From b6910923d18af7332f781a7c83b2601fd7862e3f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 3 Aug 2022 21:03:53 -0700 Subject: [PATCH 01/23] vEgoCluster: fix starting from stop (#25350) * we can't switch back and forth * update translations --- selfdrive/car/interfaces.py | 7 +++++-- selfdrive/ui/qt/onroad.cc | 8 +++++++- selfdrive/ui/qt/onroad.h | 1 + selfdrive/ui/translations/main_ja.ts | 16 ++++++++-------- selfdrive/ui/translations/main_ko.ts | 16 ++++++++-------- selfdrive/ui/translations/main_zh-CHS.ts | 16 ++++++++-------- selfdrive/ui/translations/main_zh-CHT.ts | 16 ++++++++-------- 7 files changed, 45 insertions(+), 35 deletions(-) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 38a613b0e7..1e55e72ac4 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -61,6 +61,7 @@ class CarInterfaceBase(ABC): self.steering_unpressed = 0 self.low_speed_alert = False self.silent_steer_warning = True + self.v_ego_cluster_seen = False self.CS = None self.can_parsers = [] @@ -162,8 +163,10 @@ class CarInterfaceBase(ABC): ret.canValid = all(cp.can_valid for cp in self.can_parsers if cp is not None) ret.canTimeout = any(cp.bus_timeout for cp in self.can_parsers if cp is not None) - if ret.vEgoCluster == 0.0: + if ret.vEgoCluster == 0.0 and not self.v_ego_cluster_seen: ret.vEgoCluster = ret.vEgo + else: + self.v_ego_cluster_seen = True if ret.cruiseState.speedCluster == 0: ret.cruiseState.speedCluster = ret.cruiseState.speed @@ -321,7 +324,7 @@ class CarStateBase(ABC): def parse_gear_shifter(gear: Optional[str]) -> car.CarState.GearShifter: if gear is None: return GearShifter.unknown - + d: Dict[str, car.CarState.GearShifter] = { 'P': GearShifter.park, 'PARK': GearShifter.park, 'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse, diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 0ab1424023..4414e602e6 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -193,7 +193,13 @@ void NvgWindow::updateState(const UIState &s) { } // Handle older routes where vEgoCluster is not set - float v_ego = sm["carState"].getCarState().getVEgoCluster() == 0.0 ? sm["carState"].getCarState().getVEgo() : sm["carState"].getCarState().getVEgoCluster(); + float v_ego; + if (sm["carState"].getCarState().getVEgoCluster() == 0.0 && !v_ego_cluster_seen) { + v_ego = sm["carState"].getCarState().getVEgo(); + } else { + v_ego = sm["carState"].getCarState().getVEgoCluster(); + v_ego_cluster_seen = true; + } float cur_speed = cs_alive ? std::max(0.0, v_ego) : 0.0; cur_speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH; diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 7f51a73510..25920ccc6a 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -66,6 +66,7 @@ private: bool rightHandDM = false; bool has_us_speed_limit = false; bool has_eu_speed_limit = false; + bool v_ego_cluster_seen = false; int status = STATUS_DISENGAGED; protected: diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index be0611f49a..555aa52fb8 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -490,30 +490,30 @@ location set NvgWindow - + km/h km/h - + mph mph - - + + MAX 最高速度 - - + + SPEED 速度 - - + + LIMIT 制限速度 diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 626373a955..65762e09db 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -490,30 +490,30 @@ location set NvgWindow - + km/h km/h - + mph mph - - + + MAX MAX - - + + SPEED SPEED - - + + LIMIT LIMIT diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 02bda87829..1e9173395d 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -488,30 +488,30 @@ location set NvgWindow - + km/h km/h - + mph mph - - + + MAX 最高定速 - - + + SPEED SPEED - - + + LIMIT LIMIT diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 0ea8e95f52..d8cebe2861 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -490,30 +490,30 @@ location set NvgWindow - + km/h km/h - + mph mph - - + + MAX 最高 - - + + SPEED 速度 - - + + LIMIT 速限 From 9fbbefbc94f8c672e0b1c79333e34366e19f96cf Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Wed, 3 Aug 2022 22:35:03 -0700 Subject: [PATCH 02/23] Update model replay commit for calib change (#25357) * Update model replay commit for calib test * more reliable baseline * update docker login Co-authored-by: Adeeb Shihadeh --- .github/workflows/prebuilt.yaml | 2 +- .github/workflows/selfdrive_tests.yaml | 2 +- .github/workflows/tools_tests.yaml | 2 +- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- system/hardware/tici/test_power_draw.py | 3 +++ 5 files changed, 7 insertions(+), 4 deletions(-) diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml index 99d9694f24..b659d4ceee 100644 --- a/.github/workflows/prebuilt.yaml +++ b/.github/workflows/prebuilt.yaml @@ -9,7 +9,7 @@ env: BASE_IMAGE: openpilot-base DOCKER_REGISTRY: ghcr.io/commaai - DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }} + DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: | docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 7800323198..8304582620 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -11,7 +11,7 @@ env: DOCKER_REGISTRY: ghcr.io/commaai AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }} - DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }} + DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: | docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index b2433fba8f..e93ce2bb39 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -7,7 +7,7 @@ env: BASE_IMAGE: openpilot-base CL_BASE_IMAGE: openpilot-base-cl DOCKER_REGISTRY: ghcr.io/commaai - DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }} + DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: | docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 9f9b822693..8b94834193 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -df0ce74929dd6b5fa7a55224baefeff4bac6d785 +5c2cb8fb9787584a1eb553968cb87e7e6782dac5 diff --git a/system/hardware/tici/test_power_draw.py b/system/hardware/tici/test_power_draw.py index 4277bb9273..4b380372b9 100755 --- a/system/hardware/tici/test_power_draw.py +++ b/system/hardware/tici/test_power_draw.py @@ -37,6 +37,9 @@ class TestPowerDraw(unittest.TestCase): HARDWARE.initialize_hardware() HARDWARE.set_power_save(False) + # wait a bit for power save to disable + time.sleep(5) + def tearDown(self): manager_cleanup() From 57b1a43bf6fc241f1f274b4eb7688dbc8cf7db43 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 4 Aug 2022 00:02:08 -0700 Subject: [PATCH 03/23] Hyundai: add missing Palisade 2020 FW versions (#25360) Add missing Palisade 2020 FW versions --- selfdrive/car/hyundai/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 88eaeaf76f..59526fb8a6 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -742,6 +742,7 @@ FW_VERSIONS = { b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360', b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360', b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360', + b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00', @@ -812,6 +813,7 @@ FW_VERSIONS = { b'\xf1\x87LDMVBN899222KF37\xa8\x88x\x87\x97www\x98\x99\x99\x89\x88\x99\x98\x89f\x88\x96hdo\xf7\xff\xbb\xaa\x9f\xff\xe2U\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', b"\xf1\x87LBLUFN622950KF36\xa8\x88\x88\x88\x87w\x87xh\x99\x96\x89\x88\x99\x98\x89\x88\x99\x98\x89\x87o\xf6\xff\x98\x88o\xffx'\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8", b'\xf1\x87LDMVBN950669KF37\x97www\x96fffy\x99\xa7\x99\xa9\x99\xaa\x99g\x88\x96x\xb8\x8f\xf9\xffTD/\xff\xa7\xcb\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', + b'\xf1\x87LDLVAA4478824HH1\x87wwwvfvg\x89\x99\xa8\x99w\x88\x87x\x89\x99\xa8\x99\xa6o\xfa\xfffU/\xffu\x92\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6', ], }, CAR.VELOSTER: { From d73000587e7c857015d148fb27fd1cec050d0d85 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 4 Aug 2022 00:04:30 -0700 Subject: [PATCH 04/23] Update Kia Niro EV 2019 harness (#25359) * h -> f -> c -> h?? * update docs --- docs/CARS.md | 5 +++-- selfdrive/car/hyundai/values.py | 3 ++- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index eb0395ae9b..d5167b6730 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -19,7 +19,7 @@ A supported vehicle is one that just works when you install a comma device. Ever - [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns. -# 198 Supported Cars +# 199 Supported Cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque| |---|---|---|:---:|:---:|:---:|:---:| @@ -97,7 +97,8 @@ A supported vehicle is one that just works when you install a comma device. Ever |Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Forte 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|K5 2021-22|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Niro Electric 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Niro Electric 2019|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Niro Electric 2020|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Niro Electric 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Niro Electric 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 59526fb8a6..cb21dbd4cc 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -141,7 +141,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { ], CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a), CAR.KIA_NIRO_EV: [ - HyundaiCarInfo("Kia Niro Electric 2019-20", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f), + HyundaiCarInfo("Kia Niro Electric 