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Merge remote-tracking branch 'upstream/master' into gm-reliable-relay-close

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Shane Smiskol 2 years ago
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  1. 1
      RELEASES.md
  2. 11
      docs/CARS.md
  3. 4
      selfdrive/boardd/panda.cc
  4. 12
      selfdrive/car/ford/carcontroller.py
  5. 44
      selfdrive/car/ford/fordcan.py
  6. 5
      selfdrive/car/ford/values.py
  7. 33
      selfdrive/car/hyundai/values.py
  8. 1
      selfdrive/car/tests/routes.py
  9. 1
      selfdrive/car/torque_data/substitute.yaml
  10. 2
      selfdrive/car/toyota/carcontroller.py
  11. 2
      selfdrive/car/toyota/values.py
  12. 5
      selfdrive/car/volkswagen/interface.py
  13. 31
      selfdrive/car/volkswagen/values.py
  14. 2
      selfdrive/test/process_replay/ref_commit
  15. 36
      tools/cabana/chartswidget.cc
  16. 11
      tools/cabana/detailwidget.cc
  17. 8
      tools/cabana/signaledit.cc
  18. 17
      tools/cabana/util.cc
  19. 4
      tools/cabana/util.h
  20. 4
      tools/cabana/videowidget.cc

1
RELEASES.md
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@ -8,6 +8,7 @@ Version 0.9.1 (2022-12-XX)
* Hyundai Tucson 2022-23 support * Hyundai Tucson 2022-23 support
* Kia Sorento 2022-23 support thanks to sunnyhaibin! * Kia Sorento 2022-23 support thanks to sunnyhaibin!
* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin! * Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
* Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607!
Version 0.9.0 (2022-11-21) Version 0.9.0 (2022-11-21)
======================== ========================

11
docs/CARS.md
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@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
# 224 Supported Cars # 231 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video| |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@ -30,7 +30,8 @@ A supported vehicle is one that just works when you install a comma three. All s
|comma|body|All|openpilot|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)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F</a>|| |Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F</a>||
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F</a>|| |Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F</a>||
|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017-19">Hyundai H</a>|| |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J</a>||
|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Hyundai H</a>||
|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Hyundai C</a>|| |Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Hyundai C</a>||
|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Hyundai A</a>|| |Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Hyundai A</a>||
|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Hyundai K</a>|| |Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Hyundai K</a>||
@ -135,6 +136,8 @@ A supported vehicle is one that just works when you install a comma three. All s
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Toyota</a>|| |Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Toyota</a>||
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Toyota</a>|| |Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Toyota</a>||
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Toyota</a>|| |Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Toyota</a>||
|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Mazda</a>|| |Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Mazda</a>||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Mazda</a>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Mazda</a>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Nissan B</a>|| |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Nissan B</a>||
@ -181,6 +184,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Toyota</a>|| |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Toyota</a>||
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hatchback 2019-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hatchback 2019-22">Toyota</a>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid 2020-22">Toyota</a>|| |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid 2020-22">Toyota</a>||
|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Toyota</a>||
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2017-19">Toyota</a>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2017-19">Toyota</a>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2020-23">Toyota</a>|| |Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2020-23">Toyota</a>||
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2017-19">Toyota</a>|| |Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2017-19">Toyota</a>||
@ -209,6 +213,8 @@ A supported vehicle is one that just works when you install a comma three. All s
|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">J533</a>|| |Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">J533</a>||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">J533</a>|| |Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">J533</a>||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>| |Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">J533</a>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">J533</a>|| |Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">J533</a>||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">J533</a>|| |Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">J533</a>||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">J533</a>|| |Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">J533</a>||
@ -217,6 +223,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">J533</a>|| |Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">J533</a>||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">J533</a>|| |Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">J533</a>||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">J533</a>|| |Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">J533</a>||
|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">J533</a>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">J533</a>|| |Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">J533</a>||
|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">J533</a>|| |Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">J533</a>||
|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">J533</a>|| |Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">J533</a>||

4
selfdrive/boardd/panda.cc
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@ -236,6 +236,9 @@ void Panda::can_send(capnp::List<cereal::CanData>::Reader can_data_list) {
} }
bool Panda::can_receive(std::vector<can_frame>& out_vec) { bool Panda::can_receive(std::vector<can_frame>& out_vec) {
// Check if enough space left in buffer to store RECV_SIZE data
assert(receive_buffer_size + RECV_SIZE <= sizeof(receive_buffer));
int recv = handle->bulk_read(0x81, &receive_buffer[receive_buffer_size], RECV_SIZE); int recv = handle->bulk_read(0x81, &receive_buffer[receive_buffer_size], RECV_SIZE);
if (!comms_healthy()) { if (!comms_healthy()) {
return false; return false;
@ -278,6 +281,7 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_fra
if (calculate_checksum(&data[pos], sizeof(can_header) + data_len) != 0) { if (calculate_checksum(&data[pos], sizeof(can_header) + data_len) != 0) {
LOGE("Panda CAN checksum failed"); LOGE("Panda CAN checksum failed");
size = 0;
return false; return false;
} }

