From 2d2efb3f58fb2f30a87f5da03997c3715e6def47 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 8 Mar 2025 06:20:49 +0800 Subject: [PATCH 01/16] pyui: implement styled label and text box (#34813) implement styled label --- system/ui/lib/application.py | 3 ++- system/ui/lib/button.py | 1 + system/ui/lib/label.py | 48 ++++++++++++++++++++++++++++++++++-- system/ui/reset.py | 12 ++++----- system/ui/text.py | 2 +- 5 files changed, 55 insertions(+), 11 deletions(-) diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py index 22c6ed71f2..c7b7a36e5d 100644 --- a/system/ui/lib/application.py +++ b/system/ui/lib/application.py @@ -15,6 +15,7 @@ DEBUG_FPS = os.getenv("DEBUG_FPS") == '1' STRICT_MODE = os.getenv("STRICT_MODE") == '1' DEFAULT_TEXT_SIZE = 60 +DEFAULT_TEXT_COLOR = rl.Color(200, 200, 200, 255) FONT_DIR = os.path.join(BASEDIR, "selfdrive/assets/fonts") @@ -118,7 +119,7 @@ class GuiApplication: rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.BORDER_WIDTH, 0) rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_SIZE, DEFAULT_TEXT_SIZE) rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.BACKGROUND_COLOR, rl.color_to_int(rl.BLACK)) - rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(rl.Color(200, 200, 200, 255))) + rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(DEFAULT_TEXT_COLOR)) rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.BACKGROUND_COLOR, rl.color_to_int(rl.Color(30, 30, 30, 255))) rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.BASE_COLOR_NORMAL, rl.color_to_int(rl.Color(50, 50, 50, 255))) diff --git a/system/ui/lib/button.py b/system/ui/lib/button.py index 9bcf3f7e01..034189275f 100644 --- a/system/ui/lib/button.py +++ b/system/ui/lib/button.py @@ -54,6 +54,7 @@ def gui_button( if button_style != ButtonStyle.TRANSPARENT: rl.draw_rectangle_rounded(rect, roundness, 20, bg_color) else: + rl.draw_rectangle_rounded(rect, roundness, 20, rl.BLACK) rl.draw_rectangle_rounded_lines_ex(rect, roundness, 20, 2, rl.WHITE) font = gui_app.font(font_weight) diff --git a/system/ui/lib/label.py b/system/ui/lib/label.py index 37b66582f9..ccfd89a2ec 100644 --- a/system/ui/lib/label.py +++ b/system/ui/lib/label.py @@ -1,11 +1,55 @@ import pyray as rl +from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_SIZE, DEFAULT_TEXT_COLOR from openpilot.system.ui.lib.utils import GuiStyleContext -def gui_label(rect, text, font_size): + +def gui_label( + rect: rl.Rectangle, + text: str, + font_size: int = DEFAULT_TEXT_SIZE, + color: rl.Color = DEFAULT_TEXT_COLOR, + font_weight: FontWeight = FontWeight.NORMAL, + alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT, + alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE +): + # Set font based on the provided weight + font = gui_app.font(font_weight) + + # Measure text size + text_size = rl.measure_text_ex(font, text, font_size, 0) + + # Calculate horizontal position based on alignment + text_x = rect.x + { + rl.GuiTextAlignment.TEXT_ALIGN_LEFT: 0, + rl.GuiTextAlignment.TEXT_ALIGN_CENTER: (rect.width - text_size.x) / 2, + rl.GuiTextAlignment.TEXT_ALIGN_RIGHT: rect.width - text_size.x, + }.get(alignment, 0) + + # Calculate vertical position based on alignment + text_y = rect.y + { + rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP: 0, + rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE: (rect.height - text_size.y) / 2, + rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM: rect.height - text_size.y, + }.get(alignment_vertical, 0) + + # Draw the text in the specified rectangle + rl.draw_text_ex(font, text, rl.Vector2(text_x, text_y), font_size, 0, color) + + +def gui_text_box( + rect: rl.Rectangle, + text: str, + font_size: int = DEFAULT_TEXT_SIZE, + color: rl.Color = DEFAULT_TEXT_COLOR, + alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT, + alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP +): styles = [ + (rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(color)), (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_SIZE, font_size), (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_LINE_SPACING, font_size), - (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_ALIGNMENT_VERTICAL, rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP), + (rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_ALIGNMENT, alignment), + (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_ALIGNMENT_VERTICAL, alignment_vertical), (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_WRAP_MODE, rl.GuiTextWrapMode.TEXT_WRAP_WORD) ] diff --git a/system/ui/reset.py b/system/ui/reset.py index a5a8a84b04..80a1c10ea8 100755 --- a/system/ui/reset.py +++ b/system/ui/reset.py @@ -7,7 +7,7 @@ from enum import IntEnum from openpilot.system.ui.lib.application import gui_app, FontWeight from openpilot.system.ui.lib.button import gui_button, ButtonStyle -from openpilot.system.ui.lib.label import gui_label +from openpilot.system.ui.lib.label import gui_label, gui_text_box NVME = "/dev/nvme0n1" USERDATA = "/dev/disk/by-partlabel/userdata" @@ -51,13 +51,11 @@ class Reset: threading.Timer(0.1, self.do_reset).start() def render(self, rect: rl.Rectangle): - rl.gui_set_font(gui_app.font(FontWeight.BOLD)) - label_rect = rl.Rectangle(rect.x + 140, rect.y, rect.width - 280, rect.height) - gui_label(label_rect, "System Reset", 90) - rl.gui_set_font(gui_app.font(FontWeight.NORMAL)) + label_rect = rl.Rectangle(rect.x + 140, rect.y, rect.width - 280, 100) + gui_label(label_rect, "System Reset", 100, font_weight=FontWeight.BOLD) - label_rect.y += 150 - gui_label(label_rect, self.get_body_text(), 80) + text_rect = rl.Rectangle(rect.x + 140, rect.y + 140, rect.width - 280, rect.height - 90 - 100) + gui_text_box(text_rect, self.get_body_text(), 90) button_height = 160 button_spacing = 50 diff --git a/system/ui/text.py b/system/ui/text.py index 77a0d267e4..33299605d6 100755 --- a/system/ui/text.py +++ b/system/ui/text.py @@ -39,7 +39,7 @@ def main(): text_content = sys.argv[1] if len(sys.argv) > 1 else DEMO_TEXT - textarea_rect = rl.Rectangle(MARGIN, MARGIN, gui_app.width - MARGIN * 2, gui_app.height - MARGIN * 2 - BUTTON_SIZE.y - SPACING) + textarea_rect = rl.Rectangle(MARGIN, MARGIN, gui_app.width - MARGIN * 2, gui_app.height - MARGIN * 2) wrapped_lines = wrap_text(text_content, FONT_SIZE, textarea_rect.width - 20) content_rect = rl.Rectangle(0, 0, textarea_rect.width - 20, len(wrapped_lines) * LINE_HEIGHT) scroll_panel = GuiScrollPanel(show_vertical_scroll_bar=True) From d807b5c476658dba7760d30949baa619074c4a4e Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Fri, 7 Mar 2025 14:24:22 -0800 Subject: [PATCH 02/16] Filet o Fish model (#34798) * 690b01c3 seems ok * correct temporal * push * inplace * bs * what thw * is this wrong * frames are skipped * new models * simplify decimation * clean up * clean up modelframe * need attr * lint * 0 * use all samples * this should break - Revert "use all samples" This reverts commit 6c0d7943ac5fbb7ae60af1a1201e2423e4c3c105. * add lc probs * Revert "this should break - Revert "use all samples"" This reverts commit ca38c54333555266a0d2c885c28af28941841431. * Reapply "this should break - Revert "use all samples"" This reverts commit a3f0246f209f85f06b9090d9492bfba32ed8cfed. * Revert "Reapply "this should break - Revert "use all samples""" This reverts commit 7fd3d2a191b688e5ef7b4dcc8f5379e900af10f8. * new fish * e07ce1de-bdea-463e-b5bc-a38ce8d43f4f/700 --------- Co-authored-by: Comma Device --- selfdrive/modeld/constants.py | 8 +++++- selfdrive/modeld/modeld.py | 31 ++++++++++++++------- selfdrive/modeld/models/commonmodel.cc | 9 +++--- selfdrive/modeld/models/commonmodel.h | 5 ++-- selfdrive/modeld/models/commonmodel.pxd | 2 +- selfdrive/modeld/models/commonmodel_pyx.pyx | 4 +-- selfdrive/modeld/models/driving_policy.onnx | 4 +-- selfdrive/modeld/models/driving_vision.onnx | 2 +- 8 files changed, 42 insertions(+), 23 deletions(-) diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py index 2bb7b8100c..5ca0a86bc8 100644 --- a/selfdrive/modeld/constants.py +++ b/selfdrive/modeld/constants.py @@ -14,8 +14,14 @@ class ModelConstants: # model inputs constants MODEL_FREQ = 20 + HISTORY_FREQ = 5 + HISTORY_LEN_SECONDS = 5 + TEMPORAL_SKIP = MODEL_FREQ // HISTORY_FREQ + FULL_HISTORY_BUFFER_LEN = MODEL_FREQ * HISTORY_LEN_SECONDS + INPUT_HISTORY_BUFFER_LEN = HISTORY_FREQ * HISTORY_LEN_SECONDS + FEATURE_LEN = 512 - FULL_HISTORY_BUFFER_LEN = 100 + DESIRE_LEN = 8 TRAFFIC_CONVENTION_LEN = 2 LAT_PLANNER_STATE_LEN = 4 diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index ee825d158f..1e557942fe 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -56,16 +56,24 @@ class ModelState: prev_desire: np.ndarray # for tracking the rising edge of the pulse def __init__(self, context: CLContext): - self.frames = {'input_imgs': DrivingModelFrame(context), 'big_input_imgs': DrivingModelFrame(context)} + self.frames = { + 'input_imgs': DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP), + 'big_input_imgs': DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP) + } self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) + self.full_features_buffer = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32) + self.full_desire = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32) + self.full_prev_desired_curv = np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32) + self.temporal_idxs = slice(-1-(ModelConstants.TEMPORAL_SKIP*(ModelConstants.INPUT_HISTORY_BUFFER_LEN-1)), None, ModelConstants.TEMPORAL_SKIP) + # policy inputs self.numpy_inputs = { - 'desire': np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32), + 'desire': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.DESIRE_LEN), dtype=np.float32), 'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32), 'lateral_control_params': np.zeros((1, ModelConstants.LATERAL_CONTROL_PARAMS_LEN), dtype=np.float32), - 'prev_desired_curv': np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32), - 'features_buffer': np.zeros((1, ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32), + 'prev_desired_curv': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.PREV_DESIRED_CURV_LEN), dtype=np.float32), + 'features_buffer': np.zeros((1, ModelConstants.INPUT_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32), } with open(VISION_METADATA_PATH, 'rb') as f: @@ -104,8 +112,9 @@ class ModelState: new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0) self.prev_desire[:] = inputs['desire'] - self.numpy_inputs['desire'][0,:-1] = self.numpy_inputs['desire'][0,1:] - self.numpy_inputs['desire'][0,-1] = new_desire + self.full_desire[0,:-1] = self.full_desire[0,1:] + self.full_desire[0,-1] = new_desire + self.numpy_inputs['desire'][:] = self.full_desire.reshape((1,ModelConstants.INPUT_HISTORY_BUFFER_LEN,ModelConstants.TEMPORAL_SKIP,-1)).max(axis=2) self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention'] self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params'] @@ -128,15 +137,17 @@ class ModelState: self.vision_output = self.vision_run(**self.vision_inputs).numpy().flatten() vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices)) - self.numpy_inputs['features_buffer'][0,:-1] = self.numpy_inputs['features_buffer'][0,1:] - self.numpy_inputs['features_buffer'][0,-1] = vision_outputs_dict['hidden_state'][0, :] + self.full_features_buffer[0,:-1] = self.full_features_buffer[0,1:] + self.full_features_buffer[0,-1] = vision_outputs_dict['hidden_state'][0, :] + self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs] self.policy_output = self.policy_run(**self.policy_inputs).numpy().flatten() policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices)) # TODO model only uses last value now - self.numpy_inputs['prev_desired_curv'][0,:-1] = self.numpy_inputs['prev_desired_curv'][0,1:] - self.numpy_inputs['prev_desired_curv'][0,-1,:] = policy_outputs_dict['desired_curvature'][0, :] + self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:] + self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :] + self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, self.temporal_idxs] combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict} if SEND_RAW_PRED: diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc index 9973d18588..99155d9f1e 100644 --- a/selfdrive/modeld/models/commonmodel.cc +++ b/selfdrive/modeld/models/commonmodel.cc @@ -5,11 +5,12 @@ #include "common/clutil.h" -DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) { +DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip) : ModelFrame(device_id, context) { input_frames = std::make_unique(buf_size); + temporal_skip = _temporal_skip; input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err)); - img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 2*frame_size_bytes, NULL, &err)); - region.origin = 1 * frame_size_bytes; + img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (temporal_skip+1)*frame_size_bytes, NULL, &err)); + region.origin = temporal_skip * frame_size_bytes; region.size = frame_size_bytes; last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, ®ion, &err)); @@ -20,7 +21,7 @@ DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context) cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection); - for (int i = 0; i < 1; i++) { + for (int i = 0; i < temporal_skip; i++) { CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr)); } loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl); diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h index 14409943e4..176d7eb6dc 100644 --- a/selfdrive/modeld/models/commonmodel.h +++ b/selfdrive/modeld/models/commonmodel.h @@ -64,20 +64,21 @@ protected: class DrivingModelFrame : public ModelFrame { public: - DrivingModelFrame(cl_device_id device_id, cl_context context); + DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip); ~DrivingModelFrame(); cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection); const int MODEL_WIDTH = 512; const int MODEL_HEIGHT = 256; const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2; - const int buf_size = MODEL_FRAME_SIZE * 2; + const int buf_size = MODEL_FRAME_SIZE * 2; // 2 frames are temporal_skip frames apart const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t); private: LoadYUVState loadyuv; cl_mem img_buffer_20hz_cl, last_img_cl, input_frames_cl; cl_buffer_region region; + int temporal_skip; }; class MonitoringModelFrame : public ModelFrame { diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd index b4f08b12aa..4ac64d9172 100644 --- a/selfdrive/modeld/models/commonmodel.pxd +++ b/selfdrive/modeld/models/commonmodel.pxd @@ -20,7 +20,7 @@ cdef extern from "selfdrive/modeld/models/commonmodel.h": cppclass DrivingModelFrame: int buf_size - DrivingModelFrame(cl_device_id, cl_context) + DrivingModelFrame(cl_device_id, cl_context, int) cppclass MonitoringModelFrame: int buf_size diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx index 7b3a5bb342..5b7d11bc71 100644 --- a/selfdrive/modeld/models/commonmodel_pyx.pyx +++ b/selfdrive/modeld/models/commonmodel_pyx.pyx @@ -59,8 +59,8 @@ cdef class ModelFrame: cdef class DrivingModelFrame(ModelFrame): cdef cppDrivingModelFrame * _frame - def __cinit__(self, CLContext context): - self._frame = new cppDrivingModelFrame(context.device_id, context.context) + def __cinit__(self, CLContext context, int temporal_skip): + self._frame = new cppDrivingModelFrame(context.device_id, context.context, temporal_skip) self.frame = (self._frame) self.buf_size = self._frame.buf_size diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index f804b4ec31..3601bbb5da 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5cae3285c876804e649b14adadcfb8be79a9bd5a1b928113e37f1f08e25e9688 -size 16581121 +oid sha256:98f0121ccb6f850077b04cc91bd33d370fc6cbdc2bd35f1ab55628a15a813f36 +size 15966721 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index 06c87d8755..aee6d8f1bf 100644 --- a/selfdrive/modeld/models/driving_vision.onnx +++ b/selfdrive/modeld/models/driving_vision.