From 684d4b75a1c2f349da1e00dae9a40c39e3bb3607 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Mon, 27 Jun 2022 15:33:46 +0200 Subject: [PATCH 001/306] Log SOM power draw (#24975) * log SOM power draw * bump cereal Co-authored-by: Comma Device Co-authored-by: Willem Melching --- cereal | 2 +- selfdrive/thermald/thermald.py | 13 +++++++------ system/hardware/base.py | 4 ++++ system/hardware/pc/hardware.py | 3 +++ system/hardware/tici/hardware.py | 3 +++ 5 files changed, 18 insertions(+), 7 deletions(-) diff --git a/cereal b/cereal index c6acc0698a..3fef4f7861 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit c6acc0698a604e715e960250359b6bf97e4987e3 +Subproject commit 3fef4f7861e04193fdb11dbd5b0eaf6d2b102ee1 diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 6cf5c428a8..f20c649b4e 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -348,12 +348,13 @@ def thermald_thread(end_event, hw_queue): power_monitor.calculate(peripheralState, onroad_conditions["ignition"]) msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used() msg.deviceState.carBatteryCapacityUwh = max(0, power_monitor.get_car_battery_capacity()) - current_power_draw = HARDWARE.get_current_power_draw() # pylint: disable=assignment-from-none - if current_power_draw is not None: - statlog.sample("power_draw", current_power_draw) - msg.deviceState.powerDrawW = current_power_draw - else: - msg.deviceState.powerDrawW = 0 + current_power_draw = HARDWARE.get_current_power_draw() + statlog.sample("power_draw", current_power_draw) + msg.deviceState.powerDrawW = current_power_draw + + som_power_draw = HARDWARE.get_som_power_draw() + statlog.sample("som_power_draw", som_power_draw) + msg.deviceState.somPowerDrawW = som_power_draw # Check if we need to disable charging (handled by boardd) msg.deviceState.chargingDisabled = power_monitor.should_disable_charging(onroad_conditions["ignition"], in_car, off_ts) diff --git a/system/hardware/base.py b/system/hardware/base.py index 8684386f62..b052a48c5b 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -86,6 +86,10 @@ class HardwareBase(ABC): def get_current_power_draw(self): pass + @abstractmethod + def get_som_power_draw(self): + pass + @abstractmethod def shutdown(self): pass diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py index b2c4a4343b..60d14e4a6b 100644 --- a/system/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -55,6 +55,9 @@ class Pc(HardwareBase): def get_current_power_draw(self): return 0 + + def get_som_power_draw(self): + return 0 def shutdown(self): print("SHUTDOWN!") diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index a69d3eb743..66cb98c606 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -362,6 +362,9 @@ class Tici(HardwareBase): def get_current_power_draw(self): return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6) + def get_som_power_draw(self): + return (self.read_param_file("/sys/class/power_supply/bms/voltage_now", int) * self.read_param_file("/sys/class/power_supply/bms/current_now", int) / 1e12) + def shutdown(self): # Note that for this to work and have the device stay powered off, the panda needs to be in UsbPowerMode::CLIENT! os.system("sudo poweroff") From de0c12e5af0e550c194510a19253dd9100b1a9f7 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 27 Jun 2022 15:34:36 +0200 Subject: [PATCH 002/306] calibrationd: start faster by not waiting for carParams (#24976) * calibrationd: start faster by not waiting for carParams * fix process replay * update ref --- selfdrive/locationd/calibrationd.py | 10 ++++++---- selfdrive/test/process_replay/process_replay.py | 3 ++- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 9 insertions(+), 6 deletions(-) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index e092c939ae..81bcc6ce1c 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -12,7 +12,7 @@ import capnp import numpy as np from typing import List, NoReturn, Optional -from cereal import car, log +from cereal import log import cereal.messaging as messaging from common.conversions import Conversions as CV from common.params import Params, put_nonblocking @@ -62,7 +62,7 @@ class Calibrator: def __init__(self, param_put: bool = False): self.param_put = param_put - self.CP = car.CarParams.from_bytes(Params().get("CarParams", block=True)) + self.not_car = False # Read saved calibration params = Params() @@ -192,7 +192,7 @@ class Calibrator: liveCalibration.rpyCalib = smooth_rpy.tolist() liveCalibration.rpyCalibSpread = self.calib_spread.tolist() - if self.CP.notCar: + if self.not_car: extrinsic_matrix = get_view_frame_from_road_frame(0, 0, 0, model_height) liveCalibration.validBlocks = INPUTS_NEEDED liveCalibration.calStatus = Calibration.CALIBRATED @@ -212,7 +212,7 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m set_realtime_priority(1) if sm is None: - sm = messaging.SubMaster(['cameraOdometry', 'carState'], poll=['cameraOdometry']) + sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll=['cameraOdometry']) if pm is None: pm = messaging.PubMaster(['liveCalibration']) @@ -223,6 +223,8 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m timeout = 0 if sm.frame == -1 else 100 sm.update(timeout) + calibrator.not_car = sm['carParams'].notCar + if sm.updated['cameraOdometry']: calibrator.handle_v_ego(sm['carState'].vEgo) new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans, diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 62c5eb4826..228f07c4c2 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -282,7 +282,8 @@ CONFIGS = [ proc_name="calibrationd", pub_sub={ "carState": ["liveCalibration"], - "cameraOdometry": [] + "cameraOdometry": [], + "carParams": [], }, ignore=["logMonoTime", "valid"], init_callback=get_car_params, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 662f8cc5b8..292c41b978 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -41161c8d151b0c2017214cad0aad3156533ab868 +b55de9fdb2416e63ab554c95233a78219d8d3db9 \ No newline at end of file From 240c44e50c4dd44c2237f4f37d716fd898160917 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 27 Jun 2022 06:36:27 -0700 Subject: [PATCH 003/306] snapshot: fix rgb overflow (#24963) clamp rgb --- system/camerad/snapshot/snapshot.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/camerad/snapshot/snapshot.py b/system/camerad/snapshot/snapshot.py index 9a81937eec..946c220a77 100755 --- a/system/camerad/snapshot/snapshot.py +++ b/system/camerad/snapshot/snapshot.py @@ -39,7 +39,7 @@ def yuv_to_rgb(y, u, v): [0.00000, -0.39465, 2.03211], [1.13983, -0.58060, 0.00000], ]) - rgb = np.dot(yuv, m) + rgb = np.dot(yuv, m).clip(0, 255) return rgb.astype(np.uint8) From 915b4928ff044302bba0e8bdf15f154646f528e6 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 27 Jun 2022 16:03:26 +0200 Subject: [PATCH 004/306] ui: use current calibration to center vanishing point (#24955) * compute x and y offsets using calibration * fix default calibration * clamp to max values * only use when valid * not while calibrating * less diff * cleanup zoom --- selfdrive/ui/qt/onroad.cc | 21 +++++----- selfdrive/ui/qt/onroad.h | 2 +- selfdrive/ui/qt/widgets/cameraview.cc | 55 +++++++++++++++++---------- selfdrive/ui/qt/widgets/cameraview.h | 12 +++++- selfdrive/ui/ui.cc | 1 + selfdrive/ui/ui.h | 8 ++-- 6 files changed, 62 insertions(+), 37 