12
selfdrive/car/ford/carcontroller.py
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@ -3,8 +3,8 @@ from common.numpy_fast import clip
from opendbc.can.packer import CANPacker from opendbc.can.packer import CANPacker
from selfdrive.car import apply_std_steer_angle_limits from selfdrive.car import apply_std_steer_angle_limits
from selfdrive.car.ford.fordcan import create_acc_command, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \ from selfdrive.car.ford.fordcan import create_acc_command, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \
create_lka_msg, create_lkas_ui_msg create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
from selfdrive.car.ford.values import CANBUS, CarControllerParams from selfdrive.car.ford.values import CANBUS, CANFD_CARS, CarControllerParams
VisualAlert = car.CarControl.HUDControl.VisualAlert VisualAlert = car.CarControl.HUDControl.VisualAlert
@ -54,6 +54,13 @@ class CarController:
self.apply_curvature_last = apply_curvature self.apply_curvature_last = apply_curvature
can_sends.append(create_lka_msg(self.packer)) can_sends.append(create_lka_msg(self.packer))
if self.CP.carFingerprint in CANFD_CARS:
# TODO: extended mode
mode = 1 if CC.latActive else 0
counter = self.frame // CarControllerParams.STEER_STEP
can_sends.append(create_lat_ctl2_msg(self.packer, mode, 0., 0., -apply_curvature, 0., counter))
else:
can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.)) can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.))
### longitudinal control ### ### longitudinal control ###
@ -71,7 +78,6 @@ class CarController:
can_sends.append(create_acc_command(self.packer, CC.longActive, gas, accel, precharge_brake, decel)) can_sends.append(create_acc_command(self.packer, CC.longActive, gas, accel, precharge_brake, decel))
### ui ### ### ui ###
send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)

44
selfdrive/car/ford/fordcan.py
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@ -4,6 +4,15 @@ from selfdrive.car.ford.values import CANBUS
HUDControl = car.CarControl.HUDControl HUDControl = car.CarControl.HUDControl
def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray):
checksum = mode + counter
checksum += dat[2] + ((dat[3] & 0xE0) >> 5) # curvature
checksum += dat[6] + ((dat[7] & 0xE0) >> 5) # curvature rate
checksum += (dat[3] & 0x1F) + ((dat[4] & 0xFC) >> 2) # path angle
checksum += (dat[4] & 0x3) + dat[5] # path offset
return 0xFF - (checksum & 0xFF)
def create_lka_msg(packer): def create_lka_msg(packer):
""" """
Creates an empty CAN message for the Ford LKA Command. Creates an empty CAN message for the Ford LKA Command.
@ -16,7 +25,8 @@ def create_lka_msg(packer):
return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {}) return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {})
def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle: float, curvature: float, curvature_rate: float): def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle: float, curvature: float,
curvature_rate: float):
""" """
Creates a CAN message for the Ford TJA/LCA Command. Creates a CAN message for the Ford TJA/LCA Command.
@ -55,6 +65,38 @@ def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle:
return packer.make_can_msg("LateralMotionControl", CANBUS.main, values) return packer.make_can_msg("LateralMotionControl", CANBUS.main, values)
def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float, curvature: float,
curvature_rate: float, counter: int):
"""
Create a CAN message for the new Ford Lane Centering command.
This message is used on the CAN FD platform and replaces the old LateralMotionControl message. It is similar but has
additional signals for a counter and checksum.
Frequency is 20Hz.
"""
values = {
"LatCtl_D2_Rq": mode, # Mode: 0=None, 1=PathFollowingLimitedMode, 2=PathFollowingExtendedMode,
# 3=SafeRampOut, 4-7=NotUsed [0|7]
"LatCtlRampType_D_Rq": 0, # 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
"LatCtlPrecision_D_Rq": 1, # 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
"LatCtlPathOffst_L_Actl": path_offset, # [-5.12|5.11] meter
"LatCtlPath_An_Actl": path_angle, # [-0.5|0.5235] radians
"LatCtlCurv_No_Actl": curvature, # [-0.02|0.02094] 1/meter
"LatCtlCrv_NoRate2_Actl": curvature_rate, # [-0.001024|0.001023] 1/meter^2
"HandsOffCnfm_B_Rq": 0, # 0=Inactive, 1=Active [0|1]
"LatCtlPath_No_Cnt": counter, # [0|15]
"LatCtlPath_No_Cs": 0, # [0|255]
}
# calculate checksum
dat = packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)[2]
values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat)
return packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)
def create_acc_command(packer, long_active: bool, gas: float, accel: float, precharge_brake: bool, decel: bool): def create_acc_command(packer, long_active: bool, gas: float, accel: float, precharge_brake: bool, decel: bool):
""" """
Creates a CAN message for the Ford ACC Command. Creates a CAN message for the Ford ACC Command.