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:29bbf79f9dfd7048c0013bb81e86d9b2979275b95ea1ed8a86d1a86a88695240 +oid sha256:897f80d0388250f99bba69b6a8434560cc0fd83157cbeb0bc134c67fe4e64624 size 34882971 From d469ce669bf18d67924235056aa3a4686bde0fbe Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 7 Mar 2025 16:58:18 -0800 Subject: [PATCH 03/16] test_models: missing skip dashcam for panda safety found when using release safety FW --- selfdrive/car/tests/test_models.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 291a46888e..7f0cf4a979 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -266,6 +266,9 @@ class TestCarModelBase(unittest.TestCase): def test_panda_safety_tx_cases(self, data=None): """Asserts we can tx common messages""" + if self.CP.dashcamOnly: + self.skipTest("no need to check panda safety for dashcamOnly") + if self.CP.notCar: self.skipTest("Skipping test for notCar") From 7090c1be5988a73383496a0ebad39ea56a9bb18e Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Fri, 7 Mar 2025 17:25:07 -0800 Subject: [PATCH 04/16] [bot] Update Python packages (#34818) Update Python packages Co-authored-by: Vehicle Researcher --- opendbc_repo | 2 +- uv.lock | 42 +++++++++++++++++++++--------------------- 2 files changed, 22 insertions(+), 22 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 866beab8fa..3a5b13ed55 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 866beab8faec5acd47bd042bc12183dccfa11c39 +Subproject commit 3a5b13ed55fa02f7637e5ab0e67211e40f86bc21 diff --git a/uv.lock b/uv.lock index 9fc1627ec6..8da47bf004 100644 --- a/uv.lock +++ b/uv.lock @@ -4678,27 +4678,27 @@ wheels = [ [[package]] name = "ruff" -version = "0.9.9" -source = { registry = "https://pypi.org/simple" 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b/system/hardware/base.h @@ -34,8 +34,6 @@ public: static bool get_ssh_enabled() { return false; } static void set_ssh_enabled(bool enabled) {} - static void config_cpu_rendering(bool offscreen); - static bool PC() { return false; } static bool TICI() { return false; } static bool AGNOS() { return false; } diff --git a/system/hardware/pc/hardware.h b/system/hardware/pc/hardware.h index 5dea184ca6..978dd771c8 100644 --- a/system/hardware/pc/hardware.h +++ b/system/hardware/pc/hardware.h @@ -12,12 +12,4 @@ public: static bool PC() { return true; } static bool TICI() { return util::getenv("TICI", 0) == 1; } static bool AGNOS() { return util::getenv("TICI", 0) == 1; } - - static void config_cpu_rendering(bool offscreen) { - if (offscreen) { - setenv("QT_QPA_PLATFORM", "offscreen", 1); - } - setenv("__GLX_VENDOR_LIBRARY_NAME", "mesa", 1); - setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU - } }; diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h index 7d73f86ee9..179ef54a9b 100644 --- a/system/hardware/tici/hardware.h +++ b/system/hardware/tici/hardware.h @@ -109,11 +109,4 @@ public: static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); } static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); } - - static void config_cpu_rendering(bool offscreen) { - if (offscreen) { - setenv("QT_QPA_PLATFORM", "eglfs", 1); // offscreen doesn't work with EGL/GLES - } - setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU - } }; From ce355250be726f9bc8f0ac165a6cde41586a983d Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Fri, 7 Mar 2025 22:04:03 -0800 Subject: [PATCH 06/16] [bot] Update Python packages (#34819) Update Python packages Co-authored-by: Vehicle Researcher --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 3a5b13ed55..0efdb71b8f 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 3a5b13ed55fa02f7637e5ab0e67211e40f86bc21 +Subproject commit 0efdb71b8f2440ee51a806d057f20a553b849a3a From b98e10acc1b060867d3c4393708cbca1853b9f67 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 9 Mar 2025 12:28:08 +0800 Subject: [PATCH 07/16] pandad_api_impl: add nogil to can_list_to_can_capnp (#34823) add nogil to can_list_to_can_capnp --- selfdrive/pandad/pandad_api_impl.pyx | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/selfdrive/pandad/pandad_api_impl.pyx b/selfdrive/pandad/pandad_api_impl.pyx index e571c4aa58..6683b843ae 100644 --- a/selfdrive/pandad/pandad_api_impl.pyx +++ b/selfdrive/pandad/pandad_api_impl.pyx @@ -17,14 +17,17 @@ cdef extern from "opendbc/can/common.h": vector[CanFrame] frames cdef extern from "can_list_to_can_capnp.cc": - void can_list_to_can_capnp_cpp(const vector[CanFrame] &can_list, string &out, bool sendcan, bool valid) + void can_list_to_can_capnp_cpp(const vector[CanFrame] &can_list, string &out, bool sendcan, bool valid) nogil void can_capnp_to_can_list_cpp(const vector[string] &strings, vector[CanData] &can_data, bool sendcan) def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True): cdef