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 2759416236..ecd6d61471 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -208,6 +208,12 @@ void NvgWindow::updateState(const UIState &s) { setProperty("engageable", cs.getEngageable() || cs.getEnabled()); setProperty("dmActive", sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode()); } + + if (s.scene.calibration_valid) { + CameraViewWidget::updateCalibration(s.scene.view_from_calib); + } else { + CameraViewWidget::updateCalibration(DEFAULT_CALIBRATION); + } } void NvgWindow::drawHud(QPainter &p) { @@ -399,23 +405,20 @@ void NvgWindow::initializeGL() { setBackgroundColor(bg_colors[STATUS_DISENGAGED]); } -void NvgWindow::updateFrameMat(int w, int h) { - CameraViewWidget::updateFrameMat(w, h); - +void NvgWindow::updateFrameMat() { + CameraViewWidget::updateFrameMat(); UIState *s = uiState(); + int w = width(), h = height(); + s->fb_w = w; s->fb_h = h; - auto intrinsic_matrix = s->wide_camera ? ecam_intrinsic_matrix : fcam_intrinsic_matrix; - float zoom = ZOOM / intrinsic_matrix.v[0]; - if (s->wide_camera) { - zoom *= 0.5; - } + // Apply transformation such that video pixel coordinates match video // 1) Put (0, 0) in the middle of the video // 2) Apply same scaling as video // 3) Put (0, 0) in top left corner of video s->car_space_transform.reset(); - s->car_space_transform.translate(w / 2, h / 2 + y_offset) + s->car_space_transform.translate(w / 2 - x_offset, h / 2 - y_offset) .scale(zoom, zoom) .translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]); } diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 4cd88fc9e3..dc1e69da2a 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -70,7 +70,7 @@ protected: void paintGL() override; void initializeGL() override; void showEvent(QShowEvent *event) override; - void updateFrameMat(int w, int h) override; + void updateFrameMat() override; void drawLaneLines(QPainter &painter, const UIState *s); void drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd); void drawHud(QPainter &p); diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 8666eb1d4e..a80672f2c3 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -6,6 +6,8 @@ #include #endif +#include + #include #include @@ -59,13 +61,6 @@ const char frame_fragment_shader[] = "}\n"; #endif -const mat4 device_transform = {{ - 1.0, 0.0, 0.0, 0.0, - 0.0, 1.0, 0.0, 0.0, - 0.0, 0.0, 1.0, 0.0, - 0.0, 0.0, 0.0, 1.0, -}}; - mat4 get_driver_view_transform(int screen_width, int screen_height, int stream_width, int stream_height) { const float driver_view_ratio = 2.0; const float yscale = stream_height * driver_view_ratio / stream_width; @@ -185,35 +180,55 @@ void CameraViewWidget::hideEvent(QHideEvent *event) { } } -void CameraViewWidget::updateFrameMat(int w, int h) { +void CameraViewWidget::updateFrameMat() { + int w = width(), h = height(); + if (zoomed_view) { if (stream_type == VISION_STREAM_DRIVER) { - frame_mat = matmul(device_transform, get_driver_view_transform(w, h, stream_width, stream_height)); + frame_mat = get_driver_view_transform(w, h, stream_width, stream_height); } else { - auto intrinsic_matrix = stream_type == VISION_STREAM_WIDE_ROAD ? ecam_intrinsic_matrix : fcam_intrinsic_matrix; - float zoom = ZOOM / intrinsic_matrix.v[0]; - if (stream_type == VISION_STREAM_WIDE_ROAD) { - zoom *= 0.5; - } + intrinsic_matrix = (stream_type == VISION_STREAM_WIDE_ROAD) ? ecam_intrinsic_matrix : fcam_intrinsic_matrix; + zoom = (stream_type == VISION_STREAM_WIDE_ROAD) ? 2.5 : 1.1; + + // Project point at "infinity" to compute x and y offsets + // to ensure this ends up in the middle of the screen + // TODO: use proper perspective transform? + const vec3 inf = {{1000., 0., 0.}}; + const vec3 Ep = matvecmul3(calibration, inf); + const vec3 Kep = matvecmul3(intrinsic_matrix, Ep); + + float x_offset_ = (Kep.v[0] / Kep.v[2] - intrinsic_matrix.v[2]) * zoom; + float y_offset_ = (Kep.v[1] / Kep.v[2] - intrinsic_matrix.v[5]) * zoom; + + float max_x_offset = intrinsic_matrix.v[2] * zoom - w / 2 - 5; + float max_y_offset = intrinsic_matrix.v[5] * zoom - h / 2 - 5; + + x_offset = std::clamp(x_offset_, -max_x_offset, max_x_offset); + y_offset = std::clamp(y_offset_, -max_y_offset, max_y_offset); + float zx = zoom * 2 * intrinsic_matrix.v[2] / width(); float zy = zoom * 2 * intrinsic_matrix.v[5] / height(); - const mat4 frame_transform = {{ - zx, 0.0, 0.0, 0.0, - 0.0, zy, 0.0, -y_offset / height() * 2, + zx, 0.0, 0.0, -x_offset / width() * 2, + 0.0, zy, 0.0, y_offset / height() * 2, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, }}; - frame_mat = matmul(device_transform, frame_transform); + frame_mat = frame_transform; } } else if (stream_width > 0 && stream_height > 0) { // fit frame to widget size float widget_aspect_ratio = (float)width() / height(); float frame_aspect_ratio = (float)stream_width / stream_height; - frame_mat = matmul(device_transform, get_fit_view_transform(widget_aspect_ratio, frame_aspect_ratio)); + frame_mat = get_fit_view_transform(widget_aspect_ratio, frame_aspect_ratio); } } +void CameraViewWidget::updateCalibration(const mat3 &calib) { + calibration = calib; + updateFrameMat(); +} + void CameraViewWidget::paintGL() { glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF()); glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); @@ -311,7 +326,7 @@ void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) { assert(glGetError() == GL_NO_ERROR); #endif - updateFrameMat(width(), height()); + updateFrameMat(); } void CameraViewWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) { diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index 42e9043602..cc11ec2c27 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -42,11 +42,12 @@ signals: protected: void paintGL() override; void initializeGL() override; - void resizeGL(int w, int h) override { updateFrameMat(w, h); } + void resizeGL(int w, int h) override { updateFrameMat(); } void showEvent(QShowEvent *event) override; void hideEvent(QHideEvent *event) override; void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); } - virtual void updateFrameMat(int w, int h); + virtual void updateFrameMat(); + void updateCalibration(const mat3 &calib); void vipcThread(); bool zoomed_view; @@ -68,6 +69,13 @@ protected: std::atomic stream_type; QThread *vipc_thread = nullptr; + // Calibration + float x_offset = 0; + float y_offset = 0; + float zoom = 1.0; + mat3 calibration = DEFAULT_CALIBRATION; + mat3 intrinsic_matrix = fcam_intrinsic_matrix; + std::deque> frames; uint32_t draw_frame_id = 0; diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 4d1e1ab746..c8fc645cf2 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -140,6 +140,7 @@ static void update_state(UIState *s) { scene.view_from_calib.v[i*3 + j] = view_from_calib(i,j); } } + scene.calibration_valid = sm["liveCalibration"].getLiveCalibration().getCalStatus() == 1; } if (s->worldObjectsVisible()) { if (sm.updated("modelV2")) { diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index cbf3921e4e..7364b81a40 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -22,10 +22,7 @@ const int footer_h = 280; const int UI_FREQ = 20; // Hz typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert; -// TODO: this is also hardcoded in common/transformations/camera.py -// TODO: choose based on frame