5
selfdrive/car/ford/values.py
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@ -1,7 +1,7 @@
from collections import defaultdict from collections import defaultdict
from dataclasses import dataclass from dataclasses import dataclass
from enum import Enum from enum import Enum
from typing import Dict, List, Union from typing import Dict, List, Set, Union
from cereal import car from cereal import car
from selfdrive.car import AngleRateLimit, dbc_dict from selfdrive.car import AngleRateLimit, dbc_dict
@ -52,6 +52,9 @@ class CAR:
MAVERICK_MK1 = "FORD MAVERICK 1ST GEN" MAVERICK_MK1 = "FORD MAVERICK 1ST GEN"
CANFD_CARS: Set[str] = set()
class RADAR: class RADAR:
DELPHI_ESR = 'ford_fusion_2018_adas' DELPHI_ESR = 'ford_fusion_2018_adas'
DELPHI_MRR = 'FORD_CADS' DELPHI_MRR = 'FORD_CADS'

33
selfdrive/car/hyundai/values.py
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@ -147,7 +147,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
], ],
CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), # TODO: check 2015 packages CAR.HYUNDAI_GENESIS: [
HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), # TODO: check 2015 packages
HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j),
],
CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c), CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c),
CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", harness=Harness.hyundai_h), # TODO: confirm 2020-21 harness CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", harness=Harness.hyundai_h), # TODO: confirm 2020-21 harness
CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c), CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c),
@ -232,7 +235,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f), CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f),
CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness=Harness.hyundai_f), CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness=Harness.hyundai_f),
CAR.GENESIS_GV70_1ST_GEN: HyundaiCarInfo("Genesis GV70 2022-23", "All", harness=Harness.hyundai_l), CAR.GENESIS_GV70_1ST_GEN: HyundaiCarInfo("Genesis GV70 2022-23", "All", harness=Harness.hyundai_l),
CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2017-19", "All", harness=Harness.hyundai_h), CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", harness=Harness.hyundai_h),
CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness=Harness.hyundai_c), CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness=Harness.hyundai_c),
} }
@ -364,6 +367,13 @@ FW_QUERY_CONFIG = FwQueryConfig(
) )
FW_VERSIONS = { FW_VERSIONS = {
CAR.HYUNDAI_GENESIS: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00DH LKAS 1.1 -150210',
b'\xf1\x00DH LKAS 1.4 -140110',
b'\xf1\x00DH LKAS 1.5 -140425',
],
},
CAR.IONIQ: { CAR.IONIQ: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ', b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ',
@ -1028,6 +1038,25 @@ FW_VERSIONS = {
b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
}, },
CAR.GENESIS_G80: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00DH__ SCC F-CUP 1.00 1.01 96400-B1120 ',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00DH LKAS AT USA LHD 1.01 1.03 95895-B1500 180713',
b'\xf1\x00DH LKAS AT USA LHD 1.01 1.02 95895-B1500 170810',
b'\xf1\x00DH LKAS AT USA LHD 1.01 1.01 95895-B1500 161014',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SDH0T33NH4\xd7O\x9e\xc9',
b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00TDH0G38NH3:-\xa9n',
b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0G38NH2j\x9dA\x1c',
b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0T33NH3\x97\xe6\xbc\xb8',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.GENESIS_G90: { CAR.GENESIS_G90: {
(Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7'], (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49 E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7'],
(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00HI__ SCC F-CUP 1.00 1.01 96400-D2100 '], (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00HI__ SCC F-CUP 1.00 1.01 96400-D2100 '],

1
selfdrive/car/tests/routes.py
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@ -26,6 +26,7 @@ non_tested_cars = [
HYUNDAI.GENESIS_G90, HYUNDAI.GENESIS_G90,
HYUNDAI.KIA_OPTIMA_H, HYUNDAI.KIA_OPTIMA_H,
HONDA.ODYSSEY_CHN, HONDA.ODYSSEY_CHN,
VOLKSWAGEN.CRAFTER_MK2, # need a route from an ACC-equipped Crafter
] ]
CarTestRoute = namedtuple('CarTestRoute', ['route', 'car_model', 'segment'], defaults=(None,)) CarTestRoute = namedtuple('CarTestRoute', ['route', 'car_model', 'segment'], defaults=(None,))

1
selfdrive/car/torque_data/substitute.yaml
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@ -59,6 +59,7 @@ SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN
SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN
SKODA KAROQ 1ST GEN: SKODA SUPERB 3RD GEN SKODA KAROQ 1ST GEN: SKODA SUPERB 3RD GEN
SKODA KAMIQ 1ST GEN: SKODA SUPERB 3RD GEN SKODA KAMIQ 1ST GEN: SKODA SUPERB 3RD GEN
VOLKSWAGEN CRAFTER 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN
VOLKSWAGEN T-ROC 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN VOLKSWAGEN T-ROC 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
VOLKSWAGEN T-CROSS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN VOLKSWAGEN T-CROSS 1ST GEN: VOLKSWAGEN TIGUAN 2ND GEN
VOLKSWAGEN TOURAN 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN VOLKSWAGEN TOURAN 2ND GEN: VOLKSWAGEN TIGUAN 2ND GEN

2
selfdrive/car/toyota/carcontroller.py
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@ -143,7 +143,7 @@ class CarController:
# forcing the pcm to disengage causes a bad fault sound so play a good sound instead # forcing the pcm to disengage causes a bad fault sound so play a good sound instead
send_ui = True send_ui = True
if self.frame % 100 == 0 or send_ui: if self.frame % 20 == 0 or send_ui:
can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible, can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible,
hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneVisible, hud_control.leftLaneDepart,
hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud)) hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud))

