From 8720e5d7128d98724ba1d2fb0bcc56577761a253 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 20 Oct 2025 16:14:02 -0700 Subject: [PATCH 1/5] tools: pass args to op adb --- tools/op.sh | 2 +- tools/scripts/adb_ssh.sh | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/tools/op.sh b/tools/op.sh index ae12809eb9..8b5062ad9b 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -284,7 +284,7 @@ function op_venv() { function op_adb() { op_before_cmd - op_run_command tools/scripts/adb_ssh.sh + op_run_command tools/scripts/adb_ssh.sh "$@" } function op_ssh() { diff --git a/tools/scripts/adb_ssh.sh b/tools/scripts/adb_ssh.sh index 43c8e07de6..2fe2873a3d 100755 --- a/tools/scripts/adb_ssh.sh +++ b/tools/scripts/adb_ssh.sh @@ -4,4 +4,4 @@ set -e # this is a little nicer than "adb shell" since # "adb shell" doesn't do full terminal emulation adb forward tcp:2222 tcp:22 -ssh comma@localhost -p 2222 +ssh comma@localhost -p 2222 "$@" From 01715f6f9a857c75d9eb9d049adfa5163e7beebf Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Mon, 20 Oct 2025 16:26:22 -0700 Subject: [PATCH 2/5] test car model: use factor for torque --- selfdrive/car/tests/test_models.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 8996ad6460..94f5b33231 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -183,7 +183,7 @@ class TestCarModelBase(unittest.TestCase): if tuning == 'pid': self.assertTrue(len(self.CP.lateralTuning.pid.kpV)) elif tuning == 'torque': - self.assertTrue(self.CP.lateralTuning.torque.kf > 0) + self.assertTrue(self.CP.lateralTuning.torque.latAccelFactor > 0) else: raise Exception("unknown tuning") From b2e3dd17ea520c693976aa9db887ea24d566a18b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 20 Oct 2025 17:16:03 -0700 Subject: [PATCH 3/5] torque gains not car specific (#36404) * torque gains not car specific * remove opendbc interfaces longitudinal control kf field assignment that makes hitl test fail * typo * another typo * bump * bump openbc * update ref --------- Co-authored-by: felsager --- opendbc_repo | 2 +- selfdrive/controls/lib/latcontrol_torque.py | 7 +++++-- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 7 insertions(+), 4 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index dfa6807ebf..b59f8bdcca 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit dfa6807ebf9f0edb593189a703b857c834a88a75 +Subproject commit b59f8bdcca8d375b4a5a652d2f2d2ec9cd3503d3 diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index fbef5828e6..f2b1e0b669 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -24,6 +24,9 @@ from openpilot.common.pid import PIDController LOW_SPEED_X = [0, 10, 20, 30] LOW_SPEED_Y = [15, 13, 10, 5] +KP = 1.0 +KI = 0.3 +KD = 0.0 class LatControlTorque(LatControl): @@ -32,7 +35,7 @@ class LatControlTorque(LatControl): self.torque_params = CP.lateralTuning.torque.as_builder() self.torque_from_lateral_accel = CI.torque_from_lateral_accel() self.lateral_accel_from_torque = CI.lateral_accel_from_torque() - self.pid = PIDController(self.torque_params.kp, self.torque_params.ki, rate=1/self.dt) + self.pid = PIDController(KP, KI, k_d=KD, rate=1/self.dt) self.update_limits() self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES = int(1 / self.dt) @@ -76,7 +79,7 @@ class LatControlTorque(LatControl): low_speed_factor = (np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y) / max(CS.vEgo, MIN_SPEED)) ** 2 setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel error = setpoint - measurement - error_lsf = error + low_speed_factor / self.torque_params.kp * error + error_lsf = error + low_speed_factor / KP * error # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly pid_log.error = float(error_lsf) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 538aa34f2a..dd73ed12f7 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -5342f5684c2498a33d6178f3b59efd5e83b73acc \ No newline at end of file +55e82ab6370865a1427ebc1d559921a5354d9cbf \ No newline at end of file From 338119229745c39a0a9d433d11a3f2057c9ef74f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 20 Oct 2025 18:35:34 -0700 Subject: [PATCH 4/5] Multilang: remove main prefix (#36406) * rename * fix --- common/params_keys.h | 2 +- selfdrive/ui/.gitignore | 2 +- .../ui/tests/create_test_translations.sh | 4 ++-- selfdrive/ui/tests/test_runner.cc | 2 +- selfdrive/ui/tests/test_translations.py | 2 +- .../ui/translations/{main_ar.ts => ar.ts} | 0 selfdrive/ui/translations/auto_translate.py | 2 +- .../ui/translations/{main_de.ts => de.ts} | 0 .../ui/translations/{main_en.ts => en.ts} | 0 .../ui/translations/{main_es.ts => es.ts} | 0 .../ui/translations/{main_fr.ts => fr.ts} | 0 .../ui/translations/{main_ja.ts => ja.ts} | 0 .../ui/translations/{main_ko.ts => ko.ts} | 0 selfdrive/ui/translations/languages.json | 24 +++++++++---------- .../ui/translations/{main_nl.ts => nl.ts} | 0 .../ui/translations/{main_pl.ts => pl.ts} | 0 .../translations/{main_pt-BR.ts => pt-BR.ts} | 0 .../ui/translations/{main_th.ts => th.ts} | 0 .../ui/translations/{main_tr.ts => tr.ts} | 0 .../{main_zh-CHS.ts => zh-CHS.ts} | 0 .../{main_zh-CHT.ts => zh-CHT.ts} | 0 selfdrive/ui/update_translations.py | 2 +- 22 files changed, 20 insertions(+), 20 deletions(-) rename selfdrive/ui/translations/{main_ar.ts => ar.ts} (100%) rename selfdrive/ui/translations/{main_de.ts => de.ts} (100%) rename selfdrive/ui/translations/{main_en.ts => en.ts} (100%) rename selfdrive/ui/translations/{main_es.ts => es.ts} (100%) rename selfdrive/ui/translations/{main_fr.ts => fr.ts} (100%) rename selfdrive/ui/translations/{main_ja.ts => ja.ts} (100%) rename selfdrive/ui/translations/{main_ko.ts => ko.ts} (100%) rename selfdrive/ui/translations/{main_nl.ts => nl.ts} (100%) rename selfdrive/ui/translations/{main_pl.ts => pl.ts} (100%) rename selfdrive/ui/translations/{main_pt-BR.ts => pt-BR.ts} (100%) rename selfdrive/ui/translations/{main_th.ts => th.ts} (100%) rename selfdrive/ui/translations/{main_tr.ts => tr.ts} (100%) rename selfdrive/ui/translations/{main_zh-CHS.ts => zh-CHS.ts} (100%) rename selfdrive/ui/translations/{main_zh-CHT.ts => zh-CHT.ts} (100%) diff --git a/common/params_keys.h b/common/params_keys.h index 211b4d550b..f6e8d781c8 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -66,7 +66,7 @@ inline static std::unordered_map keys = { {"IsTakingSnapshot", {CLEAR_ON_MANAGER_START, BOOL}}, {"IsTestedBranch", {CLEAR_ON_MANAGER_START, BOOL}}, {"JoystickDebugMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}}, - {"LanguageSetting", {PERSISTENT, STRING, "main_en"}}, + {"LanguageSetting", {PERSISTENT, STRING, "en"}}, {"LastAthenaPingTime", {CLEAR_ON_MANAGER_START, INT}}, {"LastGPSPosition", {PERSISTENT, STRING}}, {"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}}, diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore index 7e9eaf932f..5e7b02a1a3 100644 --- a/selfdrive/ui/.gitignore +++ b/selfdrive/ui/.gitignore @@ -1,7 +1,7 @@ moc_* *.moc -translations/main_test_en.* +translations/test_en.* ui mui diff --git a/selfdrive/ui/tests/create_test_translations.sh b/selfdrive/ui/tests/create_test_translations.sh index ed0890d946..1587a88205 100755 --- a/selfdrive/ui/tests/create_test_translations.sh +++ b/selfdrive/ui/tests/create_test_translations.sh @@ -4,8 +4,8 @@ set -e UI_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"/.. TEST_TEXT="(WRAPPED_SOURCE_TEXT)" -TEST_TS_FILE=$UI_DIR/translations/main_test_en.ts -TEST_QM_FILE=$UI_DIR/translations/main_test_en.qm +TEST_TS_FILE=$UI_DIR/translations/test_en.ts +TEST_QM_FILE=$UI_DIR/translations/test_en.qm # translation strings UNFINISHED="<\/translation>" diff --git a/selfdrive/ui/tests/test_runner.cc b/selfdrive/ui/tests/test_runner.cc index c8cc0d3e05..4bde921696 100644 --- a/selfdrive/ui/tests/test_runner.cc +++ b/selfdrive/ui/tests/test_runner.cc @@ -10,7 +10,7 @@ int main(int argc, char **argv) { // unit tests for Qt QApplication app(argc, argv); - QString language_file = "main_test_en"; + QString language_file = "test_en"; // FIXME: pytest-cpp considers this print as a test case qDebug() << "Loading language:" << language_file; diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index 2ae3356bb8..edd9a30412 100644 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -93,7 +93,7 @@ class TestTranslations: def test_bad_language(self): IGNORED_WORDS = {'pédale'} - match = re.search(r'_([a-zA-Z]{2,3})', self.file) + match = re.search(r'([a-zA-Z]{2,3})', self.file) assert match, f"{self.name} - could not parse language" try: diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/ar.ts similarity index 100% rename from selfdrive/ui/translations/main_ar.ts rename to selfdrive/ui/translations/ar.ts diff --git a/selfdrive/ui/translations/auto_translate.py b/selfdrive/ui/translations/auto_translate.py index c2e4bbc552..6251e03397 100755 --- a/selfdrive/ui/translations/auto_translate.py +++ b/selfdrive/ui/translations/auto_translate.py @@ -26,7 +26,7 @@ def get_language_files(languages: list[str] = None) -> dict[str, pathlib.Path]: for filename in language_dict.values(): path = TRANSLATIONS_DIR / f"{filename}.ts" - language = path.stem.split("main_")[1] + language = path.stem if languages is None or language in languages: files[language] = path diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/de.ts similarity index 100% rename