diff --git a/common/params.cc b/common/params.cc index 5c8002dfb7..5c8c94be53 100644 --- a/common/params.cc +++ b/common/params.cc @@ -93,6 +93,7 @@ std::unordered_map keys = { {"CarBatteryCapacity", PERSISTENT}, {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"CarParamsCache", CLEAR_ON_MANAGER_START}, + {"CarParamsPersistent", PERSISTENT}, {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"CompletedTrainingVersion", PERSISTENT}, {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, @@ -101,8 +102,7 @@ std::unordered_map keys = { {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"DisablePowerDown", PERSISTENT}, {"EndToEndLong", PERSISTENT}, - {"DisableRadar_Allow", PERSISTENT}, - {"DisableRadar", PERSISTENT}, // WARNING: THIS DISABLES AEB + {"ExperimentalLongitudinalEnabled", PERSISTENT}, // WARNING: THIS MAY DISABLE AEB {"DisableUpdates", PERSISTENT}, {"DisengageOnAccelerator", PERSISTENT}, {"DongleId", PERSISTENT}, diff --git a/docs/CARS.md b/docs/CARS.md index 1f0e24865d..e3cbea95c2 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -10,7 +10,7 @@ A supported vehicle is one that just works when you install a comma three. All s |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:| |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| -|Acura|RDX 2019-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Acura|RDX 2019-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Audi|A3 2014-19|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|Q2 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| @@ -26,77 +26,77 @@ A supported vehicle is one that just works when you install a comma three. All s |Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| -|comma|body|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None| +|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None| |Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| |Genesis|G70 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| |Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Genesis|G90 2017-18|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| +|Genesis|G90 2017-18|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| |GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| -|Honda|Accord 2018-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Honda|Accord Hybrid 2018-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Honda|Accord 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Honda|Accord Hybrid 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| -|Honda|Civic 2019-21|All|Stock|0 mph|2 mph[2](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Honda|Civic 2019-21|All|openpilot|0 mph|2 mph[2](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B| -|Honda|Civic Hatchback 2017-21|Honda Sensing|Stock|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B| |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| -|Honda|CR-V 2017-22|Honda Sensing|Stock|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Honda|CR-V Hybrid 2017-19|Honda Sensing|Stock|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Honda|e 2020|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Honda|CR-V 2017-22|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Honda|e 2020|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| -|Honda|Insight 2019-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Honda|Inspire 2018|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Honda|Insight 2019-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Honda|Inspire 2018|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| -|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| -|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| +|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| +|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J| -|Hyundai|Ioniq 5 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q| +|Hyundai|Ioniq 5 2022|Highway Driving Assist II|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q| |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC) & LFA|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| +|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Hyundai|Kona 2020|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| +|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| |Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai O| -|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I| +|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I| |Hyundai|Palisade 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Hyundai|Santa Fe 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D| -|Hyundai|Santa Fe 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| -|Hyundai|Santa Fe Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| -|Hyundai|Santa Fe Plug-in Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| +|Hyundai|Santa Fe 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| +|Hyundai|Santa Fe Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| +|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Hyundai|Sonata 