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), + HyundaiCarInfo("Kia Niro Electric 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f), HyundaiCarInfo("Kia Niro Electric 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c), HyundaiCarInfo("Kia Niro Electric 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), ], From 00ee6da40a9b021077e07209ddb14d21aacd2565 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Thu, 4 Aug 2022 14:02:01 -0400 Subject: [PATCH 05/23] Chrysler: Add legacy FP for 2017 Jeep Grand Cherokee (#25362) --- selfdrive/car/chrysler/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 66c76bbcf3..0066676e1d 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -107,6 +107,10 @@ FINGERPRINTS = { }], CAR.JEEP_CHEROKEE: [{ 55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 + }, + # Based on c88f65eeaee4003a|2022-08-04--15-37-16 + { + 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 658: 6, 660: 8, 671: 8, 672: 8, 678: 8, 680: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 783: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1235: 8, 1242: 8, 1252: 8, 1792: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1892: 8, 1927: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 }], CAR.JEEP_CHEROKEE_2019: [{ # Jeep Grand Cherokee 2019, including most 2020 models From 4fb318c5be93c2f26e2ad4149b053a6ee830ecc5 Mon Sep 17 00:00:00 2001 From: Nelson Chen Date: Thu, 4 Aug 2022 15:06:36 -0700 Subject: [PATCH 06/23] Update replay README.md to be more clear that auth.py is in tools/lib (#25366) and a little minor format fix --- tools/replay/README.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/tools/replay/README.md b/tools/replay/README.md index b705fb60db..2d0b702bd0 100644 --- a/tools/replay/README.md +++ b/tools/replay/README.md @@ -6,7 +6,7 @@ ```bash # Log in via browser to have access to non-public routes -python lib/auth.py +python tools/lib/auth.py # Start a replay tools/replay/replay @@ -24,6 +24,7 @@ python replay/ui.py ``` ## usage + ``` bash $ tools/replay/replay -h Usage: tools/replay/replay [options] route From 689d1970a769e7c705ed397dd058eeb519bc5720 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 4 Aug 2022 23:22:10 -0700 Subject: [PATCH 07/23] jenkins: disable power draw test for now --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index b8ed52611d..6b05e81d79 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -127,7 +127,7 @@ pipeline { steps { phone_steps("tici2", [ ["build", "cd selfdrive/manager && ./build.py"], - ["test power draw", "python system/hardware/tici/test_power_draw.py"], + //["test power draw", "python system/hardware/tici/test_power_draw.py"], ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"], ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"], ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"], From 88e034a2a30cc0dfd46f41b85ddfe9497fb11d0e Mon Sep 17 00:00:00 2001 From: cydia2020 <12470297+cydia2020@users.noreply.github.com> Date: Fri, 5 Aug 2022 16:24:20 +1000 Subject: [PATCH 08/23] Toyota: Send ACC_HUD immediately on fcw (#25348) * Send ACC_HUD immediately on fcw * update refs Co-authored-by: Shane Smiskol --- selfdrive/car/toyota/carcontroller.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 858a3815b4..3326d7c96c 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -129,7 +129,7 @@ class CarController: hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart, CC.enabled)) - if self.frame % 100 == 0 and self.CP.enableDsu: + if (self.frame % 100 == 0 or send_ui) and self.CP.enableDsu: can_sends.append(create_fcw_command(self.packer, fcw_alert)) # *** static msgs *** diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 0cf6711727..27bea55740 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -82d3f0a3bfe07a76983e7e4603a0553d077ba15b \ No newline at end of file +c556add24a92c9d8593d9d3ebbeed9434b751d66 \ No newline at end of file From eaf21e53e2a3e3e988b661412c919a331b5cf2a9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 5 Aug 2022 14:49:21 -0700 Subject: [PATCH 09/23] Multilang: test for vanished translations (#25342) * Test for vanished translations * this isn't needed anymore * comment * remove more unnecessary code since the great pluralization --- selfdrive/ui/tests/test_translations.py | 16 +++++++--------- selfdrive/ui/translations/create_badges.py | 3 --- selfdrive/ui/update_translations.py | 4 ---- 3 files changed, 7 insertions(+), 16 deletions(-) diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index ae91dd6f83..526dde93e8 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -32,9 +32,6 @@ class TestTranslations(unittest.TestCase): def test_missing_translation_files(self): for name, file in self.translation_files.items(): with self.subTest(name=name, file=file): - if not len(file): - self.skipTest(f"{name} translation has no defined file") - self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")), f"{name} has no XML translation file, run selfdrive/ui/update_translations.py") @@ -43,9 +40,6 @@ class TestTranslations(unittest.TestCase): for name, file in self.translation_files.items(): with self.subTest(name=name, file=file): - if not len(file): - self.skipTest(f"{name} translation has no defined file") - # caught by test_missing_translation_files if not os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")): self.skipTest(f"{name} missing translation file") @@ -59,13 +53,17 @@ class TestTranslations(unittest.TestCase): def test_unfinished_translations(self): for name, file in self.translation_files.items(): with self.subTest(name=name, file=file): - if not len(file): - raise self.skipTest(f"{name} translation has no defined file") - cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file) self.assertTrue(b"" not in cur_translations, f"{file} ({name}) translation file has unfinished translations. Finish translations or mark them as completed in Qt Linguist") + def test_vanished_translations(self): + for name, file in self.translation_files.items(): + with self.subTest(name=name, file=file): + cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file) + self.assertTrue(b"" not in cur_translations, + f"{file} ({name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them") + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py index 58b587462f..d9e2d443b9 100755 --- a/selfdrive/ui/translations/create_badges.py +++ b/selfdrive/ui/translations/create_badges.py @@ -17,9 +17,6 @@ if __name__ == "__main__": print("Copy into selfdrive/ui/translations/README.md:\n") for name, file in translation_files.items(): - if not len(file): - continue - with open(os.path.join(TRANSLATIONS_DIR, f"{file}.ts"), "r") as tr_f: tr_file = tr_f.read() diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index 78c973c86b..3a278b4812 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -18,10 +18,6 @@ def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLA translation_files = json.load(f) for name, file in translation_files.items(): - if not len(file): - print(f"{name} has no translation file, skipping...") - continue - tr_file = os.path.join(translations_dir, f"{file}.ts") args = f"lupdate -recursive {UI_DIR} -ts {tr_file}" if vanish: From e1d38be92faa4639b95374323b7dcbc09107b595 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 5 Aug 2022 15:19:21 -0700 Subject: [PATCH 10/23] GM: add OBD-II harness to all GMs (#25356) * Update/cleanup CarInfo * Update footnote * this will be on the website * update docs Co-authored-by: Jason Shuler --- docs/CARS.md | 117 ++++++++++++++++---------------- selfdrive/car/gm/values.py | 13 ++-- selfdrive/car/hyundai/values.py | 11 +-- 3 files changed, 66 insertions(+), 75 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index d5167b6730..522ad99768 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -93,7 +93,7 @@ A supported vehicle is one that just works when you install a comma device. Ever |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|EV6 2022[3](#footnotes)|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|EV6 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Forte 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|K5 2021-22|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| @@ -111,19 +111,19 @@ A supported vehicle is one that just works when you install a comma device. Ever |Kia|Sorento 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Stinger 2018-20|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Telluride 2020|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|CT Hybrid 2017-18|Lexus Safety System+|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|CT Hybrid 2017-18|Lexus Safety System+|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|ES 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|ES Hybrid 2017-18|Lexus Safety System+|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|ES Hybrid 2017-18|Lexus Safety System+|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|ES Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|IS 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|NX 2018-19|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|NX 2018-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|NX 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|NX Hybrid 2018-19|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|NX Hybrid 