From 86062fee6bbe5c38be77f8f995e9dd19dc2f2f54 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 14 Sep 2022 19:11:49 -0700 Subject: [PATCH 01/12] Subaru: match panda standstill (#25789) * subaru: match panda standstill * subaru: match panda standstill * actually test standstill * bump panda to master --- panda | 2 +- selfdrive/car/subaru/carstate.py | 7 +++---- selfdrive/car/tests/routes.py | 2 +- selfdrive/car/tests/test_models.py | 2 +- 4 files changed, 6 insertions(+), 7 deletions(-) diff --git a/panda b/panda index 19983f13b3..f120999e19 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 19983f13b37518298a3c282d5069c090b68f6864 +Subproject commit f120999e19fed7208534ae74b542b5cca6bafeaa diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index 7fc5456d98..128e4245b2 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -32,9 +32,8 @@ class CarState(CarStateBase): cp_wheels.vl["Wheel_Speeds"]["RR"], ) ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. - # Kalman filter, even though Subaru raw wheel speed is heaviliy filtered by default ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) - ret.standstill = ret.vEgoRaw < 0.01 + ret.standstill = ret.vEgoRaw == 0 # continuous blinker signals for assisted lane change ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["Dashlights"]["LEFT_BLINKER"], @@ -50,7 +49,7 @@ class CarState(CarStateBase): ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"] ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"] ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"] - + steer_threshold = 75 if self.CP.carFingerprint in PREGLOBAL_CARS else 80 ret.steeringPressed = abs(ret.steeringTorque) > steer_threshold @@ -313,4 +312,4 @@ class CarState(CarStateBase): checks += CarState.get_global_es_distance_signals()[1] return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1) - return None \ No newline at end of file + return None diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 9207859340..1f5d3edaf0 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -194,7 +194,7 @@ routes = [ CarTestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER), CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA), CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020), - CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=3), + CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=10), CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3), # Pre-global, dashcam CarTestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL), diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 50370f0797..bab9f859e6 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -234,7 +234,7 @@ class TestCarModelBase(unittest.TestCase): checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev() checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available - if self.CP.carName not in ("hyundai", "volkswagen", "subaru", "gm", "body"): + if self.CP.carName not in ("hyundai", "volkswagen", "gm", "body"): # TODO: fix standstill mismatches for other makes checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving() From 96ef9b1f0c15ecc0695401ca4e5c103d52fb088f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 14 Sep 2022 20:06:19 -0700 Subject: [PATCH 02/12] updated: remove niceness (#25791) --- selfdrive/updated.py | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 2a36094768..65f8425201 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -67,9 +67,7 @@ class WaitTimeHelper: self.ready_event.wait(timeout=t) -def run(cmd: List[str], cwd: Optional[str] = None, low_priority: bool = False): - if low_priority: - cmd = ["nice", "-n", "19"] + cmd +def run(cmd: List[str], cwd: Optional[str] = None): return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8') @@ -212,7 +210,7 @@ def init_overlay() -> None: run(["sudo"] + mount_cmd) run(["sudo", "chmod", "755", os.path.join(OVERLAY_METADATA, "work")]) - git_diff = run(["git", "diff"], OVERLAY_MERGED, low_priority=True) + git_diff = run(["git", "diff"], OVERLAY_MERGED) params.put("GitDiff", git_diff) cloudlog.info(f"git diff output:\n{git_diff}") @@ -277,7 +275,7 @@ def check_git_fetch_result(fetch_txt: str) -> bool: def check_for_update() -> Tuple[bool, bool]: setup_git_options(OVERLAY_MERGED) try: - git_fetch_output = run(["git", "fetch", "--dry-run"], OVERLAY_MERGED, low_priority=True) + git_fetch_output = run(["git", "fetch", "--dry-run"], OVERLAY_MERGED) return True, check_git_fetch_result(git_fetch_output) except subprocess.CalledProcessError: return False, False @@ -288,7 +286,7 @@ def fetch_update() -> bool: setup_git_options(OVERLAY_MERGED) - git_fetch_output = run(["git", "fetch"], OVERLAY_MERGED, low_priority=True) + git_fetch_output = run(["git", "fetch"], OVERLAY_MERGED) cloudlog.info("git fetch success: %s", git_fetch_output) cur_hash = run(["git", "rev-parse", "HEAD"], OVERLAY_MERGED).rstrip() @@ -315,7 +313,7 @@ def fetch_update() -> bool: if new_branch is not None: cloudlog.info(f"switching to branch {repr(new_branch)}") cmds.insert(0, ["git", "checkout", "-f", new_branch]) - r = [run(cmd, OVERLAY_MERGED, low_priority=True) for cmd in cmds] + r = [run(cmd, OVERLAY_MERGED) for cmd in cmds] cloudlog.info("git reset success: %s", '\n'.join(r)) if AGNOS: From 03314b3ddf48fff9b5bfc82e5f6a65fc32dea78f Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Wed, 14 Sep 2022 20:57:23 -0700 Subject: [PATCH 03/12] sensord test: stop sensord if interrupts not enabled (#25792) * stop sensord if interrupts not enabled * move to tearDown Co-authored-by: Kurt Nistelberger --- selfdrive/sensord/tests/test_sensord.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/sensord/tests/test_sensord.py b/selfdrive/sensord/tests/test_sensord.py index 84582518fd..837fe88833 100755 --- a/selfdrive/sensord/tests/test_sensord.py +++ b/selfdrive/sensord/tests/test_sensord.py @@ -121,6 +121,10 @@ class TestSensord(unittest.TestCase): cls.events = read_sensor_events(5) managed_processes["sensord"].stop() + def tearDown(self): + # interrupt check might leave sensord running + managed_processes["sensord"].stop() + def test_sensors_present(self): # verify correct sensors configuration From d57e07eec0c3848755e856ea8a2cf14559fcc895 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 15 Sep 2022 11:28:49 -0700 Subject: [PATCH 04/12] HKG: lower torque rate limits for CAN-FD cars (#25770) * Change ramp limits to 2/2 for CANFD cars * Only the high torque CANFD cars * comment * Update selfdrive/car/hyundai/values.py * Better to do 2/3 and for all cars * bump to master * update refs --- panda | 2 +- selfdrive/car/hyundai/values.py | 2 ++ selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 4 insertions(+), 2 deletions(-) diff --git a/panda b/panda index f120999e19..38257a93e4 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit f120999e19fed7208534ae74b542b5cca6bafeaa +Subproject commit 38257a93e4733819a109a4ef52efed1bbeb45cc4 diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 7fb8363a67..b816614879 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -29,6 +29,8 @@ class CarControllerParams: self.STEER_DRIVER_ALLOWANCE = 250 self.STEER_DRIVER_MULTIPLIER = 2 self.STEER_THRESHOLD = 250 + self.STEER_DELTA_UP = 2 + self.STEER_DELTA_DOWN = 3 # To determine the limit for your car, find the maximum value that the stock LKAS will request. # If the max stock LKAS request is <384, add your car to this list. diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index d0c769a0b0..b25e2fecfc 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -3ad478bf44f50815d05acc5b12ff2f01a6cb42ff +dac3c51684e101672bc27df13e76577103531e30 \ No newline at end of file From ef5395e5f36550d2b485216eee5406bf6062e9c9 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 15 Sep 2022 13:28:24 -0700 Subject: [PATCH 05/12] update ev6 max lat accel --- selfdrive/car/torque_data/override.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index fcc762c2b8..20fb5f7a64 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -21,7 +21,7 @@ FORD FOCUS 4TH GEN: [.nan, 1.5, .nan] COMMA BODY: [.nan, 1000, .nan] # Totally new cars -KIA EV6 2022: [3.5, 2.5, 0.0] +KIA EV6 2022: [3.5, 3.0, 0.0] RAM 1500 5TH GEN: [2.0, 2.0, 0.0] RAM HD 5TH GEN: [1.4, 1.4, 0.0] SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11] From a9f88503fe132401e73531f8213923ba53b2c19f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 15 Sep 2022 13:55:36 -0700 Subject: [PATCH 06/12] update refs --- selfdrive/test/process_replay/ref_commit | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index b25e2fecfc..7390610252 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -dac3c51684e101672bc27df13e76577103531e30 \ No newline at end of file +ef5395e5f36550d2b485216eee5406bf6062e9c9 \ No newline at end of file From c7a0f23b45603fb8e7718234f92284854866924e Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Thu, 15 Sep 2022 15:06:43 -0700 Subject: [PATCH 07/12] better OX03C10 settings (#25796) * ev has different scales * fix initial gradient * fix highlight weirdness * try smooth set of gains * delay * add gain idx * oops * set different min dc Co-authored-by: Comma Device --- system/camerad/cameras/camera_qcom2.cc | 61 ++++++++++++++++---------- system/camerad/cameras/camera_qcom2.h | 4 +- system/camerad/cameras/sensor2_i2c.h | 6 +-- 3 files changed, 44 