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Hyundai|Sonata Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| -|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| -|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| -|Hyundai|Tucson Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| +|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| +|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| +|Hyundai|Tucson Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| -|Kia|EV6 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P| -|Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| -|Kia|Forte 2019-21|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| -|Kia|K5 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| +|Kia|EV6 2022|Highway Driving Assist II|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P| +|Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| +|Kia|Forte 2019-21|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| +|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Kia|Niro Electric 2019|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Kia|Niro Electric 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| |Kia|Niro Electric 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Kia|Niro Electric 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| -|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| +|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| +|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Kia|Niro Plug-in Hybrid 2018-19|Smart Cruise Control (SCC) & LKAS|openpilot|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Kia|Optima 2017|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| |Kia|Optima 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| -|Kia|Seltos 2021|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| +|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Kia|Sorento 2018|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Kia|Sorento 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Kia|Stinger 2018-20|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py index e85735b1a6..ae7ab89aab 100644 --- a/selfdrive/car/body/interface.py +++ b/selfdrive/car/body/interface.py @@ -8,7 +8,7 @@ from selfdrive.car.body.values import SPEED_FROM_RPM class CarInterface(CarInterfaceBase): @staticmethod - def get_params(candidate, fingerprint=None, car_fw=None, disable_radar=False): + def get_params(candidate, fingerprint=None, car_fw=None, experimental_long=False): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 9e1260a6d5..4f098fadb5 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -177,10 +177,10 @@ def get_car(logcan, sendcan): cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints) candidate = "mock" - disable_radar = Params().get_bool("DisableRadar") + experimental_long = Params().get_bool("ExperimentalLongitudinalEnabled") CarInterface, CarController, CarState = interfaces[candidate] - CP = CarInterface.get_params(candidate, fingerprints, car_fw, disable_radar) + CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long) CP.carVin = vin CP.carFw = car_fw CP.fingerprintSource = source diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 131f813c6c..245e10650c 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -8,7 +8,7 @@ from selfdrive.car.interfaces import CarInterfaceBase class CarInterface(CarInterfaceBase): @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False): + def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "chrysler" diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py index 4d79cbfc76..e948698cb4 100755 --- a/selfdrive/car/docs.py +++ b/selfdrive/car/docs.py @@ -11,7 +11,6 @@ from common.basedir import BASEDIR from selfdrive.car import gen_empty_fingerprint from selfdrive.car.docs_definitions import CarInfo, Column from selfdrive.car.car_helpers import interfaces, get_interface_attr -from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR as HKG_RADAR_START_ADDR def get_all_footnotes() -> Dict[Enum, int]: @@ -29,10 +28,7 @@ def get_all_car_info() -> List[CarInfo]: all_car_info: List[CarInfo] = [] footnotes = get_all_footnotes() for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items(): - # Hyundai exception: those with radar have openpilot longitudinal - fingerprint = gen_empty_fingerprint() - fingerprint[1] = {HKG_RADAR_START_ADDR: 8} - CP = interfaces[model][0].get_params(model, fingerprint=fingerprint, disable_radar=True) + CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), experimental_long=True) if CP.dashcamOnly or car_info is None: continue diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 3f9d51b433..015877dcb4 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -132,7 +132,7 @@ class CarInfo: Column.MAKE: self.make, Column.MODEL: self.model, Column.PACKAGE: self.package, - Column.LONGITUDINAL: "openpilot" if CP.openpilotLongitudinalControl and not CP.radarOffCan else "Stock", + Column.LONGITUDINAL: "openpilot" if CP.openpilotLongitudinalControl