2018-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|NX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|RC 2017-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|RX 2016-18|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|RX 2016-18|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|RX 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|RX Hybrid 2016-19|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|RX Hybrid 2016-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|RX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|UX Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Mazda|CX-5 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| @@ -144,7 +144,7 @@ A supported vehicle is one that just works when you install a comma device. Ever |Subaru|Outback 2020-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Subaru|XV 2018-19|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| |Subaru|XV 2020-21|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Škoda|Kamiq 2021[6](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Škoda|Kamiq 2021[5](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Škoda|Karoq 2019-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Škoda|Kodiaq 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Škoda|Octavia 2015, 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| @@ -153,86 +153,85 @@ A supported vehicle is one that just works when you install a comma device. Ever |Škoda|Superb 2015-18|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Alphard 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Alphard Hybrid 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Avalon 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Avalon 2017-18|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Avalon 2019-21|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Avalon 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Avalon 2017-18|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Avalon 2019-21|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Avalon 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Avalon Hybrid 2019-21|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Avalon Hybrid 2019-21|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Avalon Hybrid 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|C-HR 2017-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|C-HR Hybrid 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Camry 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[5](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Camry 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)[5](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Camry Hybrid 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[5](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Camry 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Camry 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Camry Hybrid 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Camry Hybrid 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Corolla 2017-19|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Corolla 2017-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Corolla 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Corolla Cross (Non-US only) 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Corolla Hatchback 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Corolla Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Highlander 2017-19|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Highlander 2017-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Highlander 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Highlander Hybrid 2017-19|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Highlander Hybrid 2017-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Highlander Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Mirai 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Prius 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Prius 2017-20|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Prius 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Prius 2017-20|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Prius 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Prius Prime 2017-20|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Prius Prime 2017-20|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Prius Prime 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Prius v 2017|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|RAV4 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|RAV4 2017-18|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Prius v 2017|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 2017-18|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|RAV4 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|RAV4 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|RAV4 Hybrid 2017-18|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 Hybrid 2017-18|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|RAV4 Hybrid 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|RAV4 Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Sienna 2018-20|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Arteon 2018-22[8,9](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Arteon eHybrid 2020-22[8,9](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Arteon R 2020-22[8,9](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Atlas 2018-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Atlas Cross Sport 2021-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|California 2021[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Caravelle 2020[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|CC 2018-22[8,9](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Sienna 2018-20|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Arteon 2018-22[7,8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Arteon eHybrid 2020-22[7,8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Arteon R 2020-22[7,8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Atlas 2018-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Atlas Cross Sport 2021-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|California 2021[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Caravelle 2020[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|CC 2018-22[7,8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Volkswagen|e-Golf 2014-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Golf 2015-20[9](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Golf 2015-20[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Volkswagen|Golf Alltrack 2015-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Volkswagen|Golf GTD 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Volkswagen|Golf GTE 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Volkswagen|Golf GTI 2015-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Golf R 2015-19[9](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Golf R 2015-19[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Volkswagen|Golf SportsVan 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Jetta 2018-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Jetta GLI 2021-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Passat 2015-22[7,8,9](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Passat Alltrack 2015-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Passat GTE 2015-22[8,9](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Polo 2020-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Polo GTI 2020-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|T-Cross 2021[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|T-Roc 2021[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Taos 2022[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Teramont 2018-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Teramont Cross Sport 2021-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Teramont X 2021-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Tiguan 2019-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Jetta 2018-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Jetta GLI 2021-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Passat 2015-22[6,7,8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Passat Alltrack 2015-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Passat GTE 2015-22[7,8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Polo 2020-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Polo GTI 2020-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|T-Cross 2021[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|T-Roc 2021[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Teramont 2018-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Teramont Cross Sport 2021-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Teramont X 2021-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Tiguan 2019-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Volkswagen|Touran 2017|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -1Requires an OBD-II car harness and community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
+1Requires a community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
22019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
-3Requires a red panda and additional harness box.