2
selfdrive/car/toyota/values.py
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@ -125,6 +125,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
], ],
CAR.COROLLAH_TSS2: [ CAR.COROLLAH_TSS2: [
ToyotaCarInfo("Toyota Corolla Hybrid 2020-22"), ToyotaCarInfo("Toyota Corolla Hybrid 2020-22"),
ToyotaCarInfo("Toyota Corolla Hybrid (Non-US only) 2020-23", min_enable_speed=7.5),
ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5), ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
ToyotaCarInfo("Lexus UX Hybrid 2019-22"), ToyotaCarInfo("Lexus UX Hybrid 2019-22"),
], ],
@ -841,6 +842,7 @@ FW_VERSIONS = {
b'\x02896630A07000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896630A07000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x02896630A21000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896630A21000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x02896630ZJ5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896630ZJ5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x02896630ZK8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x02896630ZN8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896630ZN8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x02896630ZQ3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896630ZQ3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x02896630ZR2000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896630ZR2000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',

5
selfdrive/car/volkswagen/interface.py
Unescape View File

@ -107,6 +107,11 @@ class CarInterface(CarInterfaceBase):
ret.mass = 2011 + STD_CARGO_KG ret.mass = 2011 + STD_CARGO_KG
ret.wheelbase = 2.98 ret.wheelbase = 2.98
elif candidate == CAR.CRAFTER_MK2:
ret.mass = 2100 + STD_CARGO_KG
ret.wheelbase = 3.64 # SWB, LWB is 4.49, TBD how to detect difference
ret.minSteerSpeed = 50 * CV.KPH_TO_MS
elif candidate == CAR.GOLF_MK7: elif candidate == CAR.GOLF_MK7:
ret.mass = 1397 + STD_CARGO_KG ret.mass = 1397 + STD_CARGO_KG
ret.wheelbase = 2.62 ret.wheelbase = 2.62