CanFrame *f cdef vector[CanFrame] can_list + cdef uint32_t cpp_can_msgs_len = len(can_msgs) + + with nogil: + can_list.reserve(cpp_can_msgs_len) - can_list.reserve(len(can_msgs)) for can_msg in can_msgs: f = &(can_list.emplace_back()) f.address = can_msg[0] @@ -32,7 +35,10 @@ def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True): f.src = can_msg[2] cdef string out - can_list_to_can_capnp_cpp(can_list, out, msgtype == 'sendcan', valid) + cdef bool is_sendcan = (msgtype == 'sendcan') + cdef bool is_valid = valid + with nogil: + can_list_to_can_capnp_cpp(can_list, out, is_sendcan, is_valid) return out def can_capnp_to_list(strings, msgtype='can'): From ddfbb88cde1a3bb50647c0865f1a93fb32aa8a5c Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Mon, 10 Mar 2025 01:49:47 +0900 Subject: [PATCH 08/16] kor translation update (#34822) --- selfdrive/ui/translations/main_ko.ts | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 6c6c73da16..e90e5d44ed 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -315,27 +315,29 @@ openpilot learns to drive by watching humans, like you, drive. Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode. - + 오픈파일럿은 여러분과 같은 사람이 운전하는 모습을 보면서 운전하는 법을 배웁니다. + +파이어호스 모드를 사용하면 훈련 데이터 업로드를 최대화하여 오픈파일럿의 주행 모델을 개선할 수 있습니다. 더 많은 데이터는 더 큰 모델을 의미하며, 이는 더 나은 실험 모드를 의미합니다. Firehose Mode: ACTIVE - + 파이어호스 모드: 활성화 For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - + 효과를 극대화하려면 기기를 차 안으로 가져가서 매주 USB-C 어댑터와 Wi-Fi에 연결하세요.<br><br>“파이어호스 모드”는 핫스팟이나 무제한 SIM 카드에 연결된 경우 운전 중에도 작동할 수 있습니다.<br><br><br><b>자주 묻는 질문</b><br><br><i>"운전 방법이나 장소가 중요한가요?</i> 아니요, 평소와 같이 운전하시면 됩니다.<br><br><i> 좋은 USB-C 어댑터는 무엇인가요?</i> 휴대폰이나 노트북 고속 충전기가 있으면 됩니다.<br><br><i>어떤 소프트웨어를 실행해도 상관없나요?</i> 예, 업스트림 Openpilot(및 특정 포크)만 트레이닝에 사용할 수 있습니다. <b>%1 %2</b> of your driving are in the training dataset so far. - + <b>%1 %2</b> 의 운전이 지금까지의 훈련 데이터 세트에 포함되어 있습니다. ACTIVE - + 활성화 <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>비활성</span>: 무제한 네트워크에 연결 @@ -993,11 +995,11 @@ This may take up to a minute. Welcome to openpilot - + 오픈 파일럿에 오신 것을 환영합니다. You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing. - + 오픈파일럿을 사용하려면 이용약관에 동의해야 합니다. 최신 약관은 <span style='color: #465BEA;'>https://comma.ai/terms</span> 에서 최신 약관을 읽은 후 계속하세요. From 08e70f19ed351b74d4b5665089111e3999f1b533 Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Sun, 9 Mar 2025 13:50:22 -0300 Subject: [PATCH 09/16] Multilang: update pt-BR translations (#34821) update pt-BR translations --- selfdrive/ui/translations/main_pt-BR.ts | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 16edf605ad..b48d065f11 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -315,27 +315,29 @@ openpilot learns to drive by watching humans, like you, drive. Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode. - + O openpilot aprende a dirigir observando humanos, como você, dirigirem. + +O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar os modelos de direção do openpilot. Mais dados significam modelos maiores, o que resulta em um Modo Experimental melhor. Firehose Mode: ACTIVE - + Mode Firehose: ATIVO For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - + Para maior eficácia, leve seu dispositivo para dentro de casa e conecte-o a um bom adaptador USB-C e Wi-Fi semanalmente.<br><br>O Modo Firehose também pode funcionar enquanto você dirige, se estiver conectado a um hotspot ou a um chip SIM com dados ilimitados.<br><br><br><b>Perguntas Frequentes</b><br><br><i>Importa como ou onde eu dirijo?</i> Não, basta dirigir normalmente<br><br><i>Qual é um bom adaptador USB-C?</i> Qualquer carregador rápido de telefone ou laptop deve ser suficiente.<br><br><i>Importa qual software eu uso?</i> Sim, apenas o openpilot oficial (e alguns forks específicos) podem ser usados para treinamento. <b>%1 %2</b> of your driving are in the training dataset so far. - + <b>%1 %2</b> da sua direção já está no conjunto de dados de treinamento até agora. ACTIVE - + ATIVO <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INATIVO</span>: conecte-se a uma rede sem restrição de dados @@ -997,11 +999,11 @@ Isso pode levar até um minuto. Welcome to openpilot - + Bem vindo ao openpilot You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing. - + Você deve aceitar os Termos e Condições para usar o openpilot. Leia os termos mais recentes em <span style='color: #465BEA;'>https://comma.ai/terms</span> antes de continuar. From 8edaaeae507dc29c0218ee50b9ee0dc288332d44 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 9 Mar 2025 10:07:14 -0700 Subject: [PATCH 10/16] one more firehose faq --- selfdrive/ui/qt/offroad/firehose.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/ui/qt/offroad/firehose.cc b/selfdrive/ui/qt/offroad/firehose.cc index ab1d0198c7..fe42178a4c 100644 --- a/selfdrive/ui/qt/offroad/firehose.cc +++ b/selfdrive/ui/qt/offroad/firehose.cc @@ -69,6 +69,7 @@ FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent) "

" "Frequently Asked Questions

" "Does it matter how or where I drive? Nope, just drive as you normally would.

" + "Do all of my segments get pulled in Firehose Mode? No, we selectively pull a subset of your segments.

