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Merge remote-tracking branch 'origin/master' into online-lag

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pull/34531/head
Kacper Rączy 3 months ago
parent 90452908b7 c749e90846
commit b4eaf1d65b
36 changed files with 377 additions and 153 deletions
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  1. 16
      launch_chffrplus.sh
  2. 2
      opendbc_repo
  3. 3
      selfdrive/car/tests/test_models.py
  4. 4
      selfdrive/controls/radard.py
  5. 8
      selfdrive/modeld/constants.py
  6. 31
      selfdrive/modeld/modeld.py
  7. 9
      selfdrive/modeld/models/commonmodel.cc
  8. 5
      selfdrive/modeld/models/commonmodel.h
  9. 2
      selfdrive/modeld/models/commonmodel.pxd
  10. 4
      selfdrive/modeld/models/commonmodel_pyx.pyx
  11. 4
      selfdrive/modeld/models/driving_policy.onnx
  12. 2
      selfdrive/modeld/models/driving_vision.onnx
  13. 12
      selfdrive/pandad/pandad_api_impl.pyx
  14. 1
      selfdrive/ui/qt/offroad/firehose.cc
  15. 8
      selfdrive/ui/translations/main_ar.ts
  16. 8
      selfdrive/ui/translations/main_de.ts
  17. 8
      selfdrive/ui/translations/main_es.ts
  18. 8
      selfdrive/ui/translations/main_fr.ts
  19. 8
      selfdrive/ui/translations/main_ja.ts
  20. 22
      selfdrive/ui/translations/main_ko.ts
  21. 22
      selfdrive/ui/translations/main_pt-BR.ts
  22. 8
      selfdrive/ui/translations/main_th.ts
  23. 8
      selfdrive/ui/translations/main_tr.ts
  24. 8
      selfdrive/ui/translations/main_zh-CHS.ts
  25. 8
      selfdrive/ui/translations/main_zh-CHT.ts
  26. 2
      system/hardware/base.h
  27. 8
      system/hardware/pc/hardware.h
  28. 7
      system/hardware/tici/hardware.h
  29. 3
      system/ui/lib/application.py
  30. 1
      system/ui/lib/button.py
  31. 48
      system/ui/lib/label.py
  32. 12
      system/ui/reset.py
  33. 2
      system/ui/text.py
  34. 62
      system/ui/widgets/confirm_dialog.py
  35. 104
      system/ui/widgets/keyboard.py
  36. 62
      uv.lock

16
launch_chffrplus.sh
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@ -37,25 +37,25 @@ 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

2
opendbc_repo

@ -1 +1 @@
Subproject commit 866beab8faec5acd47bd042bc12183dccfa11c39
Subproject commit 75d4e0eb5c8fa961a665ec020eb816a50eed231c

3
selfdrive/car/tests/test_models.py
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@ -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")

4
selfdrive/controls/radard.py
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@ -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()):

8
selfdrive/modeld/constants.py
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@ -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

31
selfdrive/modeld/modeld.py
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@ -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:

9
selfdrive/modeld/models/commonmodel.cc
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@ -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<uint8_t[]>(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, &region, &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);

5
selfdrive/modeld/models/commonmodel.h
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@ -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 {

2
selfdrive/modeld/models/commonmodel.pxd
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@ -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

4
selfdrive/modeld/models/commonmodel_pyx.pyx
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@ -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 = <cppModelFrame*>(self._frame)
self.buf_size = self._frame.buf_size

4
selfdrive/modeld/models/driving_policy.onnx
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:5cae3285c876804e649b14adadcfb8be79a9bd5a1b928113e37f1f08e25e9688
size 16581121
oid sha256:98f0121ccb6f850077b04cc91bd33d370fc6cbdc2bd35f1ab55628a15a813f36
size 15966721

2
selfdrive/modeld/models/driving_vision.onnx
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:29bbf79f9dfd7048c0013bb81e86d9b2979275b95ea1ed8a86d1a86a88695240
oid sha256:897f80d0388250f99bba69b6a8434560cc0fd83157cbeb0bc134c67fe4e64624
size 34882971

12
selfdrive/pandad/pandad_api_impl.pyx
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@ -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'):

1
selfdrive/ui/qt/offroad/firehose.cc
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@ -69,6 +69,7 @@ FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent)
"<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."
));

8
selfdrive/ui/translations/main_ar.ts
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@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>Firehose Mode: ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
<translation type="unfinished"></translation>
@ -337,6 +333,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>HudRenderer</name>

8
selfdrive/ui/translations/main_de.ts
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@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>Firehose Mode: ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
<translation type="unfinished"></translation>
@ -337,6 +333,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>HudRenderer</name>

8
selfdrive/ui/translations/main_es.ts
Unescape View File

@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>Firehose Mode: ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
<translation type="unfinished"></translation>
@ -337,6 +333,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>HudRenderer</name>