or CP.experimentalLongitudinalAvailable else "Stock", Column.FSR_LONGITUDINAL: f"{max(self.min_enable_speed * CV.MS_TO_MPH, 0):.0f} mph", Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph", Column.STEERING_TORQUE: Star.EMPTY, diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 405579fa60..271b347148 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -11,7 +11,7 @@ EventName = car.CarEvent.EventName class CarInterface(CarInterfaceBase): @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False): + def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "ford" diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index ac8bc45809..be28890484 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -45,7 +45,7 @@ class CarInterface(CarInterfaceBase): return CarInterfaceBase.get_steer_feedforward_default @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False): + def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "gm" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)] diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index a235ba6cda..c884f586a0 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -29,7 +29,7 @@ class CarInterface(CarInterfaceBase): return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS) @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disable_radar=False): # pylint: disable=dangerous-default-value + def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False): # pylint: disable=dangerous-default-value ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "honda" @@ -40,7 +40,8 @@ class CarInterface(CarInterfaceBase): if candidate not in HONDA_BOSCH_RADARLESS: # Disable the radar and let openpilot control longitudinal # WARNING: THIS DISABLES AEB! - ret.openpilotLongitudinalControl = disable_radar + ret.experimentalLongitudinalAvailable = True + ret.openpilotLongitudinalControl = experimental_long ret.pcmCruise = not ret.openpilotLongitudinalControl else: diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index bbb797c2e0..97b8b30dc9 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -21,14 +21,15 @@ class CarInterface(CarInterfaceBase): return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disable_radar=False): # pylint: disable=dangerous-default-value + def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False): # pylint: disable=dangerous-default-value ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "hyundai" ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None # WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB) - ret.openpilotLongitudinalControl = disable_radar and (candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR)) + ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR) + ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable ret.pcmCruise = not ret.openpilotLongitudinalControl diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 1e14aca8cf..a33560cd0e 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -85,7 +85,7 @@ class CarInterfaceBase(ABC): @staticmethod @abstractmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False): + def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): pass @staticmethod diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index 8640903444..89ed5638cb 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -15,7 +15,7 @@ class CarInterface(CarInterfaceBase): return float(accel) / 4.0 @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False): + def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "mazda" diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py index 715850c227..2c7f4611ee 100755 --- a/selfdrive/car/mock/interface.py +++ b/selfdrive/car/mock/interface.py @@ -33,7 +33,7 @@ class CarInterface(CarInterfaceBase): return accel @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False): + def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "mock" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)] diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index 494573f498..e095ceb461 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -8,7 +8,7 @@ from selfdrive.car.nissan.values import CAR class CarInterface(CarInterfaceBase): @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False): + def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "nissan" diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index b842912256..a920c02534 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -9,7 +9,7 @@ from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS class CarInterface(CarInterfaceBase): @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False): + def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "subaru" diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py index 5e78c72b60..2eb29efb41 100755 --- a/selfdrive/car/tesla/interface.py +++ b/selfdrive/car/tesla/interface.py @@ -8,7 +8,7 @@ from selfdrive.car.interfaces import CarInterfaceBase class