insertions(+), 27 deletions(-) diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 9bdd71b5d7..544d653676 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -61,39 +61,48 @@ const float DC_GAIN_OX03C10 = 7.32; const float DC_GAIN_ON_GREY_AR0231= 0.2; const float DC_GAIN_OFF_GREY_AR0231 = 0.3; -const float DC_GAIN_ON_GREY_OX03C10= 0.3; -const float DC_GAIN_OFF_GREY_OX03C10 = 0.375; +const float DC_GAIN_ON_GREY_OX03C10= 0.25; +const float DC_GAIN_OFF_GREY_OX03C10 = 0.35; -const int DC_GAIN_MIN_WEIGHT = 0; +const int DC_GAIN_MIN_WEIGHT_AR0231 = 0; const int DC_GAIN_MAX_WEIGHT_AR0231 = 1; +const int DC_GAIN_MIN_WEIGHT_OX03C10 = 16; const int DC_GAIN_MAX_WEIGHT_OX03C10 = 32; +const float TARGET_GREY_FACTOR_AR0231 = 1.0; +const float TARGET_GREY_FACTOR_OX03C10 = 0.02; + const float sensor_analog_gains_AR0231[] = { 1.0/8.0, 2.0/8.0, 2.0/7.0, 3.0/7.0, // 0, 1, 2, 3 3.0/6.0, 4.0/6.0, 4.0/5.0, 5.0/5.0, // 4, 5, 6, 7 5.0/4.0, 6.0/4.0, 6.0/3.0, 7.0/3.0, // 8, 9, 10, 11 7.0/2.0, 8.0/2.0, 8.0/1.0}; // 12, 13, 14, 15 = bypass -// similar gain curve to AR const float sensor_analog_gains_OX03C10[] = { - 1.0, 1.25, 1.3125, 1.5625, - 1.6875, 2.0, 2.25, 2.625, - 3.125, 3.625, 4.5, 5.0, - 7.25, 8.5, 12.0, 15.5}; + 1.0, 1.125, 1.25, 1.3125, 1.5625, + 1.6875, 2.0, 2.25, 2.625, 3.125, + 3.625, 4.0, 4.5, 5.0, 5.5, + 6.0, 6.5, 7.0, 7.5, 8.0, + 8.5, 9.0, 9.5, 10.0, 10.5, + 11.0, 11.5, 12.0, 12.5, 13.0, + 13.5, 14.0, 14.5, 15.0, 15.5}; const uint32_t ox03c10_analog_gains_reg[] = { - 0x100, 0x140, 0x150, 0x190, - 0x1B0, 0x200, 0x240, 0x2A0, - 0x320, 0x3A0, 0x480, 0x500, - 0x740, 0x880, 0xC00, 0xF80}; + 0x100, 0x120, 0x140, 0x150, 0x190, + 0x1B0, 0x200, 0x240, 0x2A0, 0x320, + 0x3A0, 0x400, 0x480, 0x500, 0x580, + 0x600, 0x680, 0x700, 0x780, 0x800, + 0x880, 0x900, 0x980, 0xA00, 0xA80, + 0xB00, 0xB80, 0xC00, 0xC80, 0xD00, + 0xD80, 0xE00, 0xE80, 0xF00, 0xF80}; const int ANALOG_GAIN_MIN_IDX_AR0231 = 0x1; // 0.25x const int ANALOG_GAIN_REC_IDX_AR0231 = 0x6; // 0.8x const int ANALOG_GAIN_MAX_IDX_AR0231 = 0xD; // 4.0x const int ANALOG_GAIN_MIN_IDX_OX03C10 = 0x0; -const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x5; // 2x -const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0xF; +const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x6; // 2x +const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0x22; const int EXPOSURE_TIME_MIN_AR0231 = 2; // with HDR, fastest ss const int EXPOSURE_TIME_MAX_AR0231 = 0x0855; // with HDR, slowest ss, 40ms @@ -517,6 +526,7 @@ void CameraState::enqueue_req_multi(int start, int n, bool dp) { void CameraState::camera_set_parameters() { if (camera_id == CAMERA_ID_AR0231) { dc_gain_factor = DC_GAIN_AR0231; + dc_gain_min_weight = DC_GAIN_MIN_WEIGHT_AR0231; dc_gain_max_weight = DC_GAIN_MAX_WEIGHT_AR0231; dc_gain_on_grey = DC_GAIN_ON_GREY_AR0231; dc_gain_off_grey = DC_GAIN_OFF_GREY_AR0231; @@ -529,8 +539,10 @@ void CameraState::camera_set_parameters() { sensor_analog_gains[i] = sensor_analog_gains_AR0231[i]; } min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx]; + target_grey_factor = TARGET_GREY_FACTOR_AR0231; } else if (camera_id == CAMERA_ID_OX03C10) { dc_gain_factor = DC_GAIN_OX03C10; + dc_gain_min_weight = DC_GAIN_MIN_WEIGHT_OX03C10; dc_gain_max_weight = DC_GAIN_MAX_WEIGHT_OX03C10; dc_gain_on_grey = DC_GAIN_ON_GREY_OX03C10; dc_gain_off_grey = DC_GAIN_OFF_GREY_OX03C10; @@ -543,6 +555,7 @@ void CameraState::camera_set_parameters() { sensor_analog_gains[i] = sensor_analog_gains_OX03C10[i]; } min_ev = (exposure_time_min + VS_TIME_MIN_OX03C10) * sensor_analog_gains[analog_gain_min_idx]; + target_grey_factor = TARGET_GREY_FACTOR_OX03C10; } else { assert(false); } @@ -551,7 +564,7 @@ void CameraState::camera_set_parameters() { target_grey_fraction = 0.3; dc_gain_enabled = false; - dc_gain_weight = DC_GAIN_MIN_WEIGHT; + dc_gain_weight = dc_gain_min_weight; gain_idx = analog_gain_rec_idx; exposure_time = 5; cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight) * sensor_analog_gains[gain_idx] * exposure_time; @@ -1037,7 +1050,7 @@ void CameraState::set_camera_exposure(float grey_frac) { const float cur_ev_ = cur_ev[buf.cur_frame_data.frame_id % 3]; // Scale target grey between 0.1 and 0.4 depending on lighting conditions - float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + cur_ev_) / log2(6000.0), 0.1, 0.4); + float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + target_grey_factor*cur_ev_) / log2(6000.0), 0.1, 0.4); float target_grey = (1.0 - k_grey) * target_grey_fraction + k_grey * new_target_grey; float desired_ev = std::clamp(cur_ev_ * target_grey / grey_frac, min_ev, max_ev); @@ -1053,14 +1066,14 @@ void CameraState::set_camera_exposure(float grey_frac) { bool enable_dc_gain = dc_gain_enabled; if (!enable_dc_gain && target_grey < dc_gain_on_grey) { enable_dc_gain = true; - dc_gain_weight = DC_GAIN_MIN_WEIGHT; + dc_gain_weight = dc_gain_min_weight; } else if (enable_dc_gain && target_grey > dc_gain_off_grey) { enable_dc_gain = false; dc_gain_weight = dc_gain_max_weight; } if (enable_dc_gain && dc_gain_weight < dc_gain_max_weight) {dc_gain_weight += 1;} - if (!enable_dc_gain && dc_gain_weight > DC_GAIN_MIN_WEIGHT) {dc_gain_weight -= 1;} + if (!enable_dc_gain && dc_gain_weight > dc_gain_min_weight) {dc_gain_weight -= 1;} std::string gain_bytes, time_bytes; if (env_ctrl_exp_from_params) { @@ -1145,10 +1158,12 @@ void CameraState::set_camera_exposure(float grey_frac) { // t_HCG + t_LCG + t_VS on LPD, t_SPD on SPD uint32_t hcg_time = std::max((dc_gain_weight * exposure_time / dc_gain_max_weight), 0); uint32_t lcg_time = std::max(((dc_gain_max_weight - dc_gain_weight) * exposure_time / dc_gain_max_weight), 0); - uint32_t spd_time = std::max(hcg_time / 16, (uint32_t)exposure_time_min); - uint32_t vs_time = std::min(std::max(hcg_time / 64, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10); + // uint32_t spd_time = std::max(hcg_time / 16, (uint32_t)exposure_time_min); + uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 128, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10); + uint32_t spd_time = vs_time; uint32_t real_gain = ox03c10_analog_gains_reg[new_g]; + uint32_t min_gain = ox03c10_analog_gains_reg[0]; struct i2c_random_wr_payload exp_reg_array[] = { {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF}, @@ -1157,9 +1172,9 @@ void CameraState::set_camera_exposure(float grey_frac) { {0x35c1, vs_time>>8}, {0x35c2, vs_time&0xFF}, {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF}, - {0x3588, real_gain>>8}, {0x3589, real_gain&0xFF}, - {0x3548, real_gain>>8}, {0x3549, real_gain&0xFF}, - {0x35c8, real_gain>>8}, {0x35c9, real_gain&0xFF}, + {0x3588, min_gain>>8}, {0x3589, min_gain&0xFF}, + {0x3548, min_gain>>8}, {0x3549, min_gain&0xFF}, + {0x35c8, min_gain>>8}, {0x35c9, min_gain&0xFF}, }; sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false); } diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h index 1b792e7e96..5023c82458 100644 --- a/system/camerad/cameras/camera_qcom2.h +++ b/system/camerad/cameras/camera_qcom2.h @@ -31,11 +31,12 @@ public: int exposure_time_max; float dc_gain_factor; + int dc_gain_min_weight; int dc_gain_max_weight; float dc_gain_on_grey; float dc_gain_off_grey; - float sensor_analog_gains[16]; + float sensor_analog_gains[35]; int analog_gain_min_idx; int analog_gain_max_idx; int analog_gain_rec_idx; @@ -45,6 +46,7 @@ public: float measured_grey_fraction; float target_grey_fraction; + float target_grey_factor; unique_fd sensor_fd; unique_fd csiphy_fd; diff --git a/system/camerad/cameras/sensor2_i2c.h b/system/camerad/cameras/sensor2_i2c.h index 9df99552e1..209e2d76d2 100644 --- a/system/camerad/cameras/sensor2_i2c.h +++ b/system/camerad/cameras/sensor2_i2c.h @@ -129,13 +129,13 @@ struct i2c_random_wr_payload init_array_ox03c10[] = { {0x350a, 0x04}, {0x350b, 0x00}, {0x350c, 0x00}, // hcg digital gain {0x3586, 0x40}, {0x3587, 0x00}, // lcg fine exposure - {0x358a, 0x04}, {0x358b, 0x00}, {0x358c, 0x00}, // lcg digital gain + {0x358a, 0x01}, {0x358b, 0x00}, {0x358c, 0x00}, // lcg digital gain {0x3546, 0x20}, {0x3547, 0x00}, // spd fine exposure - {0x354a, 0x04}, {0x354b, 0x00}, {0x354c, 0x00}, // spd digital gain + {0x354a, 0x01}, {0x354b, 0x00}, {0x354c, 0x00}, // spd digital gain {0x35c6, 0xb0}, {0x35c7, 0x00}, // vs fine exposure - {0x35ca, 0x04}, {0x35cb, 0x00}, {0x35cc, 0x00}, // vs digital gain + {0x35ca, 0x01}, {0x35cb, 0x00}, {0x35cc, 0x00}, // vs digital gain // also RSVD {0x3600, 0x8f}, {0x3605, 0x16}, {0x3609, 0xf0}, {0x360a, 0x01}, From c4e63d14ab158118efc6eadd0e20d8d533f9e046 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 15 Sep 2022 15:12:36 -0700 Subject: [PATCH 08/12] good updater experience (#25724) * good updater experience * set params on startup * no fetch on first loop * little type hinting * little more * update translations * always set params with valid overlay * wrap check * use the param * more wrapping * vanish * cleanup * remove that --- common/params.cc | 10 +- selfdrive/ui/.gitignore | 2 + selfdrive/ui/SConscript | 3 +- selfdrive/ui/qt/offroad/settings.cc | 81 +---- selfdrive/ui/qt/offroad/settings.h | 13 +- selfdrive/ui/qt/offroad/software_settings.cc | 156 ++++++++++ selfdrive/ui/qt/widgets/controls.cc | 8 +- selfdrive/ui/qt/widgets/controls.h | 14 +- selfdrive/ui/qt/widgets/offroad_alerts.cc | 2 +- selfdrive/ui/qt/widgets/ssh_keys.cc | 8 +- selfdrive/ui/qt/widgets/ssh_keys.h | 2 - selfdrive/ui/tests/cycle_offroad_alerts.py | 2 +- selfdrive/ui/translations/main_ja.ts | 91 ++---- selfdrive/ui/translations/main_ko.ts | 91 ++---- selfdrive/ui/translations/main_pt-BR.ts | 91 ++---- selfdrive/ui/translations/main_zh-CHS.ts | 91 ++---- selfdrive/ui/translations/main_zh-CHT.ts | 91 ++---- selfdrive/updated.py | 306 ++++++++++++------- 18 files changed, 550 insertions(+), 512 deletions(-) create mode 100644 selfdrive/ui/qt/offroad/software_settings.cc diff --git a/common/params.cc b/common/params.cc index 5c8c94be53..8ff5fc539d 100644 --- a/common/params.cc +++ b/common/params.cc @@ -154,18 +154,24 @@ std::unordered_map keys = { {"PrimeType", PERSISTENT}, {"RecordFront", PERSISTENT}, {"RecordFrontLock", PERSISTENT}, // for the internal fleet - {"ReleaseNotes", PERSISTENT}, {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"ShouldDoUpdate", CLEAR_ON_MANAGER_START}, {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, {"SshEnabled", PERSISTENT}, {"SubscriberInfo", PERSISTENT}, - {"SwitchToBranch", CLEAR_ON_MANAGER_START}, {"TermsVersion", PERSISTENT}, {"Timezone", PERSISTENT}, {"TrainingVersion", PERSISTENT}, {"UpdateAvailable", CLEAR_ON_MANAGER_START}, {"UpdateFailedCount", CLEAR_ON_MANAGER_START}, + {"UpdaterState", CLEAR_ON_MANAGER_START}, + {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START}, + {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START}, + {"UpdaterAvailableBranches", CLEAR_ON_MANAGER_START}, + {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START}, + {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START}, + {"UpdaterNewDescription", CLEAR_ON_MANAGER_START}, + {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START}, {"Version", PERSISTENT}, {"VisionRadarToggle", PERSISTENT}, {"WideCameraOnly", PERSISTENT}, diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore index e5b27adce5..60eb4b43c7 100644 --- a/selfdrive/ui/.gitignore +++ b/selfdrive/ui/.gitignore @@ -1,6 +1,8 @@ moc_* *.moc +translations/main_test_en.* + _mui watch3 installer/installers/* diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index c62a6b19d9..92f6578dfc 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -56,7 +56,8 @@ qt_env.Program("qt/spinner", ["qt/spinner.cc"], LIBS=qt_libs) # build main UI qt_src = ["main.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc", "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc", - "qt/offroad/onboarding.cc", "qt/offroad/driverview.cc"] + "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc", + "qt/offroad/driverview.cc"] qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs) if GetOption('test'): qt_src.remove("main.cc") # replaced by test_runner diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 7a5a40c193..52df247a25 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -159,7 +159,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { addItem(dcamBtn); auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), ""); - connect(resetCalibBtn, &ButtonControl::showDescription, this, &DevicePanel::updateCalibDescription); + connect(resetCalibBtn, &ButtonControl::showDescriptionEvent, this, &DevicePanel::updateCalibDescription); connect(resetCalibBtn, &ButtonControl::clicked, [&]() { if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), this)) { params.remove("CalibrationParams"); @@ -282,85 +282,6 @@ void DevicePanel::poweroff() { } } -SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { - gitBranchLbl = new LabelControl(tr("Git Branch")); - gitCommitLbl = new LabelControl(tr("Git Commit")); - osVersionLbl = new LabelControl(tr("OS Version")); - versionLbl = new LabelControl(tr("Version"), "", QString::fromStdString(params.get("ReleaseNotes")).trimmed()); - lastUpdateLbl = new LabelControl(tr("Last Update Check"), "", tr("The last time openpilot successfully checked for an update. The updater only runs while the car is off.")); - updateBtn = new ButtonControl(tr("Check for Update"), ""); - connect(updateBtn, &ButtonControl::clicked, [=]() { - if (params.getBool("IsOffroad")) { - fs_watch->addPath(QString::fromStdString(params.getParamPath("LastUpdateTime"))); - fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdateFailedCount"))); - updateBtn->setText(tr("CHECKING")); - updateBtn->setEnabled(false); - } - std::system("pkill -1 -f selfdrive.updated"); - }); - connect(uiState(), &UIState::offroadTransition, updateBtn, &QPushButton::setEnabled); - - branchSwitcherBtn = new ButtonControl(tr("Switch Branch"), tr("ENTER"), tr("The new branch will be pulled the next time the updater runs.")); - connect(branchSwitcherBtn, &ButtonControl::clicked, [=]() { - QString branch = InputDialog::getText(tr("Enter branch name"), this, tr("The new branch will be pulled the next time the updater runs."), - false, -1, QString::fromStdString(params.get("SwitchToBranch"))); - if (branch.isEmpty()) { - params.remove("SwitchToBranch"); - } else { - params.put("SwitchToBranch", branch.toStdString()); - } - std::system("pkill -1 -f selfdrive.updated"); - }); - connect(uiState(), &UIState::offroadTransition, branchSwitcherBtn, &QPushButton::setEnabled); - - auto uninstallBtn = new ButtonControl(tr("Uninstall %1").arg(getBrand()), tr("UNINSTALL")); - connect(uninstallBtn, &ButtonControl::clicked, [&]() { - if (ConfirmationDialog::confirm(tr("Are you sure you want to uninstall?"), this)) { - params.putBool("DoUninstall", true); - } - }); - connect(uiState(), &UIState::offroadTransition, uninstallBtn, &QPushButton::setEnabled); - - QWidget *widgets[] = {versionLbl, lastUpdateLbl, updateBtn, branchSwitcherBtn, gitBranchLbl, gitCommitLbl, osVersionLbl, uninstallBtn}; - for (QWidget* w : widgets) { - if (w == branchSwitcherBtn && params.getBool("IsTestedBranch")) { - continue; - } - addItem(w); - } - - fs_watch = new QFileSystemWatcher(this); - QObject::connect(fs_watch, &QFileSystemWatcher::fileChanged, [=](const QString path) { - if (path.contains("UpdateFailedCount") && std::atoi(params.get("UpdateFailedCount").c_str()) > 0) { - lastUpdateLbl->setText(tr("failed to fetch update")); - updateBtn->setText(tr("CHECK")); - updateBtn->setEnabled(true); - } else if (path.contains("LastUpdateTime")) { - updateLabels(); - } - }); -} - -void SoftwarePanel::showEvent(QShowEvent *event) { - updateLabels(); -} - -void SoftwarePanel::updateLabels() { - QString lastUpdate = ""; - auto tm = params.get("LastUpdateTime"); - if (!tm.empty()) { - lastUpdate = timeAgo(QDateTime::fromString(QString::fromStdString(tm + "Z"), Qt::ISODate)); - } - - versionLbl->setText(getBrandVersion()); - lastUpdateLbl->setText(lastUpdate); - updateBtn->setText(tr("CHECK")); - updateBtn->setEnabled(true); - gitBranchLbl->setText(QString::fromStdString(params.get("GitBranch"))); - gitCommitLbl->setText(QString::fromStdString(params.get("GitCommit")).left(10)); - osVersionLbl->setText(QString::fromStdString(Hardware::get_os_version()).trimmed()); -} - void SettingsWindow::showEvent(QShowEvent *event) { panel_widget->setCurrentIndex(0); nav_btns->buttons()[0]->setChecked(true); diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h index 1f823851f1..4177f28cf4 100644 --- a/selfdrive/ui/qt/offroad/settings.h +++ b/selfdrive/ui/qt/offroad/settings.h @@ -71,14 +71,15 @@ public: private: void showEvent(QShowEvent *event) override; void updateLabels(); + void checkForUpdates(); - LabelControl *gitBranchLbl; - LabelControl *gitCommitLbl; - LabelControl *osVersionLbl; + bool is_onroad = false; + + QLabel *onroadLbl; LabelControl *versionLbl; - LabelControl *lastUpdateLbl; - ButtonControl *updateBtn; - ButtonControl *branchSwitcherBtn; + ButtonControl *installBtn; + ButtonControl *downloadBtn; + ButtonControl *targetBranchBtn; Params params; QFileSystemWatcher *fs_watch; diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc new file mode 100644 index 0000000000..c9deef2ec4 --- /dev/null +++ b/selfdrive/ui/qt/offroad/software_settings.cc @@ -0,0 +1,156 @@ +#include "selfdrive/ui/qt/offroad/settings.h" + +#include +#include +#include + +#include +#include + +#include "common/params.h" +#include "common/util.h" +#include "selfdrive/ui/ui.h" +#include "selfdrive/ui/qt/util.h" +#include "selfdrive/ui/qt/widgets/controls.h" +#include "selfdrive/ui/qt/widgets/input.h" +#include "system/hardware/hw.h" + + +void SoftwarePanel::checkForUpdates() { + std::system("pkill -SIGUSR1 -f selfdrive.updated"); +} + +SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { + onroadLbl = new QLabel(tr("Updates are only downloaded while the car is off.")); + onroadLbl->setStyleSheet("font-size: 50px; font-weight: 400; text-align: left; padding-top: 30px; padding-bottom: 30px;"); + addItem(onroadLbl); + + // current version + versionLbl = new LabelControl(tr("Current Version"), ""); + addItem(versionLbl); + + // download update btn + downloadBtn = new ButtonControl(tr("Download"), tr("CHECK")); + connect(downloadBtn, &ButtonControl::clicked, [=]() { + downloadBtn->setEnabled(false); + if (downloadBtn->text() == tr("CHECK")) { + checkForUpdates(); + } else { + std::system("pkill -SIGHUP -f selfdrive.updated"); + } + }); + addItem(downloadBtn); + + // install update btn + installBtn = new ButtonControl(tr("Install Update"), tr("INSTALL")); + connect(installBtn, &ButtonControl::clicked, [=]() { + installBtn->setEnabled(false); + params.putBool("DoShutdown", true); + }); + addItem(installBtn); + + // branch