31
selfdrive/car/volkswagen/values.py
Unescape View File

@ -111,6 +111,7 @@ class CANBUS:
class CAR: class CAR:
ARTEON_MK1 = "VOLKSWAGEN ARTEON 1ST GEN" # Chassis AN, Mk1 VW Arteon and variants ARTEON_MK1 = "VOLKSWAGEN ARTEON 1ST GEN" # Chassis AN, Mk1 VW Arteon and variants
ATLAS_MK1 = "VOLKSWAGEN ATLAS 1ST GEN" # Chassis CA, Mk1 VW Atlas and Atlas Cross Sport ATLAS_MK1 = "VOLKSWAGEN ATLAS 1ST GEN" # Chassis CA, Mk1 VW Atlas and Atlas Cross Sport
CRAFTER_MK2 = "VOLKSWAGEN CRAFTER 2ND GEN" # Chassis SY/SZ, Mk2 VW Crafter, VW Grand California, MAN TGE
GOLF_MK7 = "VOLKSWAGEN GOLF 7TH GEN" # Chassis 5G/AU/BA/BE, Mk7 VW Golf and variants GOLF_MK7 = "VOLKSWAGEN GOLF 7TH GEN" # Chassis 5G/AU/BA/BE, Mk7 VW Golf and variants
JETTA_MK7 = "VOLKSWAGEN JETTA 7TH GEN" # Chassis BU, Mk7 VW Jetta JETTA_MK7 = "VOLKSWAGEN JETTA 7TH GEN" # Chassis BU, Mk7 VW Jetta
PASSAT_MK8 = "VOLKSWAGEN PASSAT 8TH GEN" # Chassis 3G, Mk8 VW Passat and variants PASSAT_MK8 = "VOLKSWAGEN PASSAT 8TH GEN" # Chassis 3G, Mk8 VW Passat and variants
@ -122,7 +123,7 @@ class CAR:
TIGUAN_MK2 = "VOLKSWAGEN TIGUAN 2ND GEN" # Chassis AD/BW, Mk2 VW Tiguan and variants TIGUAN_MK2 = "VOLKSWAGEN TIGUAN 2ND GEN" # Chassis AD/BW, Mk2 VW Tiguan and variants
TOURAN_MK2 = "VOLKSWAGEN TOURAN 2ND GEN" # Chassis 1T, Mk2 VW Touran and variants TOURAN_MK2 = "VOLKSWAGEN TOURAN 2ND GEN" # Chassis 1T, Mk2 VW Touran and variants
TRANSPORTER_T61 = "VOLKSWAGEN TRANSPORTER T6.1" # Chassis 7H/7L, T6-facelift Transporter/Multivan/Caravelle/California TRANSPORTER_T61 = "VOLKSWAGEN TRANSPORTER T6.1" # Chassis 7H/7L, T6-facelift Transporter/Multivan/Caravelle/California
TROC_MK1 = "VOLKSWAGEN T-ROC 1ST GEN" # Chassis A1, Mk1 VW VW T-Roc and variants TROC_MK1 = "VOLKSWAGEN T-ROC 1ST GEN" # Chassis A1, Mk1 VW T-Roc and variants
AUDI_A3_MK3 = "AUDI A3 3RD GEN" # Chassis 8V/FF, Mk3 Audi A3 and variants AUDI_A3_MK3 = "AUDI A3 3RD GEN" # Chassis 8V/FF, Mk3 Audi A3 and variants
AUDI_Q2_MK1 = "AUDI Q2 1ST GEN" # Chassis GA, Mk1 Audi Q2 (RoW) and Q2L (China only) AUDI_Q2_MK1 = "AUDI Q2 1ST GEN" # Chassis GA, Mk1 Audi Q2 (RoW) and Q2L (China only)
AUDI_Q3_MK2 = "AUDI Q3 2ND GEN" # Chassis 8U/F3/FS, Mk2 Audi Q3 and variants AUDI_Q3_MK2 = "AUDI Q3 2ND GEN" # Chassis 8U/F3/FS, Mk2 Audi Q3 and variants
@ -184,6 +185,13 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
VWCarInfo("Volkswagen Teramont Cross Sport 2021-22"), VWCarInfo("Volkswagen Teramont Cross Sport 2021-22"),
VWCarInfo("Volkswagen Teramont X 2021-22"), VWCarInfo("Volkswagen Teramont X 2021-22"),
], ],
CAR.CRAFTER_MK2: [
VWCarInfo("Volkswagen Crafter 2017-23", video_link="https://youtu.be/4100gLeabmo"),
VWCarInfo("Volkswagen e-Crafter 2018-23", video_link="https://youtu.be/4100gLeabmo"),
VWCarInfo("Volkswagen Grand California 2019-23", video_link="https://youtu.be/4100gLeabmo"),
VWCarInfo("MAN TGE 2017-23", video_link="https://youtu.be/4100gLeabmo"),
VWCarInfo("MAN eTGE 2020-23", video_link="https://youtu.be/4100gLeabmo"),
],
CAR.GOLF_MK7: [ CAR.GOLF_MK7: [
VWCarInfo("Volkswagen e-Golf 2014-20"), VWCarInfo("Volkswagen e-Golf 2014-20"),
VWCarInfo("Volkswagen Golf 2015-20"), VWCarInfo("Volkswagen Golf 2015-20"),
@ -352,6 +360,23 @@ FW_VERSIONS = {
b'\xf1\x875Q0907572P \xf1\x890682', b'\xf1\x875Q0907572P \xf1\x890682',
], ],
}, },
CAR.CRAFTER_MK2: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8704L906056EK\xf1\x896391',
],
# Only current upstreamed vehicle has a manual transmission
#(Ecu.transmission, 0x7e1, None): [
#],
(Ecu.srs, 0x715, None): [
b'\xf1\x873Q0959655BG\xf1\x890703\xf1\x82\x0e16120016130012051G1313052900',
],
(Ecu.eps, 0x712, None): [
b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x872Q0907572M \xf1\x890233',
],
},
CAR.GOLF_MK7: { CAR.GOLF_MK7: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x8704E906016A \xf1\x897697', b'\xf1\x8704E906016A \xf1\x897697',
@ -942,16 +967,19 @@ FW_VERSIONS = {
b'\xf1\x8704L906021EL\xf1\x897542', b'\xf1\x8704L906021EL\xf1\x897542',
b'\xf1\x8704L906026BP\xf1\x891198', b'\xf1\x8704L906026BP\xf1\x891198',
b'\xf1\x8704L906026BP\xf1\x897608', b'\xf1\x8704L906026BP\xf1\x897608',
b'\xf1\x8704L906056CR\xf1\x892797',
b'\xf1\x8705E906018AS\xf1\x899596', b'\xf1\x8705E906018AS\xf1\x899596',
b'\xf1\x878V0906264H \xf1\x890005', b'\xf1\x878V0906264H \xf1\x890005',
], ],
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
b'\xf1\x870CW300041D \xf1\x891004',
b'\xf1\x870CW300041G \xf1\x891003', b'\xf1\x870CW300041G \xf1\x891003',
b'\xf1\x870CW300050J \xf1\x891908', b'\xf1\x870CW300050J \xf1\x891908',
b'\xf1\x870D9300042M \xf1\x895016', b'\xf1\x870D9300042M \xf1\x895016',
], ],
(Ecu.srs, 0x715, None): [ (Ecu.srs, 0x715, None): [
b'\xf1\x873Q0959655AC\xf1\x890189\xf1\x82\r11110011110011021511110200', b'\xf1\x873Q0959655AC\xf1\x890189\xf1\x82\r11110011110011021511110200',
b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11110011110011021511110200',
b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r12110012120012021612110200', b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r12110012120012021612110200',
b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1312001313001305171311052900', b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1312001313001305171311052900',
b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\0161312001313001305171311052900', b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\0161312001313001305171311052900',
@ -965,6 +993,7 @@ FW_VERSIONS = {
(Ecu.fwdRadar, 0x757, None): [ (Ecu.fwdRadar, 0x757, None): [
b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\00101', b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\00101',
b'\xf1\x875Q0907572H \xf1\x890620', b'\xf1\x875Q0907572H \xf1\x890620',
b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101',
b'\xf1\x875Q0907572P \xf1\x890682', b'\xf1\x875Q0907572P \xf1\x890682',
], ],
}, },