CarInterface(CarInterfaceBase): @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False): + def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "tesla" diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index cc7d3da874..fa07db92db 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -67,7 +67,7 @@ class TestCarModelBase(unittest.TestCase): raise unittest.SkipTest raise Exception(f"missing test route for {cls.car_model}") - disable_radar = False + experimental_long = False test_segs = (2, 1, 0) if cls.test_route.segment is not None: test_segs = (cls.test_route.segment,) @@ -93,7 +93,7 @@ class TestCarModelBase(unittest.TestCase): elif msg.which() == "carParams": car_fw = msg.carParams.carFw if msg.carParams.openpilotLongitudinalControl: - disable_radar = True + experimental_long = True if cls.car_model is None and not cls.ci: cls.car_model = msg.carParams.carFingerprint @@ -105,7 +105,7 @@ class TestCarModelBase(unittest.TestCase): cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime) cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model] - cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, car_fw, disable_radar) + cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, car_fw, experimental_long) assert cls.CP assert cls.CP.carFingerprint == cls.car_model diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index a0d3ce9b8d..8528005eb5 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -16,7 +16,7 @@ class CarInterface(CarInterfaceBase): return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disable_radar=False): # pylint: disable=dangerous-default-value + def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False): # pylint: disable=dangerous-default-value ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "toyota" diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 6f0bb9a197..3ed7a6244d 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -21,7 +21,7 @@ class CarInterface(CarInterfaceBase): self.cp_ext = self.cp_cam @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False): + def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "volkswagen" ret.radarOffCan = True @@ -49,9 +49,10 @@ class CarInterface(CarInterfaceBase): # Panda ALLOW_DEBUG firmware required. ret.dashcamOnly = True - if disable_radar and ret.networkLocation == NetworkLocation.gateway: + if experimental_long and ret.networkLocation == NetworkLocation.gateway: # Proof-of-concept, prep for E2E only. No radar points available. Follow-to-stop not yet supported, but should # be simple to add when a suitable test car becomes available. Panda ALLOW_DEBUG firmware required. + ret.experimentalLongitudinalAvailable = True ret.openpilotLongitudinalControl = True ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 3704389304..3054b020e1 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -12,7 +12,7 @@ import cereal.messaging as messaging from common.conversions import Conversions as CV from panda import ALTERNATIVE_EXPERIENCE from system.swaglog import cloudlog -from system.version import get_short_branch +from system.version import is_tested_branch, get_short_branch from selfdrive.boardd.boardd import can_list_to_can_capnp from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can from selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET @@ -134,10 +134,14 @@ class Controls: safety_config.safetyModel = car.CarParams.SafetyModel.noOutput self.CP.safetyConfigs = [safety_config] + if is_tested_branch(): + self.CP.experimentalLongitudinalAvailable = False + # Write CarParams for radard cp_bytes = self.CP.to_bytes() params.put("CarParams", cp_bytes) put_nonblocking("CarParamsCache", cp_bytes) + put_nonblocking("CarParamsPersistent", cp_bytes) self.CC = car.CarControl.new_message() self.CS_prev = car.CarState.new_message() diff --git a/selfdrive/debug/set_car_params.py b/selfdrive/debug/set_car_params.py index bcdaed0778..24258db9f2 100755 --- a/selfdrive/debug/set_car_params.py +++ b/selfdrive/debug/set_car_params.py @@ -1,11 +1,22 @@ #!/usr/bin/env python3 import sys +from cereal import car from common.params import Params from tools.lib.route import Route from tools.lib.logreader import LogReader if __name__ == "__main__": - r = Route(sys.argv[1]) - cp = [m for m in LogReader(r.qlog_paths()[0]) if m.which() == 'carParams'] - Params().put("CarParams", cp[0].carParams.as_builder().to_bytes()) + CP = None + if len(sys.argv) > 1: + r = Route(sys.argv[1]) + cps = [m for m in LogReader(r.qlog_paths()[0]) if m.which() == 'carParams'] + CP = cps[0].carParams.as_builder() + else: + CP = car.CarParams.new_message() + CP.openpilotLongitudinalControl = True + CP.experimentalLongitudinalAvailable = False + + cp_bytes = CP.to_bytes() + for p in ("CarParams", "CarParamsCache", "CarParamsPersistent"): + Params().put(p, cp_bytes) diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 772dd9488f..ff2bf4bc89 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -49,9 +49,6 @@ def manager_init() -> None: if params.get_bool("RecordFrontLock"): params.put_bool("RecordFront", True) - if not params.get_bool("DisableRadar_Allow"): - params.remove("DisableRadar") - # set