" "What's a good USB-C adapter? Any fast phone or laptop charger should be fine.

" "Does it matter which software I run? Yes, only upstream openpilot (and particular forks) are able to be used for training." )); From 06d6f254df1dd75463d97ff04489032568c5397b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 10 Mar 2025 09:10:30 +0800 Subject: [PATCH 11/16] radard: use dict comprehension for ar_pts construction (#34824) use dict comprehension --- selfdrive/controls/radard.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 80ce10380a..0267166795 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -211,9 +211,7 @@ class RadarD: self.v_ego_hist.append(self.v_ego) self.last_v_ego_frame = sm.recv_frame['carState'] - ar_pts = {} - for pt in rr.points: - ar_pts[pt.trackId] = [pt.dRel, pt.yRel, pt.vRel, pt.measured] + ar_pts = {pt.trackId: [pt.dRel, pt.yRel, pt.vRel, pt.measured] for pt in rr.points} # *** remove missing points from meta data *** for ids in list(self.tracks.keys()): From 2bfbb181e58690b807468ae259fb511f94e0d1e4 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 10 Mar 2025 09:48:01 +0800 Subject: [PATCH 12/16] python ui: add Keyboard Implementation (#34827) implement keyboard --- system/ui/widgets/keyboard.py | 104 ++++++++++++++++++++++++++++++++++ 1 file changed, 104 insertions(+) create mode 100644 system/ui/widgets/keyboard.py diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py new file mode 100644 index 0000000000..4d1ad1b2cd --- /dev/null +++ b/system/ui/widgets/keyboard.py @@ -0,0 +1,104 @@ +import pyray as rl +from openpilot.system.ui.lib.button import gui_button +from openpilot.system.ui.lib.label import gui_label + +# Constants for special keys +BACKSPACE_KEY = "<-" +ENTER_KEY = "Enter" +SPACE_KEY = " " +SHIFT_KEY = "↑" +SHIFT_DOWN_KEY = "↓" +NUMERIC_KEY = "123" +SYMBOL_KEY = "#+=" +ABC_KEY = "ABC" + +# Define keyboard layouts as a dictionary for easier access +keyboard_layouts = { + "lowercase": [ + ["q", "w", "e", "r", "t", "y", "u", "i", "o", "p"], + ["a", "s", "d", "f", "g", "h", "j", "k", "l"], + [SHIFT_KEY, "z", "x", "c", "v", "b", "n", "m", BACKSPACE_KEY], + [NUMERIC_KEY, "/", "-", SPACE_KEY, ".", ENTER_KEY], + ], + "uppercase": [ + ["Q", "W", "E", "R", "T", "Y", "U", "I", "O", "P"], + ["A", "S", "D", "F", "G", "H", "J", "K", "L"], + [SHIFT_DOWN_KEY, "Z", "X", "C", "V", "B", "N", "M", BACKSPACE_KEY], + [NUMERIC_KEY, "/", "-", SPACE_KEY, ".", ENTER_KEY], + ], + "numbers": [ + ["1", "2", "3", "4", "5", "6", "7", "8", "9", "0"], + ["-", "/", ":", ";", "(", ")", "$", "&", "@", "\""], + [SYMBOL_KEY, ".", ",", "?", "!", "`", BACKSPACE_KEY], + [ABC_KEY, SPACE_KEY, ".", ENTER_KEY], + ], + "specials": [ + ["[", "]", "{", "}", "#", "%", "^", "*", "+", "="], + ["_", "\\", "|", "~", "<", ">", "€", "£", "¥", "•"], + [NUMERIC_KEY, ".", ",", "?", "!", "'", BACKSPACE_KEY], + [ABC_KEY, SPACE_KEY, ".", ENTER_KEY], + ], +} + + +class Keyboard: + def __init__(self, max_text_size: int = 255): + self._layout = keyboard_layouts["lowercase"] + self._input_text = "" + self._max_text_size = max_text_size + + @property + def text(self) -> str: + return self._input_text + + def clear(self): + self._input_text = "" + + def render(self, rect, title, sub_title): + gui_label(rl.Rectangle(rect.x, rect.y, rect.width, 95), title, 90) + gui_label(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60), sub_title, 55, rl.GRAY) + if gui_button(rl.Rectangle(rect.x + rect.width - 300, rect.y, 300, 100), "Cancel"): + return -1 + + # Text box for input + rl.gui_text_box(rl.Rectangle(rect.x, rect.y + 160, rect.width, 100), self._input_text, self._max_text_size, True) + + h_space, v_space = 15, 15 + row_y_start = rect.y + 300 # Starting Y position for the first row + key_height = (rect.height - 300 - 3 * v_space) / 4 + key_max_width = (rect.width - (len(self._layout[2]) - 1) * h_space) / len(self._layout[2]) + + # Iterate over the rows of keys in the current layout + for row, keys in enumerate(self._layout): + key_width = min((rect.width - (180 if row == 1 else 0) - h_space * (len(keys) - 1)) / len(keys), key_max_width) + start_x = rect.x + (90 if row == 1 else 0) + + for i, key in enumerate(keys): + if i > 0: + start_x += h_space + + new_width = (key_width * 3 + h_space * 2) if key == SPACE_KEY else (key_width * 2 + h_space if key == ENTER_KEY else key_width) + key_rect = rl.Rectangle(start_x, row_y_start + row * (key_height + v_space), new_width, key_height) + start_x += new_width + + if gui_button(key_rect, key): + if key == ENTER_KEY: + return 1 + else: + self.handle_key_press(key) + + return 0 + + def handle_key_press(self, key): + if key in (SHIFT_DOWN_KEY, ABC_KEY): + self._layout = keyboard_layouts["lowercase"] + elif key == SHIFT_KEY: + self._layout = keyboard_layouts["uppercase"] + elif key == NUMERIC_KEY: + self._layout = keyboard_layouts["numbers"] + elif key == SYMBOL_KEY: + self._layout = keyboard_layouts["specials"] + elif key == BACKSPACE_KEY and len(self._input_text) > 0: + self._input_text = self._input_text[:-1] + elif key != BACKSPACE_KEY and len(self._input_text) < self._max_text_size: + self._input_text += key From 