2
selfdrive/test/process_replay/ref_commit
Unescape View File

@ -1 +1 @@
844c84eae269e74b246b039d2b33fd44e98a5b68 d795362593d935767c694c652ecb05ab80dd1914

36
tools/cabana/chartswidget.cc
Unescape View File

@ -13,8 +13,6 @@
#include <QToolTip> #include <QToolTip>
#include <QtConcurrent> #include <QtConcurrent>
#include "selfdrive/ui/qt/util.h"
// ChartsWidget // ChartsWidget
ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
@ -24,7 +22,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
QToolBar *toolbar = new QToolBar(tr("Charts"), this); QToolBar *toolbar = new QToolBar(tr("Charts"), this);
toolbar->setIconSize({16, 16}); toolbar->setIconSize({16, 16});
QAction *new_plot_btn = toolbar->addAction(bootstrapPixmap("file-plus"), ""); QAction *new_plot_btn = toolbar->addAction(utils::icon("file-plus"), "");
new_plot_btn->setToolTip(tr("New Plot")); new_plot_btn->setToolTip(tr("New Plot"));
toolbar->addWidget(title_label = new QLabel()); toolbar->addWidget(title_label = new QLabel());
title_label->setContentsMargins(0, 0, 12, 0); title_label->setContentsMargins(0, 0, 12, 0);
@ -46,9 +44,9 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
range_slider->setPageStep(60); // 1 min range_slider->setPageStep(60); // 1 min
toolbar->addWidget(range_slider); toolbar->addWidget(range_slider);
reset_zoom_btn = toolbar->addAction(bootstrapPixmap("zoom-out"), ""); reset_zoom_btn = toolbar->addAction(utils::icon("zoom-out"), "");
reset_zoom_btn->setToolTip(tr("Reset zoom (drag on chart to zoom X-Axis)")); reset_zoom_btn->setToolTip(tr("Reset zoom (drag on chart to zoom X-Axis)"));
remove_all_btn = toolbar->addAction(bootstrapPixmap("x"), ""); remove_all_btn = toolbar->addAction(utils::icon("x"), "");
remove_all_btn->setToolTip(tr("Remove all charts")); remove_all_btn->setToolTip(tr("Remove all charts"));
dock_btn = toolbar->addAction(""); dock_btn = toolbar->addAction("");
main_layout->addWidget(toolbar); main_layout->addWidget(toolbar);
@ -170,7 +168,7 @@ void ChartsWidget::setMaxChartRange(int value) {
void ChartsWidget::updateToolBar() { void ChartsWidget::updateToolBar() {
range_lb->setText(QString(" %1:%2 ").arg(max_chart_range / 60, 2, 10, QLatin1Char('0')).arg(max_chart_range % 60, 2, 10, QLatin1Char('0'))); range_lb->setText(QString(" %1:%2 ").arg(max_chart_range / 60, 2, 10, QLatin1Char('0')).arg(max_chart_range % 60, 2, 10, QLatin1Char('0')));
title_label->setText(tr("Charts: %1").arg(charts.size())); title_label->setText(tr("Charts: %1").arg(charts.size()));
dock_btn->setIcon(bootstrapPixmap(docking ? "arrow-up-right" : "arrow-down-left")); dock_btn->setIcon(utils::icon(docking ? "arrow-up-right" : "arrow-down-left"));
dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts")); dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts"));
remove_all_btn->setEnabled(!charts.isEmpty()); remove_all_btn->setEnabled(!charts.isEmpty());
reset_zoom_btn->setEnabled(is_zoomed); reset_zoom_btn->setEnabled(is_zoomed);
@ -311,7 +309,7 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) {
chart->setMargins({20, 11, 11, 11}); chart->setMargins({20, 11, 11, 11});
QToolButton *remove_btn = new QToolButton(); QToolButton *remove_btn = new QToolButton();
remove_btn->setIcon(bootstrapPixmap("x")); remove_btn->setIcon(utils::icon("x"));
remove_btn->setAutoRaise(true); remove_btn->setAutoRaise(true);
remove_btn->setToolTip(tr("Remove Chart")); remove_btn->setToolTip(tr("Remove Chart"));
close_btn_proxy = new QGraphicsProxyWidget(chart); close_btn_proxy = new QGraphicsProxyWidget(chart);
@ -319,7 +317,7 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) {
close_btn_proxy->setZValue(chart->zValue() + 11); close_btn_proxy->setZValue(chart->zValue() + 11);
QToolButton *manage_btn = new QToolButton(); QToolButton *manage_btn = new QToolButton();
manage_btn->setIcon(bootstrapPixmap("gear")); manage_btn->setIcon(utils::icon("gear"));
manage_btn->setAutoRaise(true); manage_btn->setAutoRaise(true);
manage_btn->setToolTip(tr("Manage series")); manage_btn->setToolTip(tr("Manage series"));
manage_btn_proxy = new QGraphicsProxyWidget(chart); manage_btn_proxy = new QGraphicsProxyWidget(chart);
@ -358,11 +356,6 @@ void ChartView::setPlotAreaLeftPosition(int pos) {
void ChartView::addSeries(const QString &msg_id, const Signal *sig) { void ChartView::addSeries(const QString &msg_id, const Signal *sig) {
QLineSeries *series = new QLineSeries(this); QLineSeries *series = new QLineSeries(this);
// TODO: Due to a bug in CameraWidget the camera frames
// are drawn instead of the graphs on MacOS. Re-enable OpenGL when fixed
#ifndef __APPLE__
series->setUseOpenGL(true);
#endif
chart()->addSeries(series); chart()->addSeries(series);
series->attachAxis(axis_x); series->attachAxis(axis_x);
series->attachAxis(axis_y); series->attachAxis(axis_y);
@ -476,7 +469,6 @@ void ChartView::updatePlot(double cur, double min, double max) {
if (min != axis_x->min() || max != axis_x->max()) { if (min != axis_x->min() || max != axis_x->max()) {
axis_x->setRange(min, max); axis_x->setRange(min, max);
updateAxisY(); updateAxisY();
}
// Show points when zoomed in enough // Show points when zoomed in enough
for (auto &s : sigs) { for (auto &s : sigs) {
@ -487,6 +479,22 @@ void ChartView::updatePlot(double cur, double min, double max) {
int pixels_per_point = width() / num_points; int pixels_per_point = width() / num_points;
s.series->setPointsVisible(pixels_per_point > 20); s.series->setPointsVisible(pixels_per_point > 20);
// TODO: On MacOS QChartWidget doesn't work with the OpenGL settings that CameraWidget needs.
#ifndef __APPLE
// OpenGL mode lacks certain features (such as showing points), only use when drawing many points
bool use_opengl = pixels_per_point < 1;
s.series->setUseOpenGL(use_opengl);
// Qt doesn't properly apply device pixel ratio in OpenGL mode
QApplication* application = static_cast<QApplication *>(QApplication::instance());
float scale = use_opengl ? application->devicePixelRatio() : 1.0;
QPen pen = s.series->pen();
pen.setWidth(2.0 * scale);
s.series->setPen(pen);
#endif
}
} }
scene()->invalidate({}, QGraphicsScene::ForegroundLayer); scene()->invalidate({}, QGraphicsScene::ForegroundLayer);