input size -const float y_offset = 150.0; -const float ZOOM = 2912.8; +const mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }}; struct Alert { QString text1; @@ -93,7 +90,8 @@ typedef struct { } line_vertices_data; typedef struct UIScene { - mat3 view_from_calib; + bool calibration_valid = false; + mat3 view_from_calib = DEFAULT_CALIBRATION; cereal::PandaState::PandaType pandaType; // modelV2 From b95e68778271cccf558452686e022ae57f25a701 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 27 Jun 2022 21:31:54 +0200 Subject: [PATCH 005/306] split locationd and liblocationd tests (#24977) * laikad: use cython version of gnss kf * fix import error * test liblocationd separate * Revert "laikad: use cython version of gnss kf" This reverts commit bdd769b9554e7e45e976dabd6595403943e864bb. --- .github/workflows/selfdrive_tests.yaml | 3 +- .../locationd/test/_test_locationd_lib.py | 106 ++++++++++++++++++ selfdrive/locationd/test/test_locationd.py | 94 ---------------- 3 files changed, 108 insertions(+), 95 deletions(-) create mode 100755 selfdrive/locationd/test/_test_locationd_lib.py diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index fedeaa734b..52dd012baa 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -299,6 +299,7 @@ jobs: $UNIT_TEST selfdrive/loggerd && \ $UNIT_TEST selfdrive/car && \ $UNIT_TEST selfdrive/locationd && \ + selfdrive/locationd/test/_test_locationd_lib.py && \ $UNIT_TEST selfdrive/athena && \ $UNIT_TEST selfdrive/thermald && \ $UNIT_TEST selfdrive/hardware/tici && \ @@ -364,7 +365,7 @@ jobs: CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v2 - + model_replay_onnx: name: model replay onnx runs-on: ubuntu-20.04 diff --git a/selfdrive/locationd/test/_test_locationd_lib.py b/selfdrive/locationd/test/_test_locationd_lib.py new file mode 100755 index 0000000000..8a0ed3ef05 --- /dev/null +++ b/selfdrive/locationd/test/_test_locationd_lib.py @@ -0,0 +1,106 @@ +#!/usr/bin/env python3 +"""This test can't be run together with other locationd tests. +cffi.dlopen breaks the list of registered filters.""" +import os +import random +import unittest + +from cffi import FFI + +import cereal.messaging as messaging +from cereal import log + +SENSOR_DECIMATION = 1 +VISION_DECIMATION = 1 + +LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd.so')) + + +class TestLocationdLib(unittest.TestCase): + def setUp(self): + header = '''typedef ...* Localizer_t; +Localizer_t localizer_init(); +void localizer_get_message_bytes(Localizer_t localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, char *buff, size_t buff_size); +void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t size);''' + + self.ffi = FFI() + self.ffi.cdef(header) + self.lib = self.ffi.dlopen(LIBLOCATIOND_PATH) + + self.localizer = self.lib.localizer_init() + + self.buff_size = 2048 + self.msg_buff = self.ffi.new(f'char[{self.buff_size}]') + + def localizer_handle_msg(self, msg_builder): + bytstr = msg_builder.to_bytes() + self.lib.localizer_handle_msg_bytes(self.localizer, self.ffi.from_buffer(bytstr), len(bytstr)) + + def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True): + self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size) + return log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8) + + def test_liblocalizer(self): + msg = messaging.new_message('liveCalibration') + msg.liveCalibration.validBlocks = random.randint(1, 10) + msg.liveCalibration.rpyCalib = [random.random() / 10 for _ in range(3)] + + self.localizer_handle_msg(msg) + liveloc = self.localizer_get_msg() + self.assertTrue(liveloc is not None) + + @unittest.skip("temporarily disabled due to false positives") + def test_device_fell(self): + msg = messaging.new_message('sensorEvents', 1) + msg.sensorEvents[0].sensor = 1 + msg.sensorEvents[0].timestamp = msg.logMonoTime + msg.sensorEvents[0].type = 1 + msg.sensorEvents[0].init('acceleration') + msg.sensorEvents[0].acceleration.v = [10.0, 0.0, 0.0] # zero with gravity + self.localizer_handle_msg(msg) + + ret = self.localizer_get_msg() + self.assertTrue(ret.liveLocationKalman.deviceStable) + + msg = messaging.new_message('sensorEvents', 1) + msg.sensorEvents[0].sensor = 1 + msg.sensorEvents[0].timestamp = msg.logMonoTime + msg.sensorEvents[0].type = 1 + msg.sensorEvents[0].init('acceleration') + msg.sensorEvents[0].acceleration.v = [50.1, 0.0, 0.0] # more than 40 m/s**2 + self.localizer_handle_msg(msg) + + ret = self.localizer_get_msg() + self.assertFalse(ret.liveLocationKalman.deviceStable) + + def test_posenet_spike(self): + for _ in range(SENSOR_DECIMATION): + msg = messaging.new_message('carState') + msg.carState.vEgo = 6.0 # more than 5 m/s + self.localizer_handle_msg(msg) + + ret = self.localizer_get_msg() + self.assertTrue(ret.liveLocationKalman.posenetOK) + + for _ in range(20 * VISION_DECIMATION): # size of hist_old + msg = messaging.new_message('cameraOdometry') + msg.cameraOdometry.rot = [0.0, 0.0, 0.0] + msg.cameraOdometry.rotStd = [0.1, 0.1, 0.1] + msg.cameraOdometry.trans = [0.0, 0.0, 0.0] + msg.cameraOdometry.transStd = [2.0, 0.1, 0.1] + self.localizer_handle_msg(msg) + + for _ in range(20 * VISION_DECIMATION): # size of hist_new + msg = messaging.new_message('cameraOdometry') + msg.cameraOdometry.rot = [0.0, 0.0, 0.0] + msg.cameraOdometry.rotStd = [1.0, 1.0, 1.0] + msg.cameraOdometry.trans = [0.0, 0.0, 0.0] + msg.cameraOdometry.transStd = [10.1, 0.1, 0.1] # more than 4 times larger + self.localizer_handle_msg(msg) + + ret = self.localizer_get_msg() + self.assertFalse(ret.liveLocationKalman.posenetOK) + +if __name__ == "__main__": + unittest.main() + diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index 7f5d752100..29036b8387 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -1,110 +1,16 @@ #!/usr/bin/env python3 -import os import json import random import unittest import time import capnp -from cffi import FFI -from cereal import log import cereal.messaging as messaging from cereal.services import service_list from common.params import Params from selfdrive.manager.process_config import managed_processes -SENSOR_DECIMATION = 1 -VISION_DECIMATION = 1 - -LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd.so')) - - -class TestLocationdLib(unittest.TestCase): - def setUp(self): - header = '''typedef ...