unset params for k, v in default_params: if params.get(k) is None: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 0e2a5d84e3..8878e0e1f1 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -209423f468194c77443110078639ff67a8b99073 +8137b41a0520d2b4a0ca223f9934957ae21695e5 diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc index db33e1cd67..7d8bbf74e0 100644 --- a/selfdrive/ui/installer/installer.cc +++ b/selfdrive/ui/installer/installer.cc @@ -182,7 +182,6 @@ void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) { std::map params = { {"SshEnabled", "1"}, {"RecordFrontLock", "1"}, - {"DisableRadar_Allow", "1"}, {"GithubSshKeys", SSH_KEYS}, }; for (const auto& [key, value] : params) { diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index d44f4c75f6..33b16b1051 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -28,7 +28,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { // param, title, desc, icon - std::vector> toggles{ + std::vector> toggle_defs{ { "OpenpilotEnabledToggle", tr("Enable openpilot"), @@ -62,7 +62,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { { "EndToEndLong", tr("🌮 End-to-end longitudinal (extremely alpha) 🌮"), - tr("Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental."), + "", "../assets/offroad/icon_road.png", }, #ifdef ENABLE_MAPS @@ -82,22 +82,75 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { }; - Params params; - - if (params.getBool("DisableRadar_Allow")) { - toggles.push_back({ - "DisableRadar", - tr("openpilot Longitudinal Control"), - tr("openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB!"), - "../assets/offroad/icon_speed_limit.png", - }); - } - - for (auto &[param, title, desc, icon] : toggles) { + for (auto &[param, title, desc, icon] : toggle_defs) { auto toggle = new ParamControl(param, title, desc, icon, this); + bool locked = params.getBool((param + "Lock").toStdString()); toggle->setEnabled(!locked); + addItem(toggle); + toggles[param.toStdString()] = toggle; + } + + QObject::connect(toggles["EndToEndLong"], &ParamControl::toggleFlipped, [=](bool state) { + auto cp_bytes = params.get("CarParamsPersistent"); + if (!cp_bytes.empty()) { + AlignedBuffer aligned_buf; + capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size())); + cereal::CarParams::Reader CP = cmsg.getRoot(); + if (CP.getExperimentalLongitudinalAvailable()) { + params.putBool("ExperimentalLongitudinalEnabled", state); + } else { + params.remove("ExperimentalLongitudinalEnabled"); + } + } else { + params.remove("ExperimentalLongitudinalEnabled"); + } + }); + + connect(uiState(), &UIState::offroadTransition, [=]() { + updateToggles(); + }); +} + +void TogglesPanel::showEvent(QShowEvent *event) { + updateToggles(); +} + +void TogglesPanel::updateToggles() { + // update e2e toggle + auto toggle = toggles["EndToEndLong"]; + const QString e2e_description = tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental."); + + auto cp_bytes = params.get("CarParamsPersistent"); + if (!cp_bytes.empty()) { + AlignedBuffer aligned_buf; + capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size())); + cereal::CarParams::Reader CP = cmsg.getRoot(); + + const bool exp_long = CP.getExperimentalLongitudinalAvailable(); + const bool op_long = CP.getOpenpilotLongitudinalControl() && !CP.getExperimentalLongitudinalAvailable(); + + if (op_long) { + // normal description and toggle + params.remove("ExperimentalLongitudinalEnabled"); + toggle->setDescription(e2e_description); + } else if (exp_long) { + toggle->setDescription("WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.

" + e2e_description); + if (params.getBool("EndToEndLong") && !params.getBool("ExperimentalLongitudinalEnabled")) { + params.remove("EndToEndLong"); + } + } else { + // no long for now + params.remove("EndToEndLong"); + params.remove("ExperimentalLongitudinalEnabled"); + toggle->setDescription("openpilot longitudinal control is not currently available for this car.

" + e2e_description); + } + + toggle->refresh(); + toggle->setEnabled(op_long || (exp_long && !uiState()->scene.started)); + } else { + toggle->setDescription(e2e_description); } } diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h index 45efe255cf..1f823851f1 100644 --- a/selfdrive/ui/qt/offroad/settings.h +++ b/selfdrive/ui/qt/offroad/settings.h @@ -54,6 +54,13 @@ class TogglesPanel : public ListWidget { Q_OBJECT public: explicit TogglesPanel(SettingsWindow *parent); + void showEvent(QShowEvent *event) override; + +private: + Params params; + std::map toggles; + + void updateToggles(); }; class SoftwarePanel : public ListWidget { diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index 4245a9c04a..183fbff04d 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -105,7 +105,10 @@ public: QObject::connect(&toggle, &Toggle::stateChanged, this, &ToggleControl::toggleFlipped); } - void setEnabled(bool enabled) { toggle.setEnabled(enabled); toggle.update(); } + void setEnabled(bool