11
tools/cabana/detailwidget.cc
Unescape View File

@ -6,7 +6,6 @@
#include <QMessageBox> #include <QMessageBox>
#include <QToolButton> #include <QToolButton>
#include "selfdrive/ui/qt/util.h"
#include "tools/cabana/commands.h" #include "tools/cabana/commands.h"
#include "tools/cabana/dbcmanager.h" #include "tools/cabana/dbcmanager.h"
#include "tools/cabana/streams/abstractstream.h" #include "tools/cabana/streams/abstractstream.h"
@ -38,8 +37,8 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
name_label->setAlignment(Qt::AlignCenter); name_label->setAlignment(Qt::AlignCenter);
name_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); name_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
toolbar->addWidget(name_label); toolbar->addWidget(name_label);
toolbar->addAction(bootstrapPixmap("pencil"), "", this, &DetailWidget::editMsg)->setToolTip(tr("Edit Message")); toolbar->addAction(utils::icon("pencil"), "", this, &DetailWidget::editMsg)->setToolTip(tr("Edit Message"));
remove_msg_act = toolbar->addAction(bootstrapPixmap("x-lg"), "", this, &DetailWidget::removeMsg); remove_msg_act = toolbar->addAction(utils::icon("x-lg"), "", this, &DetailWidget::removeMsg);
remove_msg_act->setToolTip(tr("Remove Message")); remove_msg_act->setToolTip(tr("Remove Message"));
main_layout->addWidget(toolbar); main_layout->addWidget(toolbar);
@ -63,8 +62,8 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
tab_widget = new QTabWidget(this); tab_widget = new QTabWidget(this);
tab_widget->setTabPosition(QTabWidget::South); tab_widget->setTabPosition(QTabWidget::South);
tab_widget->addTab(splitter, bootstrapPixmap("file-earmark-ruled"), "&Msg"); tab_widget->addTab(splitter, utils::icon("file-earmark-ruled"), "&Msg");
tab_widget->addTab(history_log = new LogsWidget(this), bootstrapPixmap("stopwatch"), "&Logs"); tab_widget->addTab(history_log = new LogsWidget(this), utils::icon("stopwatch"), "&Logs");
main_layout->addWidget(tab_widget); main_layout->addWidget(tab_widget);
stacked_layout = new QStackedLayout(this); stacked_layout = new QStackedLayout(this);
@ -148,7 +147,7 @@ void DetailWidget::refresh() {
if (!warnings.isEmpty()) { if (!warnings.isEmpty()) {
warning_label->setText(warnings.join('\n')); warning_label->setText(warnings.join('\n'));
warning_icon->setPixmap(bootstrapPixmap(msg ? "exclamation-triangle" : "info-circle")); warning_icon->setPixmap(utils::icon(msg ? "exclamation-triangle" : "info-circle"));
} }
warning_widget->setVisible(!warnings.isEmpty()); warning_widget->setVisible(!warnings.isEmpty());
} }