* Localizer_t; -Localizer_t localizer_init(); -void localizer_get_message_bytes(Localizer_t localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, char *buff, size_t buff_size); -void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t size);''' - - self.ffi = FFI() - self.ffi.cdef(header) - self.lib = self.ffi.dlopen(LIBLOCATIOND_PATH) - - self.localizer = self.lib.localizer_init() - - self.buff_size = 2048 - self.msg_buff = self.ffi.new(f'char[{self.buff_size}]') - - def localizer_handle_msg(self, msg_builder): - bytstr = msg_builder.to_bytes() - self.lib.localizer_handle_msg_bytes(self.localizer, self.ffi.from_buffer(bytstr), len(bytstr)) - - def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True): - self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size) - return log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8) - - def test_liblocalizer(self): - msg = messaging.new_message('liveCalibration') - msg.liveCalibration.validBlocks = random.randint(1, 10) - msg.liveCalibration.rpyCalib = [random.random() / 10 for _ in range(3)] - - self.localizer_handle_msg(msg) - liveloc = self.localizer_get_msg() - self.assertTrue(liveloc is not None) - - @unittest.skip("temporarily disabled due to false positives") - def test_device_fell(self): - msg = messaging.new_message('sensorEvents', 1) - msg.sensorEvents[0].sensor = 1 - msg.sensorEvents[0].timestamp = msg.logMonoTime - msg.sensorEvents[0].type = 1 - msg.sensorEvents[0].init('acceleration') - msg.sensorEvents[0].acceleration.v = [10.0, 0.0, 0.0] # zero with gravity - self.localizer_handle_msg(msg) - - ret = self.localizer_get_msg() - self.assertTrue(ret.liveLocationKalman.deviceStable) - - msg = messaging.new_message('sensorEvents', 1) - msg.sensorEvents[0].sensor = 1 - msg.sensorEvents[0].timestamp = msg.logMonoTime - msg.sensorEvents[0].type = 1 - msg.sensorEvents[0].init('acceleration') - msg.sensorEvents[0].acceleration.v = [50.1, 0.0, 0.0] # more than 40 m/s**2 - self.localizer_handle_msg(msg) - - ret = self.localizer_get_msg() - self.assertFalse(ret.liveLocationKalman.deviceStable) - - def test_posenet_spike(self): - for _ in range(SENSOR_DECIMATION): - msg = messaging.new_message('carState') - msg.carState.vEgo = 6.0 # more than 5 m/s - self.localizer_handle_msg(msg) - - ret = self.localizer_get_msg() - self.assertTrue(ret.liveLocationKalman.posenetOK) - - for _ in range(20 * VISION_DECIMATION): # size of hist_old - msg = messaging.new_message('cameraOdometry') - msg.cameraOdometry.rot = [0.0, 0.0, 0.0] - msg.cameraOdometry.rotStd = [0.1, 0.1, 0.1] - msg.cameraOdometry.trans = [0.0, 0.0, 0.0] - msg.cameraOdometry.transStd = [2.0, 0.1, 0.1] - self.localizer_handle_msg(msg) - - for _ in range(20 * VISION_DECIMATION): # size of hist_new - msg = messaging.new_message('cameraOdometry') - msg.cameraOdometry.rot = [0.0, 0.0, 0.0] - msg.cameraOdometry.rotStd = [1.0, 1.0, 1.0] - msg.cameraOdometry.trans = [0.0, 0.0, 0.0] - msg.cameraOdometry.transStd = [10.1, 0.1, 0.1] # more than 4 times larger - self.localizer_handle_msg(msg) - - ret = self.localizer_get_msg() - self.assertFalse(ret.liveLocationKalman.posenetOK) - class TestLocationdProc(unittest.TestCase): MAX_WAITS = 1000 From aaca31b73eb109a053e94b2153eb3068a0976c95 Mon Sep 17 00:00:00 2001 From: "Shafiqur R. Khan" <37314609+shfqrkhn@users.noreply.github.com> Date: Mon, 27 Jun 2022 14:10:57 -0600 Subject: [PATCH 006/306] 2022 RAV4 XLE engine FW (#24973) Update values.py Added ecu.engine address for 2022 RAV4 XLE (ICE) bought in Edmonton, Canada --- selfdrive/car/toyota/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 32f66b6fa0..76f84302ce 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1296,6 +1296,7 @@ FW_VERSIONS = { b'\x028965B0R01500\x00\x00\x00\x008965B0R02500\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ + b'\x01896634AA0000\x00\x00\x00\x00', b'\x01896634AA1000\x00\x00\x00\x00', b'\x01896634A88000\x00\x00\x00\x00', ], From b3226d505b9260ec8565acfda7138601a76039a6 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Mon, 27 Jun 2022 15:25:47 -0700 Subject: [PATCH 007/306] Torque control: higher low speed gains and better steering angle deadzone logic (#24980) * Try no friction and no deadzone * Learn fromd ata * update refs --- selfdrive/controls/lib/latcontrol_torque.py | 6 +++--- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 014c3480b8..46caa41a90 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -56,15 +56,15 @@ class LatControlTorque(LatControl): lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 - low_speed_factor = interp(CS.vEgo, [0, 15], [500, 0]) + low_speed_factor = interp(CS.vEgo, [0, 10, 20], [500, 500, 200]) setpoint = desired_lateral_accel + low_speed_factor * desired_curvature measurement = actual_lateral_accel + low_speed_factor * actual_curvature - error = apply_deadzone(setpoint - measurement, lateral_accel_deadzone) + error = setpoint - measurement pid_log.error = error ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY # convert friction into lateral accel units for feedforward - friction_compensation = interp(error, [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction]) + friction_compensation = interp(apply_deadzone(error, lateral_accel_deadzone), [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction]) ff += friction_compensation / self.kf freeze_integrator = CS.steeringRateLimited or CS.steeringPressed or CS.vEgo < 5 output_torque = self.pid.update(error, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 292c41b978..1402284b96 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -b55de9fdb2416e63ab554c95233a78219d8d3db9 \ No newline at end of file +a16ca1082cd493f6cea5252eaaba9f8c6574334a From 3a2bcc092c74925edb161959cdcc66073a9cd8f3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 28 Jun 2022 01:08:11 -0700 Subject: [PATCH 008/306] onroad UI: fix onroad double tap (#24982) * The default implementation calls mousePressEvent(). * no sidebar when entering body * wrong one * you can't double tap with body anyway (fixes inconsistencies with prime vs not prime) * hide sidebar --- selfdrive/ui/qt/home.cc | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index e522d6160d..aec9bffbc0 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -85,6 +85,7 @@ void HomeWindow::mousePressEvent(QMouseEvent* e) { } void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) { + HomeWindow::mousePressEvent(e); const SubMaster &sm = *(uiState()->sm); if (sm["carParams"].getCarParams().getNotCar()) { if (onroad->isVisible()) { @@ -92,6 +93,7 @@ void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) { } else if (body->isVisible()) { slayout->setCurrentWidget(onroad); } + showSidebar(false); } } From d693285b02a0f005ce1d29793c8672ab2fe24a24 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 28 Jun 2022 01:09:52 -0700 Subject: [PATCH 009/306] Power Monitoring test: fix exceptions (#24981) * fix missing POWER_DRAW * think should be 0 --- selfdrive/thermald/tests/test_power_monitoring.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py index c0524add69..efe607155a 100755 --- a/selfdrive/thermald/tests/test_power_monitoring.py +++ b/selfdrive/thermald/tests/test_power_monitoring.py @@ -119,7 +119,8 @@ class TestPowerMonitoring(unittest.TestCase): @parameterized.expand(ALL_PANDA_TYPES) def test_max_time_offroad(self, hw_type): MOCKED_MAX_OFFROAD_TIME = 3600 - with pm_patch("MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True), pm_patch("HARDWARE.get_current_power_draw", None): + POWER_DRAW = 0 # To stop shutting down for other reasons + with pm_patch("MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True), pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): pm = PowerMonitoring() pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh start_time = ssb From fdc22554b8c2a2e4b9e0df91beddf469d735b399 Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Tue, 28 Jun 2022 11:32:51 +0200 Subject: [PATCH 010/306] Update rednose: use EKF_sym_pyx (#24978) * Update rednose * Update rednose * cleanup --- rednose_repo | 2 +- selfdrive/locationd/models/car_kf.py | 4 ++-- selfdrive/locationd/models/gnss_kf.py | 16 +++++++++++----- 3 files changed, 14 insertions(+), 8 deletions(-) diff --git a/rednose_repo b/rednose_repo index 7663289f1e..3a6f937ad1 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit 7663289f1e68860f53dc34337ef080dde69a2586 +Subproject commit 3a6f937ad1bb234dca7b0b2052faabdd58f3e085 diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py index fe7d2e650b..3faf4f8d4e 100755 --- a/selfdrive/locationd/models/car_kf.py +++ b/selfdrive/locationd/models/car_kf.py @@ -15,7 +15,7 @@ if __name__ == '__main__': # Generating sympy import sympy as sp from rednose.helpers.ekf_sym import gen_code else: - from rednose.helpers.ekf_sym_pyx import EKF_sym # pylint: disable=no-name-in-module, import-error + from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx # pylint: disable=no-name-in-module, import-error i = 0 @@ -171,7 +171,7 @@ class CarKalman(KalmanFilter): if P_initial is not None: self.P_initial = P_initial # init filter - self.filter = EKF_sym(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog) + self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog) if __name__ == "__main__": diff --git a/selfdrive/locationd/models/gnss_kf.py b/selfdrive/locationd/models/gnss_kf.py index ce0ff84dc2..5c9cb4b3d1 100755 --- a/selfdrive/locationd/models/gnss_kf.py +++ b/selfdrive/locationd/models/gnss_kf.py @@ -3,12 +3,17 @@ import sys from typing import List import numpy as np -import sympy as sp -from rednose.helpers.ekf_sym import EKF_sym, gen_code from selfdrive.locationd.models.constants import ObservationKind from selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr +if __name__ == '__main__': # Generating sympy + import sympy as sp + from rednose.helpers.ekf_sym import gen_code +else: + from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx # pylint: disable=no-name-in-module,import-error + from rednose.helpers.ekf_sym import EKF_sym # pylint: disable=no-name-in-module,import-error + class States(): ECEF_POS = slice(0, 3) # x, y and z in ECEF in meters @@ -115,12 +120,13 @@ class GNSSKalman(): gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, maha_test_kinds=maha_test_kinds) - def __init__(self, generated_dir): + def __init__(self, generated_dir, cython=False): self.dim_state = self.x_initial.shape[0] # init filter - self.filter = EKF_sym(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state, - self.dim_state, maha_test_kinds=self.maha_test_kinds) + filter_cls = EKF_sym_pyx if cython else EKF_sym + self.filter = filter_cls(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state, + self.dim_state, maha_test_kinds=self.maha_test_kinds) self.init_state(GNSSKalman.x_initial, covs=GNSSKalman.P_initial) @property From 4cf63f4758c937a169962f325517b442f6c9492f Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 28 Jun 2022 11:59:15 +0200 Subject: [PATCH 011/306] bump rednose --- rednose_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rednose_repo b/rednose_repo index 3a6f937ad1..a79a87300a 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit 3a6f937ad1bb234dca7b0b2052faabdd58f3e085 +Subproject commit a79a87300a6c5093d99f281307c65b1e99295b20 From 3823f55476b56fd3db0afe686b1d2f3d508817bc Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 28 Jun 2022 13:43:15 +0200 Subject: [PATCH 012/306] add laikad to process replay (#24889) * merge * Fix closing process executor after fetching orbits * cleanup * Add ref commit and revert test_processes hack * Fix * Fix ref * Fix test * Temp * Temp * Trying * Trying * Cleanup and change test * add ref commit * remove print * fix test getting stuck * cleanup fetch_orbits Co-authored-by: Gijs Koning --- selfdrive/locationd/laikad.py | 50 ++++++++++++------- selfdrive/locationd/test/test_laikad.py | 27 ++++++++-- selfdrive/test/process_replay/README.md | 3 +- .../test/process_replay/process_replay.py | 18 +++++++ selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/profiling/profiler.py | 3 ++ 6 files changed, 81 insertions(+), 22 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index ba665b7530..60028b637a 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -1,5 +1,6 @@ #!/usr/bin/env python3 import json +import os import time from collections import defaultdict from concurrent.futures import Future, ProcessPoolExecutor @@ -32,8 +33,10 @@ class Laikad: save_ephemeris=False, last_known_position=None): self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True) self.gnss_kf = GNSSKalman(GENERATED_DIR) - self.orbit_fetch_executor = ProcessPoolExecutor() + + self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None self.orbit_fetch_future: Optional[Future] = None + self.last_fetch_orbits_t = None self.last_cached_t = None self.save_ephemeris = save_ephemeris @@ -44,9 +47,13 @@ class Laikad: self.last_pos_fix_t = None def load_cache(self): + if not self.save_ephemeris: + return + cache = Params().get(EPHEMERIS_CACHE) if not cache: return + try: cache = json.loads(cache, object_hook=deserialize_hook) self.astro_dog.add_orbits(cache['orbits']) @@ -71,7 +78,7 @@ class Laikad: self.last_pos_residual = pos_fix_residual self.last_pos_fix_t = t return self.last_pos_fix - + def process_ublox_msg(self, ublox_msg, ublox_mono_time: int, block=False): if ublox_msg.which == 'measurementReport': t = ublox_mono_time * 1e-9 @@ -152,17 +159,22 @@ class Laikad: def fetch_orbits(self, t: GPSTime, block): if t not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or t - self.last_fetch_orbits_t > SECS_IN_HR): astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types - if self.orbit_fetch_future is None: + + ret = None + + if block: + ret = get_orbit_data(t, *astro_dog_vars) + elif self.orbit_fetch_future is None: + self.orbit_fetch_executor = ProcessPoolExecutor(max_workers=1) self.orbit_fetch_future = self.orbit_fetch_executor.submit(get_orbit_data, t, *astro_dog_vars) - if block: - self.orbit_fetch_future.result() - if self.orbit_fetch_future.done(): - ret = self.orbit_fetch_future.result() + elif self.orbit_fetch_future.done(): self.last_fetch_orbits_t = t - if ret: - self.astro_dog.orbits, self.astro_dog.orbit_fetched_times = ret - self.cache_ephemeris(t=t) - self.orbit_fetch_future = None + ret = self.orbit_fetch_future.result() + self.orbit_fetch_executor = self.orbit_fetch_future = None + + if ret is not None: + self.astro_dog.orbits, self.astro_dog.orbit_fetched_times = ret + self.cache_ephemeris(t=t) def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types): @@ -174,7 +186,7 @@ def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types): astro_dog.get_orbit_data(t, only_predictions=True) data = (astro_dog.orbits, astro_dog.orbit_fetched_times) except RuntimeError as e: - cloudlog.info(f"No orbit data found. {e}") + cloudlog.warning(f"No orbit data found. {e}") cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s") return data @@ -255,17 +267,21 @@ class EphemerisSourceType(IntEnum): glonassIacUltraRapid = 2 -def main(): - sm = messaging.SubMaster(['ubloxGnss']) - pm = messaging.PubMaster(['gnssMeasurements']) +def main(sm=None, pm=None): + if sm is None: + sm = messaging.SubMaster(['ubloxGnss']) + if pm is None: + pm = messaging.PubMaster(['gnssMeasurements']) + + replay = "REPLAY" in os.environ # todo get last_known_position - laikad = Laikad(save_ephemeris=True) + laikad = Laikad(save_ephemeris=not replay) while True: sm.update() if sm.updated['ubloxGnss']: ublox_msg = sm['ubloxGnss'] - msg = laikad.process_ublox_msg(ublox_msg, sm.logMonoTime['ubloxGnss']) + msg = laikad.process_ublox_msg(ublox_msg, sm.logMonoTime['ubloxGnss'], block=replay) if msg is not None: pm.send('gnssMeasurements', msg) diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index 3a72303b0c..c353da9624 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -7,6 +7,7 @@ from unittest import mock from unittest.mock import Mock, patch from common.params import Params +from laika.constants import SECS_IN_DAY from laika.ephemeris import EphemerisType, GPSEphemeris from laika.gps_time import GPSTime from laika.helpers import ConstellationId, TimeRangeHolder @@ -62,6 +63,26 @@ class TestLaikad(unittest.TestCase): def setUp(self): Params().delete(EPHEMERIS_CACHE) + def test_fetch_orbits_non_blocking(self): + gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1)) + laikad = Laikad() + laikad.fetch_orbits(gpstime, block=False) + laikad.orbit_fetch_future.result(5) + # Get results and save orbits to laikad: + laikad.fetch_orbits(gpstime, block=False) + + ephem = laikad.astro_dog.orbits['G01'][0] + self.assertIsNotNone(ephem) + + laikad.fetch_orbits(gpstime+2*SECS_IN_DAY, block=False) + laikad.orbit_fetch_future.result(5) + # Get results and save orbits to laikad: + laikad.fetch_orbits(gpstime + 2 * SECS_IN_DAY, block=False) + + ephem2 = laikad.astro_dog.orbits['G01'][0] + self.assertIsNotNone(ephem) + self.assertNotEqual(ephem, ephem2) + def test_ephemeris_source_in_msg(self): data_mock = defaultdict(str) data_mock['sv_id'] = 1 @@ -155,7 +176,7 @@ class TestLaikad(unittest.TestCase): while Params().get(EPHEMERIS_CACHE) is None: time.sleep(0.1) max_time -= 0.1 - if max_time == 0: + if max_time < 0: self.fail("Cache has not been written after 2 seconds") # Test cache with no ephemeris @@ -170,7 +191,7 @@ class TestLaikad(unittest.TestCase): wait_for_cache() # Check both nav and orbits separate - laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV) + laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV, save_ephemeris=True) # Verify orbits and nav are loaded from cache self.dict_has_values(laikad.astro_dog.orbits) self.dict_has_values(laikad.astro_dog.nav) @@ -185,7 +206,7 @@ class TestLaikad(unittest.TestCase): mock_method.assert_not_called() # Verify cache is working for only orbits by running a segment - laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT) + laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT, save_ephemeris=True) msg = verify_messages(self.logs, laikad, return_one_success=True) self.assertIsNotNone(msg) # Verify orbit data is not downloaded diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md index 9fa4ca644a..531ddb3a02 100644 --- a/selfdrive/test/process_replay/README.md +++ b/selfdrive/test/process_replay/README.md @@ -5,7 +5,7 @@ Process replay is a regression test designed to identify any changes in the outp If the test fails, make sure that you didn't unintentionally change anything. If there are intentional changes, the reference logs will be updated. Use `test_processes.py` to run the test locally. -Use `FILEREADER_CACHE='1' test_processes.py` to cache log files. +Use `FILEREADER_CACHE='1' test_processes.py` to cache log files. Currently the following processes are tested: @@ -15,6 +15,7 @@ Currently the following processes are tested: * calibrationd * dmonitoringd * locationd +* laikad * paramsd * ubloxd diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 228f07c4c2..def61a10a1 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -236,6 +236,13 @@ def ublox_rcv_callback(msg): return [] +def laika_rcv_callback(msg, CP, cfg, fsm): + if msg.ubloxGnss.which() == "measurementReport": + return ["gnssMeasurements"], True + else: + return [], False + + CONFIGS = [ ProcessConfig( proc_name="controlsd", @@ -338,6 +345,17 @@ CONFIGS = [ tolerance=None, fake_pubsubmaster=False, ), + ProcessConfig( + proc_name="laikad", + pub_sub={ + "ubloxGnss": ["gnssMeasurements"], + }, + ignore=["logMonoTime"], + init_callback=get_car_params, + should_recv_callback=laika_rcv_callback, + tolerance=NUMPY_TOLERANCE, + fake_pubsubmaster=True, + ), ] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 1402284b96..3e02830bf4 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a16ca1082cd493f6cea5252eaaba9f8c6574334a +2ee969b34585f8055bb3eabab2dcc4061cc4bef9 \ No newline at end of file diff --git a/selfdrive/test/profiling/profiler.py b/selfdrive/test/profiling/profiler.py index 5f73176fab..91226fc577 100755 --- a/selfdrive/test/profiling/profiler.py +++ b/selfdrive/test/profiling/profiler.py @@ -53,6 +53,7 @@ def profile(proc, func, car='toyota'): msgs = list(LogReader(rlog_url)) * int(os.getenv("LOOP", "1")) os.environ['FINGERPRINT'] = fingerprint + os.environ['REPLAY'] = "1" def run(sm, pm, can_sock): try: @@ -81,12 +82,14 @@ if __name__ == '__main__': from selfdrive.controls.radard import radard_thread from selfdrive.locationd.paramsd import main as paramsd_thread from selfdrive.controls.plannerd import main as plannerd_thread + from selfdrive.locationd.laikad import main as laikad_thread procs = { 'radard': radard_thread, 'controlsd': controlsd_thread, 'paramsd': paramsd_thread, 'plannerd': plannerd_thread, + 'laikad': laikad_thread, } proc = sys.argv[1] From 005bc44df692acb3389924d362f5b761987c7c9d Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 28 Jun 2022 14:29:41 +0200 Subject: [PATCH 013/306] laikad: use cython filter (#24983) use cython filter --- selfdrive/locationd/laikad.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 60028b637a..5098b25d38 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -32,7 +32,7 @@ class Laikad: def __init__(self, valid_const=("GPS", "GLONASS"), auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV), save_ephemeris=False, last_known_position=None): self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True) - self.gnss_kf = GNSSKalman(GENERATED_DIR) + self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True) self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None self.orbit_fetch_future: Optional[Future] = None @@ -145,7 +145,7 @@ class Laikad: self.gnss_kf.predict(t) def kf_valid(self, t: float) -> List[bool]: - filter_time = self.gnss_kf.filter.filter_time + filter_time = self.gnss_kf.filter.get_filter_time() return [filter_time is not None, filter_time is not None and abs(t - filter_time) < MAX_TIME_GAP, all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS]))] From 338df150d5112d4c6772edb797cb45370fdc3599 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 28 Jun 2022 15:48:57 +0200 Subject: [PATCH 014/306] ui: disable sync with model until more stable (#24984) --- selfdrive/ui/qt/widgets/cameraview.cc | 17 ++++++++++++++--- 1 file changed, 14 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index a80672f2c3..0bc90b5307 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -235,10 +235,21 @@ void CameraViewWidget::paintGL() { if (frames.empty()) return; - int frame_idx; - for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) { - if (frames[frame_idx].first == draw_frame_id) break; + int frame_idx = frames.size() - 1; + + // Always draw latest frame until sync logic is more stable + // for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) { + // if (frames[frame_idx].first == draw_frame_id) break; + // } + + // Log duplicate/dropped frames + static int