selecting + targetBranchBtn = new ButtonControl(tr("Target Branch"), tr("SELECT")); + connect(targetBranchBtn, &ButtonControl::clicked, [=]() { + auto current = params.get("GitBranch"); + QStringList branches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(","); + for (QString b : {current.c_str(), "devel-staging", "devel", "master-ci", "master"}) { + auto i = branches.indexOf(b); + if (i >= 0) { + branches.removeAt(i); + branches.insert(0, b); + } + } + + QString cur = QString::fromStdString(params.get("UpdaterTargetBranch")); + QString selection = MultiOptionDialog::getSelection(tr("Select a branch"), branches, cur, this); + if (!selection.isEmpty()) { + params.put("UpdaterTargetBranch", selection.toStdString()); + targetBranchBtn->setValue(QString::fromStdString(params.get("UpdaterTargetBranch"))); + checkForUpdates(); + } + }); + if (!params.getBool("IsTestedBranch")) { + addItem(targetBranchBtn); + } + + // uninstall button + auto uninstallBtn = new ButtonControl(tr("Uninstall %1").arg(getBrand()), tr("UNINSTALL")); + connect(uninstallBtn, &ButtonControl::clicked, [&]() { + if (ConfirmationDialog::confirm(tr("Are you sure you want to uninstall?"), this)) { + params.putBool("DoUninstall", true); + } + }); + addItem(uninstallBtn); + + fs_watch = new QFileSystemWatcher(this); + QObject::connect(fs_watch, &QFileSystemWatcher::fileChanged, [=](const QString path) { + updateLabels(); + }); + + connect(uiState(), &UIState::offroadTransition, [=](bool offroad) { + is_onroad = !offroad; + updateLabels(); + }); + + updateLabels(); +} + +void SoftwarePanel::showEvent(QShowEvent *event) { + // nice for testing on PC + installBtn->setEnabled(true); + + updateLabels(); +} + +void SoftwarePanel::updateLabels() { + // add these back in case the files got removed + fs_watch->addPath(QString::fromStdString(params.getParamPath("LastUpdateTime"))); + fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdateFailedCount"))); + fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdaterState"))); + fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdateAvailable"))); + + if (!isVisible()) { + return; + } + + // updater only runs offroad + onroadLbl->setVisible(is_onroad); + downloadBtn->setVisible(!is_onroad); + + // download update + QString updater_state = QString::fromStdString(params.get("UpdaterState")); + bool failed = std::atoi(params.get("UpdateFailedCount").c_str()) > 0; + if (updater_state != "idle") { + downloadBtn->setEnabled(false); + downloadBtn->setValue(updater_state); + } else { + if (failed) { + downloadBtn->setText("CHECK"); + downloadBtn->setValue("failed to check for update"); + } else if (params.getBool("UpdaterFetchAvailable")) { + downloadBtn->setText("DOWNLOAD"); + downloadBtn->setValue("update available"); + } else { + QString lastUpdate = "never"; + auto tm = params.get("LastUpdateTime"); + if (!tm.empty()) { + lastUpdate = timeAgo(QDateTime::fromString(QString::fromStdString(tm + "Z"), Qt::ISODate)); + } + downloadBtn->setText("CHECK"); + downloadBtn->setValue("up to date, last checked " + lastUpdate); + } + downloadBtn->setEnabled(true); + } + targetBranchBtn->setValue(QString::fromStdString(params.get("UpdaterTargetBranch"))); + + // current + new versions + versionLbl->setText(QString::fromStdString(params.get("UpdaterCurrentDescription")).left(40)); + versionLbl->setDescription(QString::fromStdString(params.get("UpdaterCurrentReleaseNotes"))); + + installBtn->setVisible(!is_onroad && params.getBool("UpdateAvailable")); + installBtn->setValue(QString::fromStdString(params.get("UpdaterNewDescription")).left(35)); + installBtn->setDescription(QString::fromStdString(params.get("UpdaterNewReleaseNotes"))); + + update(); +} diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc index 3264fd3aac..b5f646c379 100644 --- a/selfdrive/ui/qt/widgets/controls.cc +++ b/selfdrive/ui/qt/widgets/controls.cc @@ -42,6 +42,12 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons title_label->setStyleSheet("font-size: 50px; font-weight: 400; text-align: left"); hlayout->addWidget(title_label); + // value next to control button + value = new QLabel(); + value->setAlignment(Qt::AlignRight | Qt::AlignVCenter); + value->setStyleSheet("color: #aaaaaa"); + hlayout->addWidget(value); + main_layout->addLayout(hlayout); // description @@ -54,7 +60,7 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons connect(title_label, &QPushButton::clicked, [=]() { if (!description->isVisible()) { - emit showDescription(); + emit showDescriptionEvent(); } if (!description->text().isEmpty()) { diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index d8546bb3b5..c42716828f 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -45,8 +45,17 @@ public: title_label->setText(title); } + void setValue(const QString &val) { + value->setText(val); + } + +public slots: + void showDescription() { + description->setVisible(true); + }; + signals: - void showDescription(); + void showDescriptionEvent(); protected: AbstractControl(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr); @@ -54,6 +63,9 @@ protected: QHBoxLayout *hlayout; QPushButton *title_label; + +private: + QLabel *value; QLabel *description = nullptr; }; diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.cc b/selfdrive/ui/qt/widgets/offroad_alerts.cc index 937ea02f86..ceb823fb2b 100644 --- a/selfdrive/ui/qt/widgets/offroad_alerts.cc +++ b/selfdrive/ui/qt/widgets/offroad_alerts.cc @@ -112,7 +112,7 @@ UpdateAlert::UpdateAlert(QWidget *parent) : AbstractAlert(true, parent) { bool UpdateAlert::refresh() { bool updateAvailable = params.getBool("UpdateAvailable"); if (updateAvailable) { - releaseNotes->setText(params.get("ReleaseNotes").c_str()); + releaseNotes->setText(params.get("UpdaterNewReleaseNotes").c_str()); } return updateAvailable; } diff --git a/selfdrive/ui/qt/widgets/ssh_keys.cc b/selfdrive/ui/qt/widgets/ssh_keys.cc index f17604b3e5..1097a89268 100644 --- a/selfdrive/ui/qt/widgets/ssh_keys.cc +++ b/selfdrive/ui/qt/widgets/ssh_keys.cc @@ -5,10 +5,6 @@ #include "selfdrive/ui/qt/widgets/input.h" SshControl::SshControl() : ButtonControl(tr("SSH Keys"), "", tr("Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.")) { - username_label.setAlignment(Qt::AlignRight | Qt::AlignVCenter); - username_label.setStyleSheet("color: #aaaaaa"); - hlayout->insertWidget(1, &username_label); - QObject::connect(this, &ButtonControl::clicked, [=]() { if (text() == tr("ADD")) { QString username = InputDialog::getText(tr("Enter your GitHub username"), this); @@ -30,10 +26,10 @@ SshControl::SshControl() : ButtonControl(tr("SSH Keys"), "", tr("Warning: This g void SshControl::refresh() { QString param = QString::fromStdString(params.get("GithubSshKeys")); if (param.length()) { - username_label.setText(QString::fromStdString(params.get("GithubUsername"))); + setValue(QString::fromStdString(params.get("GithubUsername"))); setText(tr("REMOVE")); } else { - username_label.setText(""); + setValue(""); setText(tr("ADD")); } setEnabled(true); diff --git a/selfdrive/ui/qt/widgets/ssh_keys.h b/selfdrive/ui/qt/widgets/ssh_keys.h index 01e2ab83ce..920bd651e2 100644 --- a/selfdrive/ui/qt/widgets/ssh_keys.h +++ b/selfdrive/ui/qt/widgets/ssh_keys.h @@ -27,8 +27,6 @@ public: private: Params params; - QLabel username_label; - void refresh(); void getUserKeys(const QString &username); }; diff --git a/selfdrive/ui/tests/cycle_offroad_alerts.py b/selfdrive/ui/tests/cycle_offroad_alerts.py index 6b6aea4477..8a3d9ec45a 100755 --- a/selfdrive/ui/tests/cycle_offroad_alerts.py +++ b/selfdrive/ui/tests/cycle_offroad_alerts.py @@ -20,7 +20,7 @@ if __name__ == "__main__": params.put_bool("UpdateAvailable", True) r = open(os.path.join(BASEDIR, "RELEASES.md")).read() r = r[:r.find('\n\n')] # Slice latest release notes - params.put("ReleaseNotes", r + "\n") + params.put("UpdaterNewReleaseNotes", r + "\n") time.sleep(t) params.put_bool("UpdateAvailable", False) diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 9be6658d19..4262473fb2 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -193,7 +193,7 @@ 変更 - + Select a language 言語を選択 @@ -418,7 +418,7 @@ prime subscription. Sign up now: https://connect.comma.ai 詳しくはこちら：https://connect.comma.ai - + No home location set 自宅の住所はまだ @@ -432,7 +432,7 @@ location set 設定されていません - + no recent destinations 最近の目的地履歴がありません @@ -718,7 +718,7 @@ location set SettingsWindow - + × × @@ -983,68 +983,47 @@ location set SoftwarePanel - - Git Branch - Git ブランチ + + Updates are only downloaded while the car is off. + - - Git Commit - Git コミット - - - - OS Version - OS バージョン + + Current Version + - - Version - バージョン + + Download + - - Last Update Check - 最終更新確認 + + Install Update + - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - openpilotが最後にアップデートの確認に成功してからの時間です。アップデート処理は、車の電源が切れているときのみ実行されます。 - - - - Check for Update - 更新プログラムをチェック - - - - CHECKING - 確認中 + INSTALL + - - Switch Branch - ブランチの切り替え + + Target Branch + - ENTER - 切替 + SELECT + - - - The new branch will be pulled the next time the updater runs. - updater を実行する時にブランチを切り替えます。 - - - - Enter branch name - ブランチ名を入力 + + Select a branch + - + UNINSTALL アンインストール @@ -1059,13 +1038,8 @@ location set アンインストールしてもよろしいですか？ - - failed to fetch update - 更新のﾀﾞｳﾝﾛｰﾄﾞにｴﾗｰが発生しました - - - - + + CHECK 確認 @@ -1083,7 +1057,7 @@ location set 警告: これは、GitHub の設定にあるすべての公開鍵への SSH アクセスを許可するものです。自分以外の GitHub のユーザー名を入力しないでください。コンマのスタッフが GitHub のユーザー名を追加するようお願いすることはありません。 - + ADD 追加 @@ -1153,7 +1127,7 @@ location set TogglesPanel - + Enable openpilot openpilot を有効化 @@ -1290,12 +1264,11 @@ location set WifiUI - Scanning for networks... ネットワークをスキャン中... - + CONNECTING... 接続中... diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 3e329a72ab..b517c8320e 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -193,7 +193,7 @@ 변경 - + Select a language 언어를 선택하세요 @@ -418,7 +418,7 @@ prime subscription. Sign up now: https://connect.comma.ai 등록：https://connect.comma.ai - + No home location set 집 @@ -432,7 +432,7 @@ location set 설정되지않음 - + no recent destinations 최근 목적지 없음 @@ -718,7 +718,7 @@ location set SettingsWindow - + × × @@ -983,68 +983,47 @@ location set SoftwarePanel - - Git Branch - Git 브렌치 + + Updates are only downloaded while the car is off. + - - Git Commit - Git 커밋 - - - - OS Version - OS 버전 + + Current Version + - - Version - 버전 + + Download + - - Last Update Check - 최신 업데이트 검사 + + Install Update + - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - 최근에 openpilot이 업데이트를 성공적으로 확인했습니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다. - - - - Check for Update - 업데이트 확인 - - - - CHECKING - 확인중 + INSTALL + - - Switch Branch - 브랜치 변경 + + Target Branch + - ENTER - 입력하세요 + SELECT + - - - The new branch will be pulled the next time the updater runs. - 다음 업데이트 프로그램이 실행될 때 새 브랜치가 적용됩니다. - - - - Enter branch name - 브랜치명 입력 + + Select a branch + - + UNINSTALL 제거 @@ -1059,13 +1038,8 @@ location set 제거하시겠습니까? - - failed to fetch update - 업데이트를 가져올수없습니다 - - - - + + CHECK 확인 @@ -1083,7 +1057,7 @@ location set 경고: 허용으로 설정하면 GitHub 설정의 모든 공용 키에 대한 SSH 액세스 권한이 부여됩니다. GitHub 사용자 ID 이외에는 입력하지 마십시오. comma에서는 GitHub ID를 추가하라는 요청을 하지 않습니다. - + ADD 추가 @@ -1153,7 +1127,7 @@ location set TogglesPanel - + Enable openpilot openpilot 사용 @@ -1290,12 +1264,11 @@ location set WifiUI - Scanning for networks... 네트워크 검색 중... - + CONNECTING... 연결중... diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index b729678a2c..91ffabc625 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -193,7 +193,7 @@ ALTERAR - + Select a language Selecione o Idioma @@ -419,7 +419,7 @@ prime subscription. Sign up now: https://connect.comma.ai uma assinatura prime Inscreva-se agora: https://connect.comma.ai - + No home location set Sem local @@ -433,7 +433,7 @@ location set trabalho definido - + no recent destinations sem destinos recentes @@ -722,7 +722,7 @@ trabalho definido SettingsWindow - + × × @@ -987,68 +987,47 @@ trabalho definido SoftwarePanel - - Git Branch - Git Branch - - - - Git Commit - Último Commit + + Updates are only downloaded while the car is off. + - - OS Version - Versão do Sistema + + Current Version + - - Version - Versão + + Download + - - Last Update Check - Verificação da última atualização + + Install Update + - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - A última vez que o openpilot verificou com sucesso uma atualização. O atualizador só funciona com o carro desligado. - - - - Check for Update - Verifique atualizações - - - - CHECKING - VERIFICANDO - - - - Switch Branch - Alterar Branch + INSTALL + - - ENTER - INSERIR + + Target Branch + - - The new branch will be pulled the next time the updater runs. - A nova branch será aplicada ao verificar atualizações. + SELECT + - - Enter branch name - Inserir o nome da branch + + Select a branch + - + UNINSTALL DESINSTALAR @@ -1063,13 +1042,8 @@ trabalho definido Tem certeza que quer desinstalar? - - failed to fetch update - falha ao buscar atualização - - - - + + CHECK VERIFICAR @@ -1087,7 +1061,7 @@ trabalho definido Aviso: isso concede acesso SSH a todas as chaves públicas nas configurações do GitHub. Nunca insira um nome de usuário do GitHub que não seja o seu. Um funcionário da comma NUNCA pedirá que você adicione seu nome de usuário do GitHub. - + ADD ADICIONAR @@ -1157,7 +1131,7 @@ trabalho definido TogglesPanel - + Enable openpilot Ativar openpilot @@ -1294,12 +1268,11 @@ trabalho definido WifiUI - Scanning for networks... Procurando redes... - + CONNECTING... CONECTANDO... diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 606e70726f..8fce4e01a7 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -193,7 +193,7 @@ 切换 - + Select a language 选择语言 @@ -418,7 +418,7 @@ prime subscription. Sign up now: https://connect.comma.ai 立即注册：https://connect.comma.ai - + No home location set 家：未设定 @@ -430,7 +430,7 @@ location set 工作：未设定 - + no recent destinations 无最近目的地 @@ -716,7 +716,7 @@ location set SettingsWindow - + × × @@ -981,68 +981,47 @@ location set SoftwarePanel - - Git Branch - Git Branch - - - - Git Commit - Git Commit + + Updates are only downloaded while the car is off. + - - OS Version - 系统版本 + + Current Version + - - Version - 软件版本 + + Download + - - Last Update Check - 上次检查更新 + + Install Update + - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - 上一次成功检查更新的时间。更新程序仅在汽车熄火时运行。 - - - - Check for Update - 检查更新 - - - - CHECKING - 正在检查更新 - - - - Switch Branch - 切换分支 + INSTALL + - - ENTER - 输入 + + Target Branch + - - The new branch will be pulled the next time the updater runs. - 分支将在更新服务下次启动时自动切换。 + SELECT + - - Enter branch name - 输入分支名称 + + Select a branch + - + UNINSTALL 卸载 @@ -1057,13 +1036,8 @@ location set 您确定要卸载吗？ - - failed to fetch update - 获取更新失败 - - - - + + CHECK 查看 @@ -1081,7 +1055,7 @@ location set 警告：这将授予SSH访问权限给您GitHub设置中的所有公钥。切勿输入您自己以外的GitHub用户名。comma员工永远不会要求您添加他们的GitHub用户名。 - + ADD 添加 @@ -1151,7 +1125,7 @@ location set TogglesPanel - + Enable openpilot 启用openpilot @@ -1288,12 +1262,11 @@ location set WifiUI - Scanning for networks... 正在扫描网络…… - + CONNECTING... 正在连接…… diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index b5b737ca25..022d41be81 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -193,7 +193,7 @@ 更改 - + Select a language 選擇語言 @@ -418,7 +418,7 @@ prime subscription. Sign up now: https://connect.comma.ai 立即註冊：https://connect.comma.ai - + No home location set 未設定 @@ -432,7 +432,7 @@ location set 工作位置 - + no recent destinations 沒有最近的導航記錄 @@ -718,7 +718,7 @@ location set SettingsWindow - + × × @@ -983,68 +983,47 @@ location set SoftwarePanel - - Git Branch - Git 分支 - - - - Git Commit - Git 提交 + + Updates are only downloaded while the car is off. + - - OS Version - 系統版本 + + Current Version + - - Version - 版本 + + Download + - - Last Update Check - 上次檢查時間 + + Install Update + - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - 上次成功檢查更新的時間。更新系統只會在車子熄火時執行。 - - - - Check for Update - 檢查更新 - - - - CHECKING - 檢查中 - - - - Switch Branch - 切換分支 + INSTALL + - - ENTER - 切換 + + Target Branch + - - The new branch will be pulled the next time the updater runs. - 新的分支將會在下次檢查更新時切換過去。 + SELECT + - - Enter branch name - 輸入分支名稱 + + Select a branch + - + UNINSTALL 卸載 @@ -1059,13 +1038,8 @@ location set 您確定您要卸載嗎？ - - failed to fetch update - 下載更新失敗 - - - - + + CHECK 檢查 @@ -1083,7 +1057,7 @@ location set 警告：這將授權給 GitHub 帳號中所有公鑰 SSH 訪問權限。切勿輸入非您自己的 GitHub 用戶名。comma 員工「永遠不會」要求您添加他們的 GitHub 用戶名。 - + ADD 新增 @@ -1153,7 +1127,7 @@ location set TogglesPanel - + Enable openpilot 啟用 openpilot @@ -1290,12 +1264,11 @@ location set WifiUI - Scanning for networks... 掃描無線網路中... - + CONNECTING... 連線中... diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 65f8425201..79b759a906 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -23,6 +23,7 @@ # disable this service. import os +import re import datetime import subprocess import psutil @@ -31,8 +32,9 @@ import signal import fcntl import time import threading +from collections import defaultdict from pathlib import Path -from typing import List, Tuple, Optional +from typing import List, Union, Optional from markdown_it import MarkdownIt from common.basedir import BASEDIR @@ -54,20 +56,27 @@ DAYS_NO_CONNECTIVITY_MAX = 14 # do not allow to engage after this many days DAYS_NO_CONNECTIVITY_PROMPT = 10 # send an offroad prompt after this many days class WaitTimeHelper: - def __init__(self, proc): - self.proc = proc + def __init__(self): self.ready_event = threading.Event() + self.only_check_for_update = False signal.signal(signal.SIGHUP, self.update_now) + signal.signal(signal.SIGUSR1, self.check_now) def update_now(self, signum: int, frame) -> None: - cloudlog.info("caught SIGHUP, running update check immediately") + cloudlog.info("caught SIGHUP, attempting to downloading update") + self.only_check_for_update = False + self.ready_event.set() + + def check_now(self, signum: int, frame) -> None: + cloudlog.info("caught SIGUSR1, checking for updates") + self.only_check_for_update = True self.ready_event.set() def sleep(self, t: float) -> None: self.ready_event.wait(timeout=t) -def run(cmd: List[str], cwd: Optional[str] = None): +def run(cmd: List[str], cwd: Optional[str] = None) -> str: return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8') @@ -80,59 +89,19 @@ def set_consistent_flag(consistent: bool) -> None: consistent_file.unlink(missing_ok=True) os.sync() - -def set_params(new_version: bool, failed_count: int, exception: Optional[str]) -> None: - params = Params() - - params.put("UpdateFailedCount", str(failed_count)) - - last_update = datetime.datetime.utcnow() - if failed_count == 0: - t = last_update.isoformat() - params.put("LastUpdateTime", t.encode('utf8')) - else: - try: - t = params.get("LastUpdateTime", encoding='utf8') - last_update = datetime.datetime.fromisoformat(t) - except (TypeError, ValueError): - pass - - if exception is None: - params.remove("LastUpdateException") - else: - params.put("LastUpdateException", exception) - - # Write out release notes for new versions - if new_version: +def parse_release_notes(basedir: str) -> bytes: + try: + with open(os.path.join(basedir, "RELEASES.md"), "rb") as f: + r = f.read().split(b'\n\n', 1)[0] # Slice latest release notes try: - with open(os.path.join(FINALIZED, "RELEASES.md"), "rb") as f: - r = f.read().split(b'\n\n', 1)[0] # Slice latest release notes - try: - params.put("ReleaseNotes", MarkdownIt().render(r.decode("utf-8"))) - except Exception: - params.put("ReleaseNotes", r + b"\n") + return bytes(MarkdownIt().render(r.decode("utf-8")), encoding="utf-8") except Exception: - params.put("ReleaseNotes", "") - params.put_bool("UpdateAvailable", True) - - # Handle user prompt - for alert in ("Offroad_UpdateFailed", "Offroad_ConnectivityNeeded", "Offroad_ConnectivityNeededPrompt"): - set_offroad_alert(alert, False) - - now = datetime.datetime.utcnow() - dt = now - last_update - if failed_count > 15 and exception is not None: - if is_tested_branch(): - extra_text = "Ensure the software is correctly installed" - else: - extra_text = exception - set_offroad_alert("Offroad_UpdateFailed", True, extra_text=extra_text) - elif dt.days > DAYS_NO_CONNECTIVITY_MAX and failed_count > 1: - set_offroad_alert("Offroad_ConnectivityNeeded", True) - elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT: - remaining = max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 1) - set_offroad_alert("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining} day{'' if remaining == 1 else 's'}.") - + return r + b"\n" + except FileNotFoundError: + pass + except Exception: + cloudlog.exception("failed to parse release notes") + return b"" def setup_git_options(cwd: str) -> None: # We sync FS object atimes (which NEOS doesn't use) and mtimes, but ctimes @@ -267,65 +236,161 @@ def handle_agnos_update() -> None: set_offroad_alert("Offroad_NeosUpdate", False) -def check_git_fetch_result(fetch_txt: str) -> bool: - err_msg = "Failed to add the host to the list of known hosts (/data/data/com.termux/files/home/.ssh/known_hosts).\n" - return len(fetch_txt) > 0 and (fetch_txt != err_msg) +class Updater: + def __init__(self): + self.params = Params() + self.branches = defaultdict(lambda: None) + + @property + def target_branch(self) -> str: + b: Union[str, None] = self.params.get("UpdaterTargetBranch", encoding='utf-8') + if b is None: + b = self.get_branch(BASEDIR) + self.params.put("UpdaterTargetBranch", b) + return b + + @property + def update_ready(self) -> bool: + consistent_file = Path(os.path.join(FINALIZED, ".overlay_consistent")) + if consistent_file.is_file(): + hash_mismatch = self.get_commit_hash(BASEDIR) != self.branches[self.target_branch] + branch_mismatch = self.get_branch(BASEDIR) != self.target_branch + on_target_branch = self.get_branch(FINALIZED) == self.target_branch + return ((hash_mismatch or branch_mismatch) and on_target_branch) + return False + + @property + def update_available(self) -> bool: + if os.path.isdir(OVERLAY_MERGED): + hash_mismatch = self.get_commit_hash(OVERLAY_MERGED) != self.branches[self.target_branch] + branch_mismatch = self.get_branch(OVERLAY_MERGED) != self.target_branch + return hash_mismatch or branch_mismatch + return False + + def get_branch(self, path: str) -> str: + return run(["git", "rev-parse", "--abbrev-ref", "HEAD"], path).rstrip() + + def get_commit_hash(self, path: str = OVERLAY_MERGED) -> str: + return run(["git", "rev-parse", "HEAD"], path).rstrip() + + def set_params(self, failed_count: int, exception: Optional[str]) -> None: + self.params.put("UpdateFailedCount", str(failed_count)) + + self.params.put_bool("UpdaterFetchAvailable", self.update_available) + self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys())) + + last_update = datetime.datetime.utcnow() + if failed_count == 0: + t = last_update.isoformat() + self.params.put("LastUpdateTime", t.encode('utf8')) + else: + try: + t = self.params.get("LastUpdateTime", encoding='utf8') + last_update = datetime.datetime.fromisoformat(t) + except (TypeError, ValueError): + pass -def check_for_update() -> Tuple[bool, bool]: - setup_git_options(OVERLAY_MERGED) - try: - git_fetch_output = run(["git", "fetch", "--dry-run"], OVERLAY_MERGED) - return True, check_git_fetch_result(git_fetch_output) - except subprocess.CalledProcessError: - return False, False - + if exception is None: + self.params.remove("LastUpdateException") + else: + self.params.put("LastUpdateException", exception) -def fetch_update() -> bool: - cloudlog.info("attempting git fetch inside staging overlay") + # Write out current and new version info + def get_description(basedir: str) -> str: + version = "" + branch = "" + commit = "" + try: + branch = self.get_branch(basedir) + commit = self.get_commit_hash(basedir) + with open(os.path.join(basedir, "common", "version.h")) as f: + version = f.read().split('"')[1] + except Exception: + pass + return f"{version} / {branch} / {commit[:7]}" + self.params.put("UpdaterCurrentDescription", get_description(BASEDIR)) + self.params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR)) + self.params.put("UpdaterNewDescription", get_description(FINALIZED)) + self.params.put("UpdaterNewReleaseNotes", parse_release_notes(FINALIZED)) + self.params.put_bool("UpdateAvailable", self.update_ready) + + # Handle user prompt + for alert in ("Offroad_UpdateFailed", "Offroad_ConnectivityNeeded", "Offroad_ConnectivityNeededPrompt"): + set_offroad_alert(alert, False) + + now = datetime.datetime.utcnow() + dt = now - last_update + if failed_count > 15 and exception is not None: + if is_tested_branch(): + extra_text = "Ensure the software is correctly installed. Uninstall and re-install if this error persists." + else: + extra_text = exception + set_offroad_alert("Offroad_UpdateFailed", True, extra_text=extra_text) + elif dt.days > DAYS_NO_CONNECTIVITY_MAX and failed_count > 1: + set_offroad_alert("Offroad_ConnectivityNeeded", True) + elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT: + remaining = max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 1) + set_offroad_alert("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining} day{'' if remaining == 1 else 's'}.") + + def check_for_update(self) -> None: + cloudlog.info("checking for updates") + + excluded_branches = ('release2', 'release2-staging', 'dashcam', 'dashcam-staging') + + setup_git_options(OVERLAY_MERGED) + output = run(["git", "ls-remote", "--heads"], OVERLAY_MERGED) + + self.branches = defaultdict(lambda: None) + for line in output.split('\n'): + ls_remotes_re = r'(?P\b[0-9a-f]{5,40}\b)(\s+)(refs\/heads\/)(?P.*$)' + x = re.fullmatch(ls_remotes_re, line.strip()) + if x is not None and x.group('branch_name') not in excluded_branches: + self.branches[x.group('branch_name')] = x.group('commit_sha') + + cur_branch = self.get_branch(OVERLAY_MERGED) + cur_commit = self.get_commit_hash(OVERLAY_MERGED) + new_branch = self.target_branch + new_commit = self.branches[new_branch] + if (cur_branch, cur_commit) != (new_branch, new_commit): + cloudlog.info(f"update available, {cur_branch} ({cur_commit[:7]}) -> {new_branch} ({new_commit[:7]})") + else: + cloudlog.info(f"up to date on {cur_branch} ({cur_commit[:7]})") - setup_git_options(OVERLAY_MERGED) + def fetch_update(self) -> None: + cloudlog.info("attempting git fetch inside staging overlay") - git_fetch_output = run(["git", "fetch"], OVERLAY_MERGED) - cloudlog.info("git fetch success: %s", git_fetch_output) + self.params.put("UpdaterState", "downloading...") - cur_hash = run(["git", "rev-parse", "HEAD"], OVERLAY_MERGED).rstrip() - upstream_hash = run(["git", "rev-parse", "@{u}"], OVERLAY_MERGED).rstrip() - new_version: bool = cur_hash != upstream_hash - git_fetch_result = check_git_fetch_result(git_fetch_output) + # TODO: cleanly interrupt this and invalidate old update + set_consistent_flag(False) + self.params.put_bool("UpdateAvailable", False) - new_branch = Params().get("SwitchToBranch", encoding='utf8') - if new_branch is not None: - new_version = True + setup_git_options(OVERLAY_MERGED) - cloudlog.info(f"comparing {cur_hash} to {upstream_hash}") - if new_version or git_fetch_result: - cloudlog.info("Running update") + branch = self.target_branch + git_fetch_output = run(["git", "fetch", "origin", branch], OVERLAY_MERGED) + cloudlog.info("git fetch success: %s", git_fetch_output) - if new_version: - cloudlog.info("git reset in progress") - cmds = [ - ["git", "reset", "--hard", "@{u}"], - ["git", "clean", "-xdf"], - ["git", "submodule", "init"], - ["git", "submodule", "update"], - ] - if new_branch is not None: - cloudlog.info(f"switching to branch {repr(new_branch)}") - cmds.insert(0, ["git", "checkout", "-f", new_branch]) - r = [run(cmd, OVERLAY_MERGED) for cmd in cmds] - cloudlog.info("git reset success: %s", '\n'.join(r)) + cloudlog.info("git reset in progress") + cmds = [ + ["git", "checkout", "--force", "--no-recurse-submodules", branch], + ["git", "reset", "--hard", f"origin/{branch}"], + ["git", "clean", "-xdf"], + ["git", "submodule", "init"], + ["git", "submodule", "update"], + ] + r = [run(cmd, OVERLAY_MERGED) for cmd in cmds] + cloudlog.info("git reset success: %s", '\n'.join(r)) - if AGNOS: - handle_agnos_update() + # TODO: show agnos download progress + if AGNOS: + handle_agnos_update() # Create the finalized, ready-to-swap update + self.params.put("UpdaterState", "finalizing update...") finalize_update() - cloudlog.info("openpilot update successful!") - else: - cloudlog.info("nothing new from git at this time") - - return new_version + cloudlog.info("finalize success!") def main() -> None: @@ -357,8 +422,12 @@ def main() -> None: overlay_init = Path(os.path.join(BASEDIR, ".overlay_init")) overlay_init.unlink(missing_ok=True) + updater = Updater() update_failed_count = 0 # TODO: Load from param? - wait_helper = WaitTimeHelper(proc) + + # no fetch on the first time + wait_helper = WaitTimeHelper() + wait_helper.only_check_for_update = True # Run the update loop while True: @@ -366,21 +435,24 @@ def main() -> None: # Attempt an update exception = None - new_version = False - update_failed_count += 1 try: + # TODO: reuse overlay from previous updated instance if it looks clean init_overlay() - # TODO: still needed? skip this and just fetch? - # Lightweight internt check - internet_ok, update_available = check_for_update() - if internet_ok and not update_available: - update_failed_count = 0 + # ensure we have some params written soon after startup + updater.set_params(update_failed_count, exception) + update_failed_count += 1 + + # check for update + params.put("UpdaterState", "checking...") + updater.check_for_update() - # Fetch update - if internet_ok: - new_version = fetch_update() - update_failed_count = 0 + # download update + if wait_helper.only_check_for_update: + cloudlog.info("skipping fetch this cycle") + else: + updater.fetch_update() + update_failed_count = 0 except subprocess.CalledProcessError as e: cloudlog.event( "update process failed", @@ -396,12 +468,14 @@ def main() -> None: overlay_init.unlink(missing_ok=True) try: - set_params(new_version, update_failed_count, exception) + params.put("UpdaterState", "idle") + updater.set_params(update_failed_count, exception) except Exception: cloudlog.exception("uncaught updated exception while setting params, shouldn't happen") # infrequent attempts if we successfully updated recently - wait_helper.sleep(5*60 if update_failed_count > 0 else 90*60) + wait_helper.only_check_for_update = False + wait_helper.sleep(5*60 if update_failed_count > 0 else 1.5*60*60) if __name__ == "__main__": From d5410dfac5e2bf9f68edb16d18d8875647021b13 Mon Sep 17 00:00:00 2001 From: Igor Biletskyy Date: Thu, 15 Sep 2022 15:35:24 -0700 Subject: [PATCH 09/12] Panda health: names and mixup fix (#25774) * init * naming * fix names * bump cereal * bump panda * bump panda --- cereal | 2 +- panda | 2 +- selfdrive/boardd/boardd.cc | 8 ++++---- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/cereal b/cereal index bd2f7fa567..513dfc7ee0 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit bd2f7fa56706bcec3c9906bd57c2ec46f0666ac5 +Subproject commit 513dfc7ee001243cd68a57a9d92fe3170fc49c7d diff --git a/panda b/panda index 38257a93e4..046fd58e8d 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 38257a93e4733819a109a4ef52efed1bbeb45cc4 +Subproject commit 046fd58e8d64c58ed80769fcbec5ac2417a04c71 diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 5ff6d56e69..0872a94712 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -346,14 +346,14 @@ std::optional send_panda_states(PubMaster *pm, const std::vector auto ps = pss[i]; ps.setUptime(health.uptime_pkt); - ps.setBlockedCnt(health.blocked_msg_cnt_pkt); + ps.setSafetyTxBlocked(health.safety_tx_blocked_pkt); + ps.setSafetyRxInvalid(health.safety_rx_invalid_pkt); ps.setIgnitionLine(health.ignition_line_pkt); ps.setIgnitionCan(health.ignition_can_pkt); ps.setControlsAllowed(health.controls_allowed_pkt); ps.setGasInterceptorDetected(health.gas_interceptor_detected_pkt); - ps.setCanRxErrs(health.can_rx_errs_pkt); - ps.setCanSendErrs(health.can_send_errs_pkt); - ps.setCanFwdErrs(health.can_fwd_errs_pkt); + ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt); + ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt); ps.setGmlanSendErrs(health.gmlan_send_errs_pkt); ps.setPandaType(panda->hw_type); ps.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_mode_pkt)); From 85b433760a2c1a139062a40040e096b9de880e33 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 16 Sep 2022 06:43:27 +0800 Subject: [PATCH 10/12] Params: add new method to get all keys (#25779) * allKeys * cleanup and test Co-authored-by: Adeeb Shihadeh --- common/params.cc | 9 +++++++++ common/params.h | 2 ++ common/params_pyx.pyx | 5 +++++ common/tests/test_params.py | 8 ++++++++ 4 files changed, 24 insertions(+) diff --git a/common/params.cc b/common/params.cc index 8ff5fc539d..7b2d4490ea 100644 --- a/common/params.cc +++ b/common/params.cc @@ -3,6 +3,7 @@ #include #include +#include #include #include @@ -203,6 +204,14 @@ Params::Params(const std::string &path) { params_path = path.empty() ? default_param_path : ensure_params_path(prefix, path); } +std::vector Params::allKeys() const { + std::vector ret; + for (auto &p : keys) { + ret.push_back(p.first); + } + return ret; +} + bool Params::checkKey(const std::string &key) { return keys.find(key) != keys.end(); } diff --git a/common/params.h b/common/params.h index aa4b1d7af3..7758a015f6 100644 --- a/common/params.h +++ b/common/params.h @@ -2,6 +2,7 @@ #include #include +#include enum ParamKeyType { PERSISTENT = 0x02, @@ -15,6 +16,7 @@ enum ParamKeyType { class Params { public: Params(const std::string &path = {}); + std::vector allKeys() const; bool checkKey(const std::string &key); ParamKeyType getKeyType(const std::string &key); inline std::string getParamPath(const std::string &key = {}) { diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx index 8d52b8d3f6..bbddda46ea 100755 --- a/common/params_pyx.pyx +++ b/common/params_pyx.pyx @@ -2,6 +2,7 @@ # cython: language_level = 3 from libcpp cimport bool from libcpp.string cimport string +from libcpp.vector cimport vector import threading cdef extern from "common/params.h": @@ -22,6 +23,7 @@ cdef extern from "common/params.h": bool checkKey(string) nogil string getParamPath(string) nogil void clearAll(ParamKeyType) + vector[string] allKeys() def ensure_bytes(v): @@ -99,6 +101,9 @@ cdef class Params: cdef string key_bytes = ensure_bytes(key) return self.p.getParamPath(key_bytes).decode("utf-8") + def all_keys(self): + return self.p.allKeys() + def put_nonblocking(key, val, d=""): threading.Thread(target=lambda: Params(d).put(key, val)).start() diff --git a/common/tests/test_params.py b/common/tests/test_params.py index 899a47fe34..ec13e82217 100644 --- a/common/tests/test_params.py +++ b/common/tests/test_params.py @@ -98,6 +98,14 @@ class TestParams(unittest.TestCase): assert q.get("CarParams") is None assert q.get("CarParams", True) == b"1" + def test_params_all_keys(self): + keys = Params().all_keys() + + # sanity checks + assert len(keys) > 20 + assert len(keys) == len(set(keys)) + assert b"CarParams" in keys + if __name__ == "__main__": unittest.main() From ce9c689bb4f8924d47a9beb264081ed922ce9e91 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 15 Sep 2022 16:07:51 -0700 Subject: [PATCH 11/12] Car docs: more consistent package names (#25797) * update docs * Revert "update docs" This reverts commit a5127198fe8e43ecadb0cbde432773f4da2e212a. * spell it out * update docs * add (ACC) for consistency * All VW --- docs/CARS.md | 110 ++++++++++++++--------------- selfdrive/car/chrysler/values.py | 2 +- selfdrive/car/gm/values.py | 2 +- selfdrive/car/volkswagen/values.py | 14 ++-- 4 files changed, 64 insertions(+), 64 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 47694fffee..510500dab7 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -11,27 +11,27 @@ A supported vehicle is one that just works when you install a comma three. All s |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Acura|RDX 2019-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Audi|A3 2014-19|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Audi|Q2 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Audi|Q3 2020-21|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Audi|RS3 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Audi|S3 2015-17|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Audi|Q3 2020-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Cadillac|Escalade ESV 2016[1](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| |Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| -|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| -|Chrysler|Pacifica 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| -|Chrysler|Pacifica 2019-20|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| +|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| +|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| +|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| -|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| -|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| +|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| +|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None| |Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| |Genesis|G70 