from selfdrive/ui/translations/main_de.ts rename to selfdrive/ui/translations/de.ts diff --git a/selfdrive/ui/translations/main_en.ts b/selfdrive/ui/translations/en.ts similarity index 100% rename from selfdrive/ui/translations/main_en.ts rename to selfdrive/ui/translations/en.ts diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/es.ts similarity index 100% rename from selfdrive/ui/translations/main_es.ts rename to selfdrive/ui/translations/es.ts diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/fr.ts similarity index 100% rename from selfdrive/ui/translations/main_fr.ts rename to selfdrive/ui/translations/fr.ts diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/ja.ts similarity index 100% rename from selfdrive/ui/translations/main_ja.ts rename to selfdrive/ui/translations/ja.ts diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/ko.ts similarity index 100% rename from selfdrive/ui/translations/main_ko.ts rename to selfdrive/ui/translations/ko.ts diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json index 132b5088d7..b0674dee82 100644 --- a/selfdrive/ui/translations/languages.json +++ b/selfdrive/ui/translations/languages.json @@ -1,14 +1,14 @@ { - "English": "main_en", - "Deutsch": "main_de", - "Français": "main_fr", - "Português": "main_pt-BR", - "Español": "main_es", - "Türkçe": "main_tr", - "العربية": "main_ar", - "ไทย": "main_th", - "中文（繁體）": "main_zh-CHT", - "中文（简体）": "main_zh-CHS", - "한국어": "main_ko", - "日本語": "main_ja" + "English": "en", + "Deutsch": "de", + "Français": "fr", + "Português": "pt-BR", + "Español": "es", + "Türkçe": "tr", + "العربية": "ar", + "ไทย": "th", + "中文（繁體）": "zh-CHT", + "中文（简体）": "zh-CHS", + "한국어": "ko", + "日本語": "ja" } diff --git a/selfdrive/ui/translations/main_nl.ts b/selfdrive/ui/translations/nl.ts similarity index 100% rename from selfdrive/ui/translations/main_nl.ts rename to selfdrive/ui/translations/nl.ts diff --git a/selfdrive/ui/translations/main_pl.ts b/selfdrive/ui/translations/pl.ts similarity index 100% rename from selfdrive/ui/translations/main_pl.ts rename to selfdrive/ui/translations/pl.ts diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/pt-BR.ts similarity index 100% rename from selfdrive/ui/translations/main_pt-BR.ts rename to selfdrive/ui/translations/pt-BR.ts diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/th.ts similarity index 100% rename from selfdrive/ui/translations/main_th.ts rename to selfdrive/ui/translations/th.ts diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/tr.ts similarity index 100% rename from selfdrive/ui/translations/main_tr.ts rename to selfdrive/ui/translations/tr.ts diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/zh-CHS.ts similarity index 100% rename from selfdrive/ui/translations/main_zh-CHS.ts rename to selfdrive/ui/translations/zh-CHS.ts diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/zh-CHT.ts similarity index 100% rename from selfdrive/ui/translations/main_zh-CHT.ts rename to selfdrive/ui/translations/zh-CHT.ts diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index 65880bdad9..424b78851c 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -9,7 +9,7 @@ UI_DIR = os.path.join(BASEDIR, "selfdrive", "ui") TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations") LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json") TRANSLATIONS_INCLUDE_FILE = os.path.join(TRANSLATIONS_DIR, "alerts_generated.h") -PLURAL_ONLY = ["main_en"] # base language, only create entries for strings with plural forms +PLURAL_ONLY = ["en"] # base language, only create entries for strings with plural forms def generate_translations_include(): From 9801e486d9898d0d89b6d22d9cd4686a4920e2a5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 20 Oct 2025 18:36:13 -0700 Subject: [PATCH 5/5] fix incorrect Button argument --- system/ui/widgets/option_dialog.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/ui/widgets/option_dialog.py b/system/ui/widgets/option_dialog.py index b7e30b696b..593a371fd9 100644 --- a/system/ui/widgets/option_dialog.py +++ b/system/ui/widgets/option_dialog.py @@ -27,7 +27,7 @@ class MultiOptionDialog(Widget): # Create scroller with option buttons self.option_buttons = [Button(option, click_callback=lambda opt=option: self._on_option_clicked(opt), text_alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT, button_style=ButtonStyle.NORMAL, - text_padding=50, elide_right=True) for option in options] + text_padding=50) for option in options] self.scroller = Scroller(self.option_buttons, spacing=LIST_ITEM_SPACING) self.cancel_button = Button("Cancel", click_callback=lambda: self._set_result(DialogResult.CANCEL))