswagen Golf SportsVan 2015-20"),
], ],
CAR.JETTA_MK7: [ CAR.JETTA_MK7: [
VWCarInfo("Volkswagen Jetta 2018-22"), VWCarInfo("Volkswagen Jetta 2018-24"),
VWCarInfo("Volkswagen Jetta GLI 2021-22"), VWCarInfo("Volkswagen Jetta GLI 2021-24"),
], ],
CAR.PASSAT_MK8: [ CAR.PASSAT_MK8: [
VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.PASSAT]), VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.PASSAT]),

2
selfdrive/manager/helpers.py
Unescape View File

@ -56,7 +56,7 @@ def save_bootlog():
def fn(tmpdir): def fn(tmpdir):
env = os.environ.copy() env = os.environ.copy()
env['PARAMS_ROOT'] = tmpdir env['PARAMS_COPY_PATH'] = tmpdir
subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), env=env) subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), env=env)
shutil.rmtree(tmpdir) shutil.rmtree(tmpdir)
t = threading.Thread(target=fn, args=(tmp, )) t = threading.Thread(target=fn, args=(tmp, ))

2
system/loggerd/logger.cc
Unescape View File

@ -40,7 +40,7 @@ kj::Array<capnp::word> logger_build_init_data() {
init.setOsVersion(util::read_file("/VERSION")); init.setOsVersion(util::read_file("/VERSION"));
// log params // log params
auto params = Params(); auto params = Params(util::getenv("PARAMS_COPY_PATH", ""));
std::map<std::string, std::string> params_map = params.readAll(); std::map<std::string, std::string> params_map = params.readAll();
init.setGitCommit(params_map["GitCommit"]); init.setGitCommit(params_map["GitCommit"]);

1
tools/README.md
Unescape View File

@ -68,6 +68,7 @@ Learn about the openpilot ecosystem and tools by playing our [CTF](/tools/CTF.md
├── ubuntu_setup.sh # Setup script for Ubuntu ├── ubuntu_setup.sh # Setup script for Ubuntu
├── mac_setup.sh # Setup script for macOS ├── mac_setup.sh # Setup script for macOS
├── cabana/ # View and plot CAN messages from drives or in realtime ├── cabana/ # View and plot CAN messages from drives or in realtime
├── camerastream/ # Cameras stream over the network
├── joystick/ # Control your car with a joystick ├── joystick/ # Control your car with a joystick
├── lib/ # Libraries to support the tools and reading openpilot logs ├── lib/ # Libraries to support the tools and reading openpilot logs
├── plotjuggler/ # A tool to plot openpilot logs ├── plotjuggler/ # A tool to plot openpilot logs

66
tools/camerastream/README.md
Unescape View File

@ -0,0 +1,66 @@
# Camera stream
`compressed_vipc.py` connects to a remote device running openpilot, decodes the video streams, and republishes them over VisionIPC.
## Usage
### On the device
SSH into the device and run following in separate terminals:
`cd /data/openpilot/cereal/messaging && ./bridge`
`cd /data/openpilot/system/loggerd && ./encoderd`
`cd /data/openpilot/system/camerad && ./camerad`
Note that both the device and your PC must be on the same openpilot commit.
Alternatively paste this as a single command:
```
(
cd /data/openpilot/cereal/messaging/
./bridge &
cd /data/openpilot/system/camerad/
./camerad &
cd /data/openpilot/system/loggerd/
./encoderd &
wait
) ; trap 'kill $(jobs -p)' SIGINT
```
Ctrl+C will stop all three processes.
### On the PC
Decode the stream with `compressed_vipc.py`:
```cd ~/openpilot/tools/camerastream && ./compressed_vipc.py <ip>```
To actually display the stream, run `watch3` in separate terminal:
```cd ~/openpilot/selfdrive/ui/ && ./watch3```
## compressed_vipc.py usage
```
$ python compressed_vipc.py -h
usage: compressed_vipc.py [-h] [--nvidia] [--cams CAMS] [--silent] addr
Decode video streams and broadcast on VisionIPC
positional arguments:
addr Address of comma three
options:
-h, --help show this help message and exit
--nvidia Use nvidia instead of ffmpeg
--cams CAMS Cameras to decode
--silent Suppress debug output
```
## Example:
```
cd ~/openpilot/tools/camerastream && ./compressed_vipc.py comma-ffffffff --cams 0
cd ~/openpilot/selfdrive/ui/ && ./watch3
```

4
tools/camerastream/compressed_vipc.py
Unescape View File

@ -12,6 +12,10 @@ from cereal.visionipc import VisionIpcServer, VisionStreamType
V4L2_BUF_FLAG_KEYFRAME = 8 V4L2_BUF_FLAG_KEYFRAME = 8
# start encoderd
# also start cereal messaging bridge
# then run this "./compressed_vipc.py <ip>"
ENCODE_SOCKETS = { ENCODE_SOCKETS = {
VisionStreamType.VISION_STREAM_ROAD: "roadEncodeData", VisionStreamType.VISION_STREAM_ROAD: "roadEncodeData",
VisionStreamType.VISION_STREAM_WIDE_ROAD: "wideRoadEncodeData", VisionStreamType.VISION_STREAM_WIDE_ROAD: "wideRoadEncodeData",

Write Preview
Loading…
Cancel
Save