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| |Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Genesis|G90 2017-18|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| +|GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| |GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| |Honda|Accord 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Accord Hybrid 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| @@ -80,8 +80,8 @@ A supported vehicle is one that just works when you install a comma three. All s |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |Hyundai|Tucson Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| -|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| -|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| +|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| +|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Kia|EV6 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P| |Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| @@ -122,9 +122,9 @@ A supported vehicle is one that just works when you install a comma three. All s |Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A| |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A| |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A| -|Ram|1500 2019-22|Adaptive Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram| -|SEAT|Ateca 2018|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|SEAT|Leon 2014-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram| +|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| |Subaru|Crosstrek 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| @@ -135,13 +135,13 @@ A supported vehicle is one that just works when you install a comma three. All s |Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B| |Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| |Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| -|Škoda|Kamiq 2021[5](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Škoda|Karoq 2019-21[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Škoda|Kodiaq 2018-19|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Škoda|Octavia 2015, 2018-19|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Škoda|Octavia RS 2016|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Škoda|Scala 2020|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Škoda|Superb 2015-18|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Škoda|Kamiq 2021[5](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Škoda|Karoq 2019-21[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Škoda|Superb 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Avalon 2016|Toyota Safety Sense P|Stock[3](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| @@ -182,37 +182,37 @@ A supported vehicle is one that just works when you install a comma three. All s |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|Sienna 2018-20|All|Stock[3](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Volkswagen|Arteon 2018-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Arteon eHybrid 2020-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Arteon R 2020-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Atlas 2018-23[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Atlas Cross Sport 2021-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|California 2021[7](#footnotes)|Driver Assistance|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Caravelle 2020[7](#footnotes)|Driver Assistance|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|CC 2018-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|e-Golf 2014-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Golf 2015-20[8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Golf GTD 2015-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Golf GTE 2015-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Golf GTI 2015-21|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Golf R 2015-19[8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Jetta 2018-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Jetta GLI 2021-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Passat 2015-22[6,7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Passat Alltrack 2015-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Passat GTE 2015-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Polo 2020-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Polo GTI 2020-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|T-Cross 2021[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|T-Roc 2021[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Teramont 2018-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Teramont Cross Sport 2021-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Teramont X 2021-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Tiguan 2019-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Touran 2017|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Arteon 2018-22[7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Arteon eHybrid 2020-22[7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Arteon R 2020-22[7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Atlas 2018-23[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Atlas Cross Sport 2021-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|California 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Caravelle 2020[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|CC 2018-22[7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Golf 2015-20[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Golf R 2015-19[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Jetta 2018-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Jetta GLI 2021-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Passat 2015-22[6,7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Passat Alltrack 2015-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Passat GTE 2015-22[7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Polo 2020-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Polo GTI 2020-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|T-Cross 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|T-Roc 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Taos 2022[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Teramont 2018-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Teramont Cross Sport 2021-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Teramont X 2021-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Tiguan 2019-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| 1Requires a community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index d4ac9f6f00..7180ace524 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -52,7 +52,7 @@ RAM_CARS = RAM_DT | RAM_HD @dataclass class ChryslerCarInfo(CarInfo): - package: str = "Adaptive Cruise Control" + package: str = "Adaptive Cruise Control (ACC)" harness: Enum = Harness.fca CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 21ede171e0..a84cbdc91a 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -71,7 +71,7 @@ class Footnote(Enum): @dataclass class GMCarInfo(CarInfo): - package: str = "Adaptive Cruise Control" + package: str = "Adaptive Cruise Control (ACC)" harness: Enum = Harness.obd_ii footnotes: List[Enum] = field(default_factory=lambda: [Footnote.OBD_II]) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 6425cd60be..4d17b4e3a6 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -164,7 +164,7 @@ class Footnote(Enum): @dataclass class VWCarInfo(CarInfo): - package: str = "Driver Assistance" + package: str = "Adaptive Cruise Control (ACC) & Lane Assist" harness: Enum = Harness.vw @@ -216,13 +216,13 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { ], CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), CAR.AUDI_A3_MK3: [ - VWCarInfo("Audi A3 2014-19", "ACC + Lane Assist"), - VWCarInfo("Audi A3 Sportback e-tron 2017-18", "ACC + Lane Assist"), - VWCarInfo("Audi RS3 2018", "ACC + Lane Assist"), - VWCarInfo("Audi S3 2015-17", "ACC + Lane Assist"), + VWCarInfo("Audi A3 2014-19"), + VWCarInfo("Audi A3 Sportback e-tron 2017-18"), + VWCarInfo("Audi RS3 2018"), + VWCarInfo("Audi S3 2015-17"), ], - CAR.AUDI_Q2_MK1: VWCarInfo("Audi Q2 2018", "ACC + Lane Assist"), - CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2020-21", "ACC + Lane Assist"), + CAR.AUDI_Q2_MK1: VWCarInfo("Audi Q2 2018"), + CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2020-21"), CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"), CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"), CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.KAMIQ]), From ae87665e92cb17952abf2b7f182a0302264dc642 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Fri, 16 Sep 2022 09:04:29 +0900 Subject: [PATCH 12/12] Multilang: add missing Korean translations (#25799) kor translation update --- selfdrive/ui/translations/main_ko.ts | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index b517c8320e..2a827ca4a6 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -985,42 +985,42 @@ location set Updates are only downloaded while the car is off. - + 업데이트는 차량 연결이 해제되어 있는 동안에만 다운로드됩니다. Current Version - + 현재 버전 Download - + 다운로드 Install Update - + 업데이트 설치 INSTALL - + 설치 Target Branch - + 대상 브랜치 SELECT - + 선택 Select a branch - + 브랜치 선택