-4When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
-5openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
-6Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
-7Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform.
-8Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.
-9Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)
+3When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
+4openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
+5Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
+6Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform.
+7Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.
+8Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)
## Community Maintained Cars Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/). diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 1cae6aa506..e4735524d3 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -59,8 +59,7 @@ class CAR: class Footnote(Enum): OBD_II = CarFootnote( - 'Requires an OBD-II car harness and ' + - 'community built ASCM harness. ' + + 'Requires a community built ASCM harness. ' + 'NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).', Column.MODEL) @@ -68,18 +67,18 @@ class Footnote(Enum): @dataclass class GMCarInfo(CarInfo): package: str = "Adaptive Cruise Control" - harness: Enum = Harness.none + harness: Enum = Harness.obd_ii footnotes: List[Enum] = field(default_factory=lambda: [Footnote.OBD_II]) CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = { - CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017", harness=Harness.custom), - CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, harness=Harness.custom), + CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017"), + CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0), CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"), - CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017", harness=Harness.custom), + CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"), CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"), CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"), - CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"), # TODO: can probably just be ACC? + CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"), } diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index cb21dbd4cc..ec38123fa1 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1,11 +1,10 @@ -from enum import Enum from dataclasses import dataclass from typing import Dict, List, Optional, Union from cereal import car from common.conversions import Conversions as CV from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness +from selfdrive.car.docs_definitions import CarInfo, Harness Ecu = car.CarParams.Ecu @@ -88,12 +87,6 @@ class CAR: GENESIS_G90 = "GENESIS G90 2017" -class Footnote(Enum): - CANFD = CarFootnote( - "Requires a red panda and additional harness box.", - Column.MODEL) - - @dataclass class HyundaiCarInfo(CarInfo): # TODO: we can probably remove LKAS. LKAS is standard on many @@ -163,7 +156,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { ], CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c), CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e), - CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.hyundai_p, footnotes=[Footnote.CANFD,]), + CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.hyundai_p), # Genesis CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f), From 088719c86c050c9a73f45f5a472a88af5e539db1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 5 Aug 2022 15:23:22 -0700 Subject: [PATCH 11/23] Fix static analysis --- selfdrive/ui/update_translations.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index 3a278b4812..e509168ad6 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -17,7 +17,7 @@ def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLA with open(LANGUAGES_FILE, "r") as f: translation_files = json.load(f) - for name, file in translation_files.items(): + for file in translation_files.values(): tr_file = os.path.join(translations_dir, f"{file}.ts") args = f"lupdate -recursive {UI_DIR} -ts {tr_file}" if vanish: From 80cbcafb5f10f474efd86a085032705c994bab15 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 5 Aug 2022 16:12:32 -0700 Subject: [PATCH 12/23] test onroad: more robust CPU usage test (#25375) * test onroad: more robust CPU usage test * fix linter * remove debug print * Revert "remove debug print" This reverts commit 172cb655fe3558abeb0ec6432ff24b90c0aab183. Co-authored-by: Comma Device --- selfdrive/test/test_onroad.py | 39 +++++++++++++++++++++-------------- 1 file changed, 24 insertions(+), 15 deletions(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 8007afb84c..31651706c6 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -5,7 +5,7 @@ import subprocess import time import numpy as np import unittest -from collections import Counter +from collections import Counter, defaultdict from pathlib import Path from cereal import car @@ -70,32 +70,40 @@ def cputime_total(ct): return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem -def check_cpu_usage(first_proc, last_proc): +def check_cpu_usage(proclogs): result = "\n" result += "------------------------------------------------\n" result += "------------------ CPU Usage -------------------\n" result += "------------------------------------------------\n" + plogs_by_proc = defaultdict(list) + for pl in proclogs: + for x in pl.procLog.procs: + if len(x.cmdline) > 0: + n = list(x.cmdline)[0] + plogs_by_proc[n].append(x) + + print(plogs_by_proc.keys()) + r = True - dt = (last_proc.logMonoTime - first_proc.logMonoTime) / 1e9 - for proc_name, normal_cpu_usage in PROCS.items(): + dt = (proclogs[-1].logMonoTime - proclogs[0].logMonoTime) / 1e9 + for proc_name, expected_cpu in PROCS.items(): err = "" - first, last = None, None - try: - first = [p for p in first_proc.procLog.procs if proc_name in p.cmdline][0] - last = [p for p in last_proc.procLog.procs if proc_name in