5574b91d17df1cb667534405c1baf2bcd335b997 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 10 Mar 2025 23:28:32 +0800 Subject: [PATCH 13/16] python ui: add confirm dialog implementation (#34828) add confirm dialog implementation --- system/ui/widgets/confirm_dialog.py | 62 +++++++++++++++++++++++++++++ 1 file changed, 62 insertions(+) create mode 100644 system/ui/widgets/confirm_dialog.py diff --git a/system/ui/widgets/confirm_dialog.py b/system/ui/widgets/confirm_dialog.py new file mode 100644 index 0000000000..e5ca002ecf --- /dev/null +++ b/system/ui/widgets/confirm_dialog.py @@ -0,0 +1,62 @@ +import pyray as rl +from openpilot.system.ui.lib.button import gui_button, ButtonStyle +from openpilot.system.ui.lib.label import gui_text_box + +# Constants for dialog dimensions and styling +DIALOG_WIDTH = 1520 +DIALOG_HEIGHT = 600 +BUTTON_HEIGHT = 160 +MARGIN = 50 +TEXT_AREA_HEIGHT_REDUCTION = 200 +BACKGROUND_COLOR = rl.Color(27, 27, 27, 255) + + +def confirm_dialog(rect: rl.Rectangle, message: str, confirm_text: str, cancel_text: str = "Cancel") -> int: + # Calculate dialog position and size, centered within the parent rectangle + dialog_x = rect.x + (rect.width - DIALOG_WIDTH) / 2 + dialog_y = rect.y + (rect.height - DIALOG_HEIGHT) / 2 + dialog_rect = rl.Rectangle(dialog_x, dialog_y, DIALOG_WIDTH, DIALOG_HEIGHT) + + # Calculate button positions at the bottom of the dialog + bottom = dialog_rect.y + dialog_rect.height + button_width = (dialog_rect.width - 3 * MARGIN) // 2 + no_button_x = dialog_rect.x + MARGIN + yes_button_x = dialog_rect.x + dialog_rect.width - button_width - MARGIN + button_y = bottom - BUTTON_HEIGHT - MARGIN + no_button = rl.Rectangle(no_button_x, button_y, button_width, BUTTON_HEIGHT) + yes_button = rl.Rectangle(yes_button_x, button_y, button_width, BUTTON_HEIGHT) + + # Draw the dialog background + rl.draw_rectangle( + int(dialog_rect.x), + int(dialog_rect.y), + int(dialog_rect.width), + int(dialog_rect.height), + BACKGROUND_COLOR, + ) + + # Draw the message in the dialog, centered + text_rect = rl.Rectangle(dialog_rect.x, dialog_rect.y, dialog_rect.width, dialog_rect.height - TEXT_AREA_HEIGHT_REDUCTION) + gui_text_box( + text_rect, + message, + alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER, + alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, + ) + + # Initialize result; -1 means no action taken yet + result = -1 + + # Check for keyboard input for accessibility + if rl.is_key_pressed(rl.KeyboardKey.KEY_ENTER): + result = 1 # Confirm + elif rl.is_key_pressed(rl.KeyboardKey.KEY_ESCAPE): + result = 0 # Cancel + + # Check for button clicks + if gui_button(yes_button, confirm_text, button_style=ButtonStyle.PRIMARY): + result = 1 # Confirm + if gui_button(no_button, cancel_text): + result = 0 # Cancel + + return result From f870e48b3a13e72b5da20beec56c6be171f1618b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 10 Mar 2025 09:43:46 -0700 Subject: [PATCH 14/16] BASEDIR -> DIR --- launch_chffrplus.sh | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh index 66f57c2cd1..d4689aae53 100755 --- a/launch_chffrplus.sh +++ b/launch_chffrplus.sh @@ -34,25 +34,25 @@ function launch { # Check to see if there's a valid overlay-based update available. Conditions # are as follows: # - # 1. The BASEDIR init file has to exist, with a newer modtime than anything in - # the BASEDIR Git repo. This checks for local development work or the user + # 1. The DIR init file has to exist, with a newer modtime than anything in + # the DIR Git repo. This checks for local development work or the user # switching branches/forks, which should not be overwritten. # 2. The FINALIZED consistent file has to exist, indicating there's an update # that completed successfully and synced to disk. - if [ -f "${BASEDIR}/.overlay_init" ]; then - find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null + if [ -f "${DIR}/.overlay_init" ]; then + find ${DIR}/.git -newer ${DIR}/.overlay_init | grep -q '.' 2> /dev/null if [ $? -eq 0 ]; then - echo "${BASEDIR} has been modified, skipping overlay update installation" + echo "${DIR} has been modified, skipping overlay update installation" else if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then if [ ! -d /data/safe_staging/old_openpilot ]; then echo "Valid overlay update found, installing" LAUNCHER_LOCATION="${BASH_SOURCE[0]}" - mv $BASEDIR /data/safe_staging/old_openpilot - mv "${STAGING_ROOT}/finalized" $BASEDIR - cd $BASEDIR + mv $DIR /data/safe_staging/old_openpilot + mv "${STAGING_ROOT}/finalized" $DIR + cd $DIR echo "Restarting launch script ${LAUNCHER_LOCATION}" unset AGNOS_VERSION From 5b6c7ddc9370c22a02bdfd67a622f7e637bf5030 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 10 Mar 2025 10:57:06 -0700 Subject: [PATCH 15/16] [bot] Update Python packages (#34830) Update Python packages Co-authored-by: Vehicle Researcher --- opendbc_repo | 2 +- uv.lock | 20 ++++++++++---------- 2 files changed, 11 insertions(+), 11 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 0efdb71b8f..75d4e0eb5c 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 0efdb71b8f2440ee51a806d057f20a553b849a3a +Subproject commit 75d4e0eb5c8fa961a665ec020eb816a50eed231c diff --git a/uv.lock b/uv.lock index 8da47bf004..8b0c751e17 100644 --- a/uv.lock +++ b/uv.lock @@ -4455,15 +4455,15 @@ sdist = { url = "https://files.pythonhosted.org/packages/79/0c/c16bc93ac2755bac0 [[package]] name = "pywin32" -version = "308" +version = "309" source = { registry = "https://pypi.org/simple" } wheels = [ - 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- For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - - <b>%1 %2</b> of your driving are in the training dataset so far. @@ -337,6 +333,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + + HudRenderer diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index bdda0484d4..34aadcc733 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - - <b>%1 %2</b> of your driving are in the training dataset so far. @@ -337,6 +333,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + + HudRenderer diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index 8168e126e3..9c7510856f 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - - <b>%1 %2</b> of your driving are in the training dataset so far. @@ -337,6 +333,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + + HudRenderer diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 3fe002e03d..08b310dcd9 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - - <b>%1 %2</b> of your driving are in the training dataset so far. @@ -337,6 +333,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + + HudRenderer diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index d242875937..591594edb4 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - - <b>%1 %2</b> of your driving are in the training dataset so far. @@ -337,6 +333,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + + HudRenderer diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index e90e5d44ed..079c5849c1 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -323,10 +323,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE 파이어호스 모드: 활성화 - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - 효과를 극대화하려면 기기를 차 안으로 가져가서 매주 USB-C 어댑터와 Wi-Fi에 연결하세요.<br><br>“파이어호스 모드”는 핫스팟이나 무제한 SIM 카드에 연결된 경우 운전 중에도 작동할 수 있습니다.<br><br><br><b>자주 묻는 질문</b><br><br><i>"운전 방법이나 장소가 중요한가요?</i> 아니요, 평소와 같이 운전하시면 됩니다.<br><br><i> 좋은 USB-C 어댑터는 무엇인가요?</i> 휴대폰이나 노트북 고속 충전기가 있으면 됩니다.<br><br><i>어떤 소프트웨어를 실행해도 상관없나요?</i> 예, 업스트림 Openpilot(및 특정 포크)만 트레이닝에 사용할 수 있습니다. - <b>%1 %2</b> of your driving are in the training dataset so far. <b>%1 %2</b> 의 운전이 지금까지의 훈련 데이터 세트에 포함되어 있습니다. @@ -339,6 +335,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>비활성</span>: 무제한 네트워크에 연결 + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + + HudRenderer diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index b48d065f11..7ddd433bf4 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -323,10 +323,6 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar Firehose Mode: ACTIVE Mode Firehose: ATIVO - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - Para maior eficácia, leve seu dispositivo para dentro de casa e conecte-o a um bom adaptador USB-C e Wi-Fi semanalmente.<br><br>O Modo Firehose também pode funcionar enquanto você dirige, se estiver conectado a um hotspot ou a um chip SIM com dados ilimitados.<br><br><br><b>Perguntas Frequentes</b><br><br><i>Importa como ou onde eu dirijo?</i> Não, basta dirigir normalmente<br><br><i>Qual é um bom adaptador USB-C?</i> Qualquer carregador rápido de telefone ou laptop deve ser suficiente.<br><br><i>Importa qual software eu uso?</i> Sim, apenas o openpilot oficial (e alguns forks específicos) podem ser usados para treinamento. - <b>%1 %2</b> of your driving are in the training dataset so far. <b>%1 %2</b> da sua direção já está no conjunto de dados de treinamento até agora. @@ -339,6 +335,10 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INATIVO</span>: conecte-se a uma rede sem restrição de dados + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + + HudRenderer diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index fc5e690ce0..e041d799ef 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - - <b>%1 %2</b> of your driving are in the training dataset so far. @@ -337,6 +333,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + + HudRenderer diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 8484f23160..1147ff0b94 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - - <b>%1 %2</b> of your driving are in the training dataset so far. @@ -337,6 +333,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + + HudRenderer diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 69a2c0c594..91839fd68a 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - - <b>%1 %2</b> of your driving are in the training dataset so far. @@ -337,6 +333,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + + HudRenderer diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 6d50bf92b8..29cc095698 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - - <b>%1 %2</b> of your driving are in the training dataset so far. @@ -337,6 +333,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + + HudRenderer