enabled) { + toggle.setEnabled(enabled); + toggle.update(); + } signals: void toggleFlipped(bool state); @@ -121,17 +124,21 @@ class ParamControl : public ToggleControl { public: ParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr) : ToggleControl(title, desc, icon, false, parent) { key = param.toStdString(); - QObject::connect(this, &ToggleControl::toggleFlipped, [=](bool state) { + QObject::connect(this, &ParamControl::toggleFlipped, [=](bool state) { params.putBool(key, state); }); } - void showEvent(QShowEvent *event) override { + void refresh() { if (params.getBool(key) != toggle.on) { toggle.togglePosition(); } }; + void showEvent(QShowEvent *event) override { + refresh(); + }; + private: std::string key; Params params; diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 7d0203daed..4ce5b7b8d6 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -108,7 +108,7 @@ DevicePanel - + Dongle ID ドングル番号 (Dongle ID) @@ -1153,7 +1153,7 @@ location set TogglesPanel - + Enable openpilot openpilot を有効化 @@ -1198,12 +1198,12 @@ location set - - Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental. + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - + Disengage On Accelerator Pedal ｱｸｾﾙ踏むと openpilot をｷｬﾝｾﾙ @@ -1232,16 +1232,6 @@ location set Show map on left side when in split screen view. 分割画面表示の場合、ディスプレイの左側にマップを表示します。 - - - openpilot Longitudinal Control - openpilot 縦方向制御 - - - - openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! - openpilot は、車のレーダーを無効化し、アクセルとブレーキの制御を引き継ぎます。注意：AEB を無効化にします！ - Updater diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index ff83057a93..a38cfaf946 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -108,7 +108,7 @@ DevicePanel - + Dongle ID Dongle ID @@ -1153,7 +1153,7 @@ location set TogglesPanel - + Enable openpilot openpilot 사용 @@ -1198,12 +1198,12 @@ location set 🌮 e2e long 사용 (매우 실험적) 🌮 - - Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental. - 주행모델이 가속과 감속을 제어하도록 하면 openpilot은 운전자가 생각하는것처럼 운전합니다. (매우 실험적) + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. + - + Disengage On Accelerator Pedal 가속페달 조작시 해제 @@ -1232,16 +1232,6 @@ location set Show map on left side when in split screen view. 분할 화면 보기에서 지도를 왼쪽에 표시합니다. - - - openpilot Longitudinal Control - openpilot Longitudinal Control - - - - openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! - openpilot은 차량'의 레이더를 무력화시키고 가속페달과 브레이크의 제어를 인계받을 것이다. 경고: AEB를 비활성화합니다! - Updater diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 5a2167ea87..9f3bd59824 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -108,7 +108,7 @@ DevicePanel - + Dongle ID Dongle ID @@ -1157,7 +1157,7 @@ trabalho definido TogglesPanel - + Enable openpilot Ativar openpilot @@ -1202,12 +1202,12 @@ trabalho definido 🌮 End-to-end longitudinal (experimental) 🌮 - - Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental. - Deixe o modelo de direção controlar o acelerador e o freio, o openpilot dirigirá da maneira como ele entende que um humano o faria. Super experimental. + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. + - + Disengage On Accelerator Pedal Desacionar Com Pedal Do Acelerador @@ -1236,16 +1236,6 @@ trabalho definido Show map on left side when in split screen view. Exibir mapa do lado esquerdo quando a tela for dividida. - - - openpilot Longitudinal Control - openpilot Controle Longitudinal - - - - openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! - openpilot desativará o radar do carro e assumirá o controle do acelerador e freios. Atenção: isso desativa AEB! - Updater diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 79a08899cb..94ed832113 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -108,7 +108,7 @@ DevicePanel - + Dongle ID 设备ID（Dongle ID） @@ -1151,7 +1151,7 @@ location set TogglesPanel - + Enable openpilot 启用openpilot @@ -1196,12 +1196,12 @@ location set - - Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental. + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - + Disengage On Accelerator Pedal 踩油门时取消控制 @@ -1230,16 +1230,6 @@ location set Show map on left side when in split screen view. 在分屏模式中，将地图置于屏幕左侧。 - - - openpilot Longitudinal Control - openpilot纵向控制 - - - - openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! - openpilot将禁用车辆的雷达并接管油门和刹车的控制。警告：AEB将被禁用！ - Updater diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 0d51e6d286..754d41bbda 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -108,7 +108,7 @@ DevicePanel - + Dongle ID Dongle ID @@ -1153,7 +1153,7 @@ location set TogglesPanel - + Enable openpilot 啟用 openpilot @@ -1198,12 +1198,12 @@ location set - - Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental. + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - + Disengage On Accelerator Pedal 油門取消控車 @@ -1232,16 +1232,6 @@ location set Show map on left side when in split screen view. 進入分割畫面後，地圖將會顯示在畫面的左側。 - - - openpilot Longitudinal Control - openpilot 縱向控制 - - - - openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! - openpilot 將會關閉雷達訊號並接管油門和剎車的控制。注意：這也會關閉自動緊急煞車 (AEB) 系統！ - Updater