prev_id = 0; + if (frames[frame_idx].first == prev_id) { + qInfo() << "Drawing same frame twice" << frames[frame_idx].first; + } else if (frames[frame_idx].first != prev_id + 1) { + qInfo() << "Skipped frame" << frames[frame_idx].first; } + prev_id = frames[frame_idx].first; glViewport(0, 0, width(), height()); glBindVertexArray(frame_vao); From fd5b3d76036b78864111790931a3abcb1d11ee0f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 28 Jun 2022 22:12:42 +0800 Subject: [PATCH 015/306] move replay from selfdrive/ui/replay to tools/replay (#24971) * mv to tools/replay * change folder * add .gitignore * fix build doc * disable warning * enable warning after build * build qt/util.cc qt/api.cc to library * cleanup --- .github/workflows/selfdrive_tests.yaml | 2 +- SConstruct | 2 ++ docs/c_docs.rst | 2 +- release/files_common | 4 ++-- selfdrive/loggerd/tests/test_logger.cc | 2 +- selfdrive/ui/SConscript | 20 +++++-------------- tools/CTF.md | 2 +- tools/replay/.gitignore | 5 +++++ tools/replay/README.md | 14 ++++++------- tools/replay/SConscript | 19 ++++++++++++++++++ {selfdrive/ui => tools}/replay/camera.cc | 4 ++-- {selfdrive/ui => tools}/replay/camera.h | 4 ++-- {selfdrive/ui => tools}/replay/consoleui.cc | 2 +- {selfdrive/ui => tools}/replay/consoleui.h | 2 +- {selfdrive/ui => tools}/replay/filereader.cc | 4 ++-- {selfdrive/ui => tools}/replay/filereader.h | 0 {selfdrive/ui => tools}/replay/framereader.cc | 4 ++-- {selfdrive/ui => tools}/replay/framereader.h | 2 +- {selfdrive/ui => tools}/replay/logreader.cc | 4 ++-- {selfdrive/ui => tools}/replay/logreader.h | 2 +- {selfdrive/ui => tools}/replay/main.cc | 4 ++-- {selfdrive/ui => tools}/replay/replay.cc | 4 ++-- {selfdrive/ui => tools}/replay/replay.h | 4 ++-- {selfdrive/ui => tools}/replay/route.cc | 6 +++--- {selfdrive/ui => tools}/replay/route.h | 6 +++--- .../ui => tools}/replay/tests/test_replay.cc | 4 ++-- .../ui => tools}/replay/tests/test_runner.cc | 0 {selfdrive/ui => tools}/replay/util.cc | 2 +- {selfdrive/ui => tools}/replay/util.h | 0 29 files changed, 73 insertions(+), 57 deletions(-) create mode 100644 tools/replay/.gitignore create mode 100644 tools/replay/SConscript rename {selfdrive/ui => tools}/replay/camera.cc (96%) rename {selfdrive/ui => tools}/replay/camera.h (92%) rename {selfdrive/ui => tools}/replay/consoleui.cc (99%) rename {selfdrive/ui => tools}/replay/consoleui.h (96%) rename {selfdrive/ui => tools}/replay/filereader.cc (94%) rename {selfdrive/ui => tools}/replay/filereader.h (100%) rename {selfdrive/ui => tools}/replay/framereader.cc (98%) rename {selfdrive/ui => tools}/replay/framereader.h (97%) rename {selfdrive/ui => tools}/replay/logreader.cc (97%) rename {selfdrive/ui => tools}/replay/logreader.h (97%) rename {selfdrive/ui => tools}/replay/main.cc (96%) rename {selfdrive/ui => tools}/replay/replay.cc (99%) rename {selfdrive/ui => tools}/replay/replay.h (97%) rename {selfdrive/ui => tools}/replay/route.cc (97%) rename {selfdrive/ui => tools}/replay/route.h (92%) rename {selfdrive/ui => tools}/replay/tests/test_replay.cc (98%) rename {selfdrive/ui => tools}/replay/tests/test_runner.cc (100%) rename {selfdrive/ui => tools}/replay/util.cc (99%) rename {selfdrive/ui => tools}/replay/util.h (100%) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 52dd012baa..a40aa31341 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -310,7 +310,7 @@ jobs: ./selfdrive/boardd/tests/test_boardd_usbprotocol && \ ./selfdrive/loggerd/tests/test_logger &&\ ./system/proclogd/tests/test_proclog && \ - ./selfdrive/ui/replay/tests/test_replay && \ + ./tools/replay/tests/test_replay && \ ./system/camerad/test/ae_gray_test && \ coverage xml" - name: "Upload coverage to Codecov" diff --git a/SConstruct b/SConstruct index b243a4dc45..425ce3d761 100644 --- a/SConstruct +++ b/SConstruct @@ -411,6 +411,8 @@ SConscript(['selfdrive/locationd/SConscript']) SConscript(['selfdrive/sensord/SConscript']) SConscript(['selfdrive/ui/SConscript']) +SConscript(['tools/replay/SConscript']) + if GetOption('test'): SConscript('panda/tests/safety/SConscript') diff --git a/docs/c_docs.rst b/docs/c_docs.rst index 4e1e8a247a..5638b40bf0 100644 --- a/docs/c_docs.rst +++ b/docs/c_docs.rst @@ -54,7 +54,7 @@ soundd replay """""" .. autodoxygenindex:: - :project: selfdrive_ui_replay + :project: tools_replay qt "" diff --git a/release/files_common b/release/files_common index 0ace73623f..7e8dbd37a6 100644 --- a/release/files_common +++ b/release/files_common @@ -296,8 +296,8 @@ selfdrive/ui/qt/offroad/*.qml selfdrive/ui/qt/widgets/*.cc selfdrive/ui/qt/widgets/*.h -selfdrive/ui/replay/*.cc -selfdrive/ui/replay/*.h +tools/replay/*.cc +tools/replay/*.h selfdrive/ui/qt/maps/*.cc selfdrive/ui/qt/maps/*.h diff --git a/selfdrive/loggerd/tests/test_logger.cc b/selfdrive/loggerd/tests/test_logger.cc index 11a50fa2e7..c8f6620924 100644 --- a/selfdrive/loggerd/tests/test_logger.cc +++ b/selfdrive/loggerd/tests/test_logger.cc @@ -9,7 +9,7 @@ #include "cereal/messaging/messaging.h" #include "common/util.h" #include "selfdrive/loggerd/logger.h" -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/util.h" typedef cereal::Sentinel::SentinelType SentinelType; diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 28fcc5f56f..970f715f54 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -18,10 +18,11 @@ if arch == "Darwin": del base_libs[base_libs.index('OpenCL')] qt_env['FRAMEWORKS'] += ['OpenCL'] -widgets_src = ["ui.cc", "qt/util.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", +qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs) +widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc", "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc", - "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc", "qt/api.cc", + "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc", "qt/request_repeater.cc", "qt/qt_window.cc", "qt/offroad/networking.cc", "qt/offroad/wifiManager.cc"] qt_env['CPPDEFINES'] = [] @@ -31,7 +32,7 @@ if maps: qt_env['CPPDEFINES'] += ["ENABLE_MAPS"] widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs) -qt_libs = [widgets] + base_libs +qt_libs = [widgets, qt_util] + base_libs # build assets assets = "#selfdrive/assets/assets.cc" @@ -107,17 +108,6 @@ if GetOption('extras'): # keep installers small assert f[0].get_size() < 300*1e3 - -# build headless replay +# build watch3 if arch in ['x86_64', 'Darwin'] or GetOption('extras'): - qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"] - - replay_lib_src = ["replay/replay.cc", "replay/consoleui.cc", "replay/camera.cc", "replay/filereader.cc", "replay/logreader.cc", "replay/framereader.cc", "replay/route.cc", "replay/util.cc"] - - replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs) - replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs - qt_env.Program("replay/replay", ["replay/main.cc"], LIBS=replay_libs) qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'zmq', 'visionipc', 'messaging']) - - if GetOption('test'): - qt_env.Program('replay/tests/test_replay', ['replay/tests/test_runner.cc', 'replay/tests/test_replay.cc'], LIBS=[replay_libs]) diff --git a/tools/CTF.md b/tools/CTF.md index 396e7575a4..a14a41d55d 100644 --- a/tools/CTF.md +++ b/tools/CTF.md @@ -12,7 +12,7 @@ Welcome to the first part of the comma CTF! getting started ```bash # start the