p.cmdline][0] - cpu_time = cputime_total(last) - cputime_total(first) + cpu_usage = 0. + x = plogs_by_proc[proc_name] + if len(x) > 2: + cpu_time = cputime_total(x[-1]) - cputime_total(x[0]) cpu_usage = cpu_time / dt * 100. - if cpu_usage > max(normal_cpu_usage * 1.15, normal_cpu_usage + 5.0): + if cpu_usage > max(expected_cpu * 1.15, expected_cpu + 5.0): # cpu usage is high while playing sounds if not (proc_name == "./_soundd" and cpu_usage < 65.): err = "using more CPU than normal" - elif cpu_usage < min(normal_cpu_usage * 0.65, max(normal_cpu_usage - 1.0, 0.0)): + elif cpu_usage < min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0)): err = "using less CPU than normal" - except IndexError: - err = f"NO METRICS FOUND {first=} {last=}\n" + else: + err = "NO METRICS FOUND" - result += f"{proc_name.ljust(35)} {cpu_usage:5.2f}% ({normal_cpu_usage:5.2f}%) {err}\n" + result += f"{proc_name.ljust(35)} {cpu_usage:5.2f}% ({expected_cpu:5.2f}%) {err}\n" if len(err) > 0: r = False @@ -111,6 +119,7 @@ class TestOnroad(unittest.TestCase): if "DEBUG" in os.environ: segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(ROOT).iterdir()) segs = sorted(segs, key=lambda x: x.stat().st_mtime) + print(segs[-1]) cls.lr = list(LogReader(os.path.join(segs[-1], "rlog"))) return @@ -180,7 +189,7 @@ class TestOnroad(unittest.TestCase): def test_cpu_usage(self): proclogs = [m for m in self.lr if m.which() == 'procLog'] self.assertGreater(len(proclogs), service_list['procLog'].frequency * 45, "insufficient samples") - cpu_ok = check_cpu_usage(proclogs[0], proclogs[-1]) + cpu_ok = check_cpu_usage(proclogs) self.assertTrue(cpu_ok) def test_camera_processing_time(self): From e05cfd21000d6a8a14ec26deddefde7e89528c84 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 5 Aug 2022 16:29:59 -0700 Subject: [PATCH 13/23] Ram 1500: add harness (#25376) Add Ram harness! --- selfdrive/car/chrysler/values.py | 2 +- selfdrive/car/docs_definitions.py | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 0066676e1d..6ded3834ff 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -56,7 +56,7 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { ], CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), - CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22", harness=Harness.none), + CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22", harness=Harness.ram), } # Unique CAN messages: diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 21df85030f..46222d1004 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -188,6 +188,7 @@ class Harness(Enum): toyota = "Toyota" subaru = "Subaru" fca = "FCA" + ram = "Ram" vw = "VW" j533 = "J533" hyundai_a = "Hyundai A" From 55bf9385047ec876643cdebc197fba4f05cc4695 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Fri, 5 Aug 2022 17:28:15 -0700 Subject: [PATCH 14/23] New model: minor fixes (#25368) * 1456d261-d232-4654-8885-4d9fde883894/440 ac1a6744-85b0-4ec6-8ba7-608d0717b8f1/750 * some copies are useful * update model replay ref * less frames in model replay onnx cpu Co-authored-by: Bruce Wayne Co-authored-by: Yassine Yousfi --- selfdrive/modeld/models/supercombo.dlc | 4 ++-- selfdrive/modeld/models/supercombo.onnx | 4 ++-- selfdrive/modeld/thneed/optimizer.cc | 8 ++++---- selfdrive/test/process_replay/model_replay.py | 2 +- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- 5 files changed, 10 insertions(+), 10 deletions(-) diff --git a/selfdrive/modeld/models/supercombo.dlc b/selfdrive/modeld/models/supercombo.dlc index 23f6d904fb..422c43ed50 100644 --- a/selfdrive/modeld/models/supercombo.dlc +++ b/selfdrive/modeld/models/supercombo.dlc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:027cbb1fabae369878271cb0e3505071a8bdaa07473fad9a0b2e8d695c5dc1ff -size 76725611 +oid sha256:a9bf6166c9473b7c28935f8e5746f5c398dfa16b179c73d76d5d35f50cab981e +size 127889531 diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 9023c18dd7..cbb8c137ef 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:484976ea5bd4ddcabc82e95faf30d7311a27802c1e337472558699fa2395a499 -size 77472267 +oid sha256:cb0aef7f5fc3125b44bbd1cab6cde3b8f742ca2e06646477867d3040b62a3087 +size 128751773 diff --git a/selfdrive/modeld/thneed/optimizer.cc b/selfdrive/modeld/thneed/optimizer.cc index 03d20ff386..39737d3d76 100644 --- a/selfdrive/modeld/thneed/optimizer.cc +++ b/selfdrive/modeld/thneed/optimizer.cc @@ -9,7 +9,7 @@ extern map g_program_source; -static int is_same_size_image(cl_mem a, cl_mem b) { +/*static int is_same_size_image(cl_mem a, cl_mem b) { size_t a_width, a_height, a_depth, a_array_size, a_row_pitch, a_slice_pitch; clGetImageInfo(a, CL_IMAGE_WIDTH, sizeof(a_width), &a_width, NULL); clGetImageInfo(a, CL_IMAGE_HEIGHT, sizeof(a_height), &a_height, NULL); @@ -29,7 +29,7 @@ static int is_same_size_image(cl_mem a, cl_mem b) { return (a_width == b_width) && (a_height == b_height) && (a_depth == b_depth) && (a_array_size == b_array_size) && (a_row_pitch == b_row_pitch) && (a_slice_pitch == b_slice_pitch); -} +}*/ static cl_mem make_image_like(cl_context context, cl_mem val) { cl_image_format format; @@ -138,7 +138,7 @@ int Thneed::optimize() { // delete useless copy layers // saves ~0.7 ms - if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") { + /*if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") { string in = kq[i]->args[kq[i]->get_arg_num("input")]; string out = kq[i]->args[kq[i]->get_arg_num("output")]; if (is_same_size_image(*(cl_mem*)in.data(), *(cl_mem*)out.data())) { @@ -148,7 +148,7 @@ int Thneed::optimize() { kq.erase(kq.begin()+i); --i; } - } + }*/ // NOTE: if activations/accumulation are done in the wrong order, this will be wrong diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 8b41d6df1b..12f3583ee4 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -22,7 +22,7 @@ from tools.lib.logreader import LogReader TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36" SEGMENT = 0 -MAX_FRAMES = 20 if PC else 1300 +MAX_FRAMES = 10 if PC else 1300 SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0")) diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 8b94834193..e893855d26 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -5c2cb8fb9787584a1eb553968cb87e7e6782dac5 +4d4276525c18c8955011eb10ace9ceb3d9d73307 From ef78641b6f9dcd203f493cbeab89639e5cc8e63e Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Sat, 6 Aug 2022 18:16:32 -0400 Subject: [PATCH 15/23] Chrysler: Correct ECU label for DASM (#25379) Chrysler: Correct ECU label for 0x753 --- selfdrive/car/chrysler/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 6ded3834ff..c45a81a0ac 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -142,7 +142,7 @@ FW_VERSIONS = { b'68535469AB', b'68438454AC', ], - (Ecu.fwdCamera, 0x753, None): [ + (Ecu.fwdRadar, 0x753, None): [ b'68320950AL', b'68320950AJ', b'68454268AB', From ec7a05c9a120393bf4d806b1c1d06217eb5689ca Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 7 Aug 2022 16:01:42 -0700 Subject: [PATCH 16/23] CI: don't run badges job on forks (#25381) * CI: don't run badges job on forks * Apply suggestions from code review --- .github/workflows/badges.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml index 68a13398f6..223c734863 100644 --- a/.github/workflows/badges.yaml +++ b/.github/workflows/badges.yaml @@ -17,7 +17,8 @@ env: jobs: badges: name: create badges - runs-on: ubuntu-latest + runs-on: ubuntu-20.04 + if: github.repository == 'commaai/openpilot' steps: - uses: actions/checkout@v3 with: From 49044b5399710511cb2541faadb17109ceb66485 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 7 Aug 2022 17:10:14 -0700 Subject: [PATCH 17/23] remove old tools script --- tools/sim/lib/replay.sh | 6 ------ 1 file changed, 6 deletions(-) delete mode 100755 tools/sim/lib/replay.sh diff --git a/tools/sim/lib/replay.sh b/tools/sim/lib/replay.sh deleted file mode 100755 index e65a4b69a7..0000000000 --- a/tools/sim/lib/replay.sh +++ /dev/null @@ -1,6 +0,0 @@ -#!/bin/bash - -cd ~/openpilot/tools/nui - -# vision, boardd, sensorsd -ALLOW=frame,can,ubloxRaw,health,sensorEvents,gpsNMEA,gpsLocationExternal ./nui "02ec6bea180a4d36/2019-10-25--10-18-09" From 2cff05be43f06a79f66c73cb5fb0fba4dbe6649e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 7 Aug 2022 18:41:54 -0700 Subject: [PATCH 18/23] UI: exit gracefully (#25388) * UI: exit gracefully * cleanup Co-authored-by: Comma Device --- selfdrive/manager/test/test_manager.py | 27 +++++++++++++------------- selfdrive/ui/qt/util.cc | 9 +++++++++ 2 files changed, 23 insertions(+), 13 deletions(-) diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py index a84ff264d2..f2e5319e8e 100755 --- a/selfdrive/manager/test/test_manager.py +++ b/selfdrive/manager/test/test_manager.py @@ -7,7 +7,7 @@ import unittest import selfdrive.manager.manager as manager from selfdrive.manager.process import DaemonProcess from selfdrive.manager.process_config import managed_processes -from system.hardware import AGNOS, HARDWARE +from system.hardware import HARDWARE os.environ['FAKEUPLOAD'] = "1" @@ -35,8 +35,10 @@ class TestManager(unittest.TestCase): t = time.monotonic() - start assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s" - # ensure all processes exit cleanly def test_clean_exit(self): + """ + Ensure all processes exit cleanly when stopped. + """ HARDWARE.set_power_save(False) manager.manager_prepare() for p in ALL_PROCESSES: @@ -45,19 +47,18 @@ class TestManager(unittest.TestCase): time.sleep(10) for p in reversed(ALL_PROCESSES): - state = managed_processes[p].get_process_state_msg() - self.assertTrue(state.running, f"{p} not running") + with self.subTest(proc=p): + state = managed_processes[p].get_process_state_msg() + self.assertTrue(state.running, f"{p} not running") + exit_code = managed_processes[p].stop(retry=False) - exit_code = managed_processes[p].stop(retry=False) - if (AGNOS and p in ['ui',]): - # TODO: make Qt UI exit gracefully - continue + self.assertTrue(exit_code is not None, f"{p} failed to exit") - # TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code - exit_codes = [0, 1] - if managed_processes[p].sigkill: - exit_codes = [-signal.SIGKILL] - assert exit_code in exit_codes, f"{p} died with {exit_code}" + # TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code + exit_codes = [0, 1] + if managed_processes[p].sigkill: + exit_codes = [-signal.SIGKILL] + self.assertIn(exit_code, exit_codes, f"{p} died with {exit_code}") if __name__ == "__main__": diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index 381c065901..4be88aaf11 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -106,10 +106,19 @@ void setQtSurfaceFormat() { QSurfaceFormat::setDefaultFormat(fmt); } +void sigTermHandler(int s) { + std::signal(s, SIG_DFL); + qApp->quit(); +} + void initApp(int argc, char *argv[]) { Hardware::set_display_power(true); Hardware::set_brightness(65); + // setup signal handlers to exit gracefully + std::signal(SIGINT, sigTermHandler); + std::signal(SIGTERM, sigTermHandler); + #ifdef __APPLE__ { // Get the devicePixelRatio, and scale accordingly to maintain 1:1 rendering From 3afe7464dfc6a356f8eed4b30e3c79a2c32a5cf0 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Mon, 8 Aug 2022 12:42:46 -0700 Subject: [PATCH 19/23] Model file too big: Revert "New model: minor fixes" (#25390) Revert "New model: minor fixes (#25368)" This reverts commit 55bf9385047ec876643cdebc197fba4f05cc4695. --- selfdrive/modeld/models/supercombo.dlc | 4 ++-- selfdrive/modeld/models/supercombo.onnx | 4 ++-- selfdrive/modeld/thneed/optimizer.cc | 8 ++++---- selfdrive/test/process_replay/model_replay.py | 2 +- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- 5 files changed, 10 insertions(+), 10 deletions(-) diff --git a/selfdrive/modeld/models/supercombo.dlc b/selfdrive/modeld/models/supercombo.dlc index 422c43ed50..23f6d904fb 100644 --- a/selfdrive/modeld/models/supercombo.dlc +++ b/selfdrive/modeld/models/supercombo.dlc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a9bf6166c9473b7c28935f8e5746f5c398dfa16b179c73d76d5d35f50cab981e -size 127889531 +oid sha256:027cbb1fabae369878271cb0e3505071a8bdaa07473fad9a0b2e8d695c5dc1ff +size 76725611 diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index cbb8c137ef..9023c18dd7 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:cb0aef7f5fc3125b44bbd1cab6cde3b8f742ca2e06646477867d3040b62a3087 -size 128751773 +oid sha256:484976ea5bd4ddcabc82e95faf30d7311a27802c1e337472558699fa2395a499 +size 77472267 diff --git a/selfdrive/modeld/thneed/optimizer.cc b/selfdrive/modeld/thneed/optimizer.cc index 39737d3d76..03d20ff386 100644 --- a/selfdrive/modeld/thneed/optimizer.cc +++ b/selfdrive/modeld/thneed/optimizer.cc @@ -9,7 +9,7 @@ extern map g_program_source; -/*static int is_same_size_image(cl_mem a, cl_mem b) { +static int is_same_size_image(cl_mem a, cl_mem b) { size_t a_width, a_height, a_depth, a_array_size, a_row_pitch, a_slice_pitch; clGetImageInfo(a, CL_IMAGE_WIDTH, sizeof(a_width), &a_width, NULL); clGetImageInfo(a, CL_IMAGE_HEIGHT, sizeof(a_height), &a_height, NULL); @@ -29,7 +29,7 @@ extern map g_program_source; return (a_width == b_width) && (a_height == b_height) && (a_depth == b_depth) && (a_array_size == b_array_size) && (a_row_pitch == b_row_pitch) && (a_slice_pitch == b_slice_pitch); -}*/ +} static cl_mem make_image_like(cl_context context, cl_mem val) { cl_image_format format; @@ -138,7 +138,7 @@ int Thneed::optimize() { // delete useless copy layers // saves ~0.7 ms - /*if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") { + if (kq[i]->name == "concatenation" || kq[i]->name == "flatten") { string in = kq[i]->args[kq[i]->get_arg_num("input")]; string out = kq[i]->args[kq[i]->get_arg_num("output")]; if (is_same_size_image(*(cl_mem*)in.data(), *(cl_mem*)out.data())) { @@ -148,7 +148,7 @@ int Thneed::optimize() { kq.erase(kq.begin()+i); --i; } - }*/ + } // NOTE: if activations/accumulation are done in the wrong order, this will be wrong diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 12f3583ee4..8b41d6df1b 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -22,7 +22,7 @@ from tools.lib.logreader import LogReader TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36" SEGMENT = 0 -MAX_FRAMES = 10 if PC else 1300 +MAX_FRAMES = 20 if PC else 1300 SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0")) diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index e893855d26..8b94834193 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -4d4276525c18c8955011eb10ace9ceb3d9d73307 +5c2cb8fb9787584a1eb553968cb87e7e6782dac5 From 2a4020da60b9c383efa75a5ffb54df3bc10756a0 Mon Sep 17 00:00:00 2001 From: Tim Wilson Date: Mon, 8 Aug 2022 14:55:40 -0600 Subject: [PATCH 20/23] GM: separate EV/ICE gas/brake lookup tables (#25354) * GM: separate EV/ICE gas/brake lookup tables * removed blank line * V are the same * comment better ordering comment comment * Add some delay for the laggy brakes Add some delay for the laggy brakes * move actuator to only acadia * start braking at 0 m/s/s * Revert "start braking at 0 m/s/s" This reverts commit 55c1dee733aab3dc037fb1705c9bd0ace55c849f. * add delay for escalade * revert EV changes * Update selfdrive/car/gm/carcontroller.py * comment * only ACADIA Co-authored-by: Shane Smiskol --- selfdrive/car/gm/carcontroller.py | 10 +++++++--- selfdrive/car/gm/interface.py | 1 + selfdrive/car/gm/values.py | 16 ++++++++++++---- 3 files changed, 20 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 727c05efdd..0e74065143 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -5,7 +5,7 @@ from common.realtime import DT_CTRL from opendbc.can.packer import CANPacker from selfdrive.car import apply_std_steer_torque_limits from selfdrive.car.gm import gmcan -from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams +from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, EV_CAR VisualAlert = car.CarControl.HUDControl.VisualAlert NetworkLocation = car.CarParams.NetworkLocation @@ -68,8 +68,12 @@ class CarController: self.apply_gas = self.params.MAX_ACC_REGEN self.apply_brake = 0 else: - self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) - self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) + if self.CP.carFingerprint in EV_CAR: + self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) + self.apply_brake = int(round(interp(actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) + else: + self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) + self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) idx = (self.frame // 4) % 4 diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index ab6581201b..10ae670ac8 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -118,6 +118,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.4 # end to end is 13.46 ret.centerToFront = ret.wheelbase * 0.4 ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia() + ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking elif candidate == CAR.BUICK_REGAL: ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2 diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index e4735524d3..016910a40f 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -39,13 +39,17 @@ class CarControllerParams: ACCEL_MAX = 2. # m/s^2 ACCEL_MIN = -4. # m/s^2 - GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX] + EV_GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX] + EV_BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.] + + # ICE has much less engine braking force compared to regen in EVs, + # lower threshold removes some braking deadzone + GAS_LOOKUP_BP = [-0.1, 0., ACCEL_MAX] + BRAKE_LOOKUP_BP = [ACCEL_MIN, -0.1] + GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS] - BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.] BRAKE_LOOKUP_V = [MAX_BRAKE, 0.] -STEER_THRESHOLD = 1.0 - class CAR: HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017" @@ -57,6 +61,10 @@ class CAR: ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016" +EV_CAR = {CAR.VOLT} +STEER_THRESHOLD = 1.0 + + class Footnote(Enum): OBD_II = CarFootnote( 'Requires