8
tools/cabana/signaledit.cc
Unescape View File

@ -10,8 +10,6 @@
#include "tools/cabana/commands.h" #include "tools/cabana/commands.h"
#include "selfdrive/ui/qt/util.h"
// SignalModel // SignalModel
SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(parent) { SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(parent) {
@ -132,7 +130,7 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const {
if (item->type == Item::Endian) return item->sig->is_little_endian ? Qt::Checked : Qt::Unchecked; if (item->type == Item::Endian) return item->sig->is_little_endian ? Qt::Checked : Qt::Unchecked;
if (item->type == Item::Signed) return item->sig->is_signed ? Qt::Checked : Qt::Unchecked; if (item->type == Item::Signed) return item->sig->is_signed ? Qt::Checked : Qt::Unchecked;
} else if (role == Qt::DecorationRole && index.column() == 0 && item->type == Item::ExtraInfo) { } else if (role == Qt::DecorationRole && index.column() == 0 && item->type == Item::ExtraInfo) {
return bootstrapPixmap(item->parent->extra_expanded ? "chevron-compact-down" : "chevron-compact-up"); return utils::icon(item->parent->extra_expanded ? "chevron-compact-down" : "chevron-compact-up");
} }
} }
return {}; return {};
@ -331,7 +329,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
hl->addWidget(filter_edit); hl->addWidget(filter_edit);
hl->addStretch(1); hl->addStretch(1);
auto collapse_btn = new QToolButton(); auto collapse_btn = new QToolButton();
collapse_btn->setIcon(bootstrapPixmap("dash-square")); collapse_btn->setIcon(utils::icon("dash-square"));
collapse_btn->setIconSize({12, 12}); collapse_btn->setIconSize({12, 12});
collapse_btn->setAutoRaise(true); collapse_btn->setAutoRaise(true);
collapse_btn->setToolTip(tr("Collapse All")); collapse_btn->setToolTip(tr("Collapse All"));
@ -375,7 +373,7 @@ void SignalView::setMessage(const QString &id) {
void SignalView::rowsChanged() { void SignalView::rowsChanged() {
auto create_btn = [](const QString &id, const QString &tooltip) { auto create_btn = [](const QString &id, const QString &tooltip) {
auto btn = new QToolButton(); auto btn = new QToolButton();
btn->setIcon(bootstrapPixmap(id)); btn->setIcon(utils::icon(id));
btn->setToolTip(tooltip); btn->setToolTip(tooltip);
btn->setAutoRaise(true); btn->setAutoRaise(true);
return btn; return btn;

17
tools/cabana/util.cc
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@ -1,8 +1,11 @@
#include "tools/cabana/util.h" #include "tools/cabana/util.h"
#include <QApplication>
#include <QFontDatabase> #include <QFontDatabase>
#include <QPainter> #include <QPainter>
#include "selfdrive/ui/qt/util.h"
static QColor blend(QColor a, QColor b) { static QColor blend(QColor a, QColor b) {
return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2); return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2);
} }
@ -100,3 +103,17 @@ QValidator::State NameValidator::validate(QString &input, int &pos) const {
input.replace(' ', '_'); input.replace(' ', '_');
return QRegExpValidator::validate(input, pos); return QRegExpValidator::validate(input, pos);
} }
namespace utils {
QPixmap icon(const QString &id) {
static bool dark_theme = QApplication::style()->standardPalette().color(QPalette::WindowText).value() >
QApplication::style()->standardPalette().color(QPalette::Background).value();
QPixmap pm = bootstrapPixmap(id);
if (dark_theme) {
QPainter p(&pm);
p.setCompositionMode(QPainter::CompositionMode_SourceIn);
p.fillRect(pm.rect(), Qt::lightGray);
}
return pm;
}
} // namespace utils

4
tools/cabana/util.h
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@ -45,3 +45,7 @@ public:
NameValidator(QObject *parent=nullptr); NameValidator(QObject *parent=nullptr);
QValidator::State validate(QString &input, int &pos) const override; QValidator::State validate(QString &input, int &pos) const override;
}; };
namespace utils {
QPixmap icon(const QString &id);
}

4
tools/cabana/videowidget.cc
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@ -13,8 +13,6 @@
#include <QVBoxLayout> #include <QVBoxLayout>
#include <QtConcurrent> #include <QtConcurrent>
#include "selfdrive/ui/qt/util.h"
inline QString formatTime(int seconds) { inline QString formatTime(int seconds) {
return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss"); return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss");
} }
@ -130,7 +128,7 @@ void VideoWidget::updateState() {
} }
void VideoWidget::updatePlayBtnState() { void VideoWidget::updatePlayBtnState() {
play_btn->setIcon(bootstrapPixmap(can->isPaused() ? "play" : "pause")); play_btn->setIcon(utils::icon(can->isPaused() ? "play" : "pause"));
play_btn->setToolTip(can->isPaused() ? tr("Play") : tr("Pause")); play_btn->setToolTip(can->isPaused() ? tr("Play") : tr("Pause"));
} }

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