8
selfdrive/ui/translations/main_fr.ts
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@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>Firehose Mode: ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
<translation type="unfinished"></translation>
@ -337,6 +333,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>HudRenderer</name>

8
selfdrive/ui/translations/main_ja.ts
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@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>Firehose Mode: ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
<translation type="unfinished"></translation>
@ -337,6 +333,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>HudRenderer</name>

22
selfdrive/ui/translations/main_ko.ts
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@ -315,26 +315,28 @@
<source>openpilot learns to drive by watching humans, like you, drive.
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
<translation type="unfinished"></translation>
<translation>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.</translation>
</message>
<message>
<source>Firehose Mode: ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
<translation>파이어호스 모드: 활성화</translation>
</message>
<message>
<source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
<translation type="unfinished"></translation>
<translation>&lt;b&gt;%1 %2&lt;/b&gt; 의 운전이 지금까지의 훈련 데이터 세트에 포함되어 있습니다.</translation>
</message>
<message>
<source>ACTIVE</source>
<translation type="unfinished"></translation>
<translation>활성화</translation>
</message>
<message>
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
<translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;비활성&lt;/span&gt;: 무제한 네트워크에 연결</translation>
</message>
<message>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
</context>
@ -993,11 +995,11 @@ This may take up to a minute.</source>
</message>
<message>
<source>Welcome to openpilot</source>
<translation type="unfinished"></translation>
<translation>오픈 파일럿에 오신 것을 환영합니다.</translation>
</message>
<message>
<source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
<translation type="unfinished"></translation>
<translation>오픈파일럿을 사용하려면 이용약관에 동의해야 합니다. 최신 약관은 &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; 에서 최신 약관을 읽은 후 계속하세요.</translation>
</message>
</context>
<context>

22
selfdrive/ui/translations/main_pt-BR.ts
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@ -315,26 +315,28 @@
<source>openpilot learns to drive by watching humans, like you, drive.
Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
<translation type="unfinished"></translation>
<translation>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.</translation>
</message>
<message>
<source>Firehose Mode: ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
<translation>Mode Firehose: ATIVO</translation>
</message>
<message>
<source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
<translation type="unfinished"></translation>
<translation>&lt;b&gt;%1 %2&lt;/b&gt; da sua direção já está no conjunto de dados de treinamento até agora.</translation>
</message>
<message>
<source>ACTIVE</source>
<translation type="unfinished"></translation>
<translation>ATIVO</translation>
</message>
<message>
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
<translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INATIVO&lt;/span&gt;: conecte-se a uma rede sem restrição de dados</translation>
</message>
<message>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
</context>
@ -997,11 +999,11 @@ Isso pode levar até um minuto.</translation>
</message>
<message>
<source>Welcome to openpilot</source>
<translation type="unfinished"></translation>
<translation>Bem vindo ao openpilot</translation>
</message>
<message>
<source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
<translation type="unfinished"></translation>
<translation>Você deve aceitar os Termos e Condições para usar o openpilot. Leia os termos mais recentes em &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; antes de continuar.</translation>
</message>
</context>
<context>

8
selfdrive/ui/translations/main_th.ts
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@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>Firehose Mode: ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
<translation type="unfinished"></translation>
@ -337,6 +333,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>HudRenderer</name>

8
selfdrive/ui/translations/main_tr.ts
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@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>Firehose Mode: ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
<translation type="unfinished"></translation>
@ -337,6 +333,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>HudRenderer</name>

8
selfdrive/ui/translations/main_zh-CHS.ts
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@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>Firehose Mode: ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
<translation type="unfinished"></translation>
@ -337,6 +333,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>HudRenderer</name>

8
selfdrive/ui/translations/main_zh-CHT.ts
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@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>Firehose Mode: ACTIVE</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;%1 %2&lt;/b&gt; of your driving are in the training dataset so far.</source>
<translation type="unfinished"></translation>
@ -337,6 +333,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
<source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to unmetered network</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>HudRenderer</name>

2
system/hardware/base.h
Unescape View File

@ -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; }

8
system/hardware/pc/hardware.h
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@ -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
}
};

7
system/hardware/tici/hardware.h
Unescape View File

@ -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
}
};

3
system/ui/lib/application.py
Unescape View File

@ -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)))

1
system/ui/lib/button.py
Unescape View File

@ -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)

48
system/ui/lib/label.py
Unescape View File

@ -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)
]

12
system/ui/reset.py
Unescape View File

@ -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

2
system/ui/text.py
Unescape View File

@ -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)

62
system/ui/widgets/confirm_dialog.py
Unescape View File

@ -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

104
system/ui/widgets/keyboard.py
Unescape View File

@ -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

62
uv.lock
Unescape View File

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