route reply -cd selfdrive/ui/replay +cd tools/replay ./replay '0c7f0c7f0c7f0c7f|2021-10-13--13-00-00' --dcam --ecam # start the UI in another terminal diff --git a/tools/replay/.gitignore b/tools/replay/.gitignore new file mode 100644 index 0000000000..83f0e99a8b --- /dev/null +++ b/tools/replay/.gitignore @@ -0,0 +1,5 @@ +moc_* +*.moc + +replay +tests/test_replay diff --git a/tools/replay/README.md b/tools/replay/README.md index 759a448d73..b705fb60db 100644 --- a/tools/replay/README.md +++ b/tools/replay/README.md @@ -9,12 +9,12 @@ python lib/auth.py # Start a replay -selfdrive/ui/replay/replay +tools/replay/replay # Example: -# selfdrive/ui/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36' +# tools/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36' # or use --demo to replay the default demo route: -# selfdrive/ui/replay/replay --demo +# tools/replay/replay --demo # watch the replay with the normal openpilot UI cd selfdrive/ui && ./ui @@ -25,8 +25,8 @@ python replay/ui.py ## usage ``` bash -$ selfdrive/ui/replay/replay -h -Usage: selfdrive/ui/replay/replay [options] route +$ tools/replay/replay -h +Usage: tools/replay/replay [options] route Mock openpilot components by publishing logged messages. Options: @@ -51,7 +51,7 @@ simply replay a route using the `--dcam` and `--ecam` flags: ```bash # start a replay -cd selfdrive/ui/replay && ./replay --demo --dcam --ecam +cd tools/replay && ./replay --demo --dcam --ecam # then start watch3 cd selfdrive/ui && ./watch3 @@ -70,5 +70,5 @@ In order to replay specific route: MOCK=1 selfdrive/boardd/tests/boardd_old.py # In another terminal: -selfdrive/ui/replay/replay +tools/replay/replay ``` diff --git a/tools/replay/SConscript b/tools/replay/SConscript new file mode 100644 index 0000000000..4a85f46d61 --- /dev/null +++ b/tools/replay/SConscript @@ -0,0 +1,19 @@ +import os +Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', + 'cereal', 'transformations') + +base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq', + 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] + +qt_libs = ['qt_util'] + base_libs +if arch in ['x86_64', 'Darwin'] or GetOption('extras'): + qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"] + + replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"] + + replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=qt_libs) + replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs + qt_env.Program("replay", ["main.cc"], LIBS=replay_libs) + + if GetOption('test'): + qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs]) diff --git a/selfdrive/ui/replay/camera.cc b/tools/replay/camera.cc similarity index 96% rename from selfdrive/ui/replay/camera.cc rename to tools/replay/camera.cc index 2e8b68a415..87afe63a2a 100644 --- a/selfdrive/ui/replay/camera.cc +++ b/tools/replay/camera.cc @@ -1,5 +1,5 @@ -#include "selfdrive/ui/replay/camera.h" -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/camera.h" +#include "tools/replay/util.h" #include diff --git a/selfdrive/ui/replay/camera.h b/tools/replay/camera.h similarity index 92% rename from selfdrive/ui/replay/camera.h rename to tools/replay/camera.h index 7f078511cf..66d33142fb 100644 --- a/selfdrive/ui/replay/camera.h +++ b/tools/replay/camera.h @@ -3,8 +3,8 @@ #include #include "cereal/visionipc/visionipc_server.h" #include "common/queue.h" -#include "selfdrive/ui/replay/framereader.h" -#include "selfdrive/ui/replay/logreader.h" +#include "tools/replay/framereader.h" +#include "tools/replay/logreader.h" class CameraServer { public: diff --git a/selfdrive/ui/replay/consoleui.cc b/tools/replay/consoleui.cc similarity index 99% rename from selfdrive/ui/replay/consoleui.cc rename to tools/replay/consoleui.cc index 05eb09c9ed..e4a3146a69 100644 --- a/selfdrive/ui/replay/consoleui.cc +++ b/tools/replay/consoleui.cc @@ -1,4 +1,4 @@ -#include "selfdrive/ui/replay/consoleui.h" +#include "tools/replay/consoleui.h" #include #include diff --git a/selfdrive/ui/replay/consoleui.h b/tools/replay/consoleui.h similarity index 96% rename from selfdrive/ui/replay/consoleui.h rename to tools/replay/consoleui.h index bce1146d46..20e07524dd 100644 --- a/selfdrive/ui/replay/consoleui.h +++ b/tools/replay/consoleui.h @@ -7,7 +7,7 @@ #include #include -#include "selfdrive/ui/replay/replay.h" +#include "tools/replay/replay.h" #include class ConsoleUI : public QObject { diff --git a/selfdrive/ui/replay/filereader.cc b/tools/replay/filereader.cc similarity index 94% rename from selfdrive/ui/replay/filereader.cc rename to tools/replay/filereader.cc index 5f862bec35..88879067c9 100644 --- a/selfdrive/ui/replay/filereader.cc +++ b/tools/replay/filereader.cc @@ -1,9 +1,9 @@ -#include "selfdrive/ui/replay/filereader.h" +#include "tools/replay/filereader.h" #include #include "common/util.h" -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/util.h" std::string cacheFilePath(const std::string &url) { static std::string cache_path = [] { diff --git a/selfdrive/ui/replay/filereader.h b/tools/replay/filereader.h similarity index 100% rename from selfdrive/ui/replay/filereader.h rename to tools/replay/filereader.h diff --git a/selfdrive/ui/replay/framereader.cc b/tools/replay/framereader.cc similarity index 98% rename from selfdrive/ui/replay/framereader.cc rename to tools/replay/framereader.cc index 38d98bddc5..bfa85a0625 100644 --- a/selfdrive/ui/replay/framereader.cc +++ b/tools/replay/framereader.cc @@ -1,5 +1,5 @@ -#include "selfdrive/ui/replay/framereader.h" -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/framereader.h" +#include "tools/replay/util.h" #include #include "libyuv.h" diff --git a/selfdrive/ui/replay/framereader.h b/tools/replay/framereader.h similarity index 97% rename from selfdrive/ui/replay/framereader.h rename to tools/replay/framereader.h index 443636e27d..10bf34a24e 100644 --- a/selfdrive/ui/replay/framereader.h +++ b/tools/replay/framereader.h @@ -4,7 +4,7 @@ #include #include -#include "selfdrive/ui/replay/filereader.h" +#include "tools/replay/filereader.h" extern "C" { #include diff --git a/selfdrive/ui/replay/logreader.cc b/tools/replay/logreader.cc similarity index 97% rename from selfdrive/ui/replay/logreader.cc rename to tools/replay/logreader.cc index 579fe50644..f27224ac53 100644 --- a/selfdrive/ui/replay/logreader.cc +++ b/tools/replay/logreader.cc @@ -1,7 +1,7 @@ -#include "selfdrive/ui/replay/logreader.h" +#include "tools/replay/logreader.h" #include -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/util.h" Event::Event(const kj::ArrayPtr &amsg, bool frame) : reader(amsg), frame(frame) { words = kj::ArrayPtr(amsg.begin(), reader.getEnd()); diff --git a/selfdrive/ui/replay/logreader.h b/tools/replay/logreader.h similarity index 97% rename from selfdrive/ui/replay/logreader.h rename to tools/replay/logreader.h index b4a38a5721..fb63bf3913 100644 --- a/selfdrive/ui/replay/logreader.h +++ b/tools/replay/logreader.h @@ -7,7 +7,7 @@ #include "cereal/gen/cpp/log.capnp.h" #include "system/camerad/cameras/camera_common.h" -#include "selfdrive/ui/replay/filereader.h" +#include "tools/replay/filereader.h" const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam}; const int MAX_CAMERAS = std::size(ALL_CAMERAS); diff --git a/selfdrive/ui/replay/main.cc b/tools/replay/main.cc similarity index 96% rename from selfdrive/ui