a community built ASCM harness. ' + From ce1e40285bd9b772c827d0c5e28e2657c5adcb74 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 8 Aug 2022 14:16:47 -0700 Subject: [PATCH 21/23] build_devel: check file sizes against GH limit (#25391) * build_devel: check file sizes against GH limit * pull lfs --- .github/workflows/selfdrive_tests.yaml | 2 ++ release/build_devel.sh | 9 +++++++++ 2 files changed, 11 insertions(+) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 8304582620..7397e30f83 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -39,6 +39,8 @@ jobs: with: fetch-depth: 0 submodules: true + - name: Pull LFS + run: git lfs pull - name: Check submodules if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' run: release/check-submodules.sh diff --git a/release/build_devel.sh b/release/build_devel.sh index 9d8b06451b..f06e3102c8 100755 --- a/release/build_devel.sh +++ b/release/build_devel.sh @@ -69,6 +69,15 @@ date: $DATETIME master commit: $GIT_HASH " +# ensure files are within GitHub's limit +BIG_FILES="$(find . -type f -not -path './.git/*' -size +95M)" +if [ ! -z "$BIG_FILES" ]; then + printf '\n\n\n' + echo "Found files exceeding GitHub's 100MB limit:" + echo "$BIG_FILES" + exit 1 +fi + if [ ! -z "$BRANCH" ]; then echo "[-] Pushing to $BRANCH T=$SECONDS" git push -f origin master-ci:$BRANCH From ac305dacef7b4267131543194e16c569488310fe Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 8 Aug 2022 15:07:44 -0700 Subject: [PATCH 22/23] nav: same icon size for active & inactive lanes (#25383) * nav: same icon size for active & inactive lanes * update translations --- selfdrive/ui/qt/maps/map.cc | 3 +-- selfdrive/ui/translations/main_ja.ts | 10 +++++----- selfdrive/ui/translations/main_ko.ts | 10 +++++----- selfdrive/ui/translations/main_zh-CHS.ts | 10 +++++----- selfdrive/ui/translations/main_zh-CHT.ts | 10 +++++----- 5 files changed, 21 insertions(+), 22 deletions(-) diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index 3967416f73..f81c3dd8f0 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -531,8 +531,7 @@ void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruct } auto icon = new QLabel; - int wh = active ? 125 : 75; - icon->setPixmap(loadPixmap(fn + ICON_SUFFIX, {wh, wh}, Qt::IgnoreAspectRatio)); + icon->setPixmap(loadPixmap(fn + ICON_SUFFIX, {125, 125}, Qt::IgnoreAspectRatio)); icon->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed)); lane_layout->addWidget(icon); } diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 555aa52fb8..20f96b8f40 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -340,27 +340,27 @@ MapETA - + eta 予定到着時間 - + min 分 - + hr 時間 - + km ｷﾛﾒｰﾄﾙ - + mi ﾏｲﾙ diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 65762e09db..cd9c73c34d 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -340,27 +340,27 @@ MapETA - + eta 도착 - + min 분 - + hr 시간 - + km km - + mi mi diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 1e9173395d..cb09e8c2ef 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -340,27 +340,27 @@ MapETA - + eta 埃塔 - + min 分钟 - + hr 小时 - + km km - + mi mi diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index d8cebe2861..58e921b313 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -340,27 +340,27 @@ MapETA - + eta 抵達 - + min 分鐘 - + hr 小時 - + km km - + mi mi From cac960cb548a44cd3f9f6ad711da2d5579319d3e Mon Sep 17 00:00:00 2001 From: grekiki <96022003+GregorKikelj@users.noreply.github.com> Date: Tue, 9 Aug 2022 00:10:31 +0200 Subject: [PATCH 23/23] plotjuggler: route name in window title (#25370) * Route titles * minimum version check * use tuples * minor clean up * use check_output * space * belongs here * add prompt * no f string * Update juggle.py Co-authored-by: Shane Smiskol Co-authored-by: Adeeb Shihadeh --- tools/plotjuggler/juggle.py | 17 +++++++++++++++-- 1 file changed, 15 insertions(+), 2 deletions(-) diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index 6f1038ec0d..08d75ccebe 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -23,6 +23,7 @@ DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36" RELEASES_URL="https://github.com/commaai/PlotJuggler/releases/download/latest" INSTALL_DIR = os.path.join(juggle_dir, "bin") PLOTJUGGLER_BIN = os.path.join(juggle_dir, "bin/plotjuggler") +MINIMUM_PLOTJUGGLER_VERSION = (3, 5, 2) def install(): @@ -46,6 +47,12 @@ def install(): tar.extractall(path=INSTALL_DIR) +def get_plotjuggler_version(): + out = subprocess.check_output([PLOTJUGGLER_BIN, "-v"], encoding="utf-8").strip() + version = out.split(" ")[1] + return tuple(map(int, version.split("."))) + + def load_segment(segment_name): if segment_name is None: return [] @@ -57,7 +64,7 @@ def load_segment(segment_name): return [] -def start_juggler(fn=None, dbc=None, layout=None): +def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None): env = os.environ.copy() env["BASEDIR"] = BASEDIR env["PATH"] = f"{INSTALL_DIR}:{os.getenv('PATH', '')}" @@ -69,6 +76,8 @@ def start_juggler(fn=None, dbc=None, layout=None): extra_args += f" -d {fn}" if layout is not None: extra_args += f" -l {layout}" + if route_or_segment_name is not None: + extra_args += f" --window_title \"{route_or_segment_name}\"" cmd = f'{PLOTJUGGLER_BIN} --plugin_folders {INSTALL_DIR}{extra_args}' subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir) @@ -129,7 +138,7 @@ def juggle_route(route_or_segment_name, segment_count, qlog, can, layout, dbc=No with tempfile.NamedTemporaryFile(suffix='.rlog', dir=juggle_dir) as tmp: save_log(tmp.name, all_data, compress=False) del all_data - start_juggler(tmp.name, dbc, layout) + start_juggler(tmp.name, dbc, layout, route_or_segment_name) if __name__ == "__main__": @@ -159,6 +168,10 @@ if __name__ == "__main__": if not os.path.exists(PLOTJUGGLER_BIN): print("PlotJuggler is missing. Downloading...") install() + + if get_plotjuggler_version() < MINIMUM_PLOTJUGGLER_VERSION: + ans = input("PlotJuggler is out of date. Installing update...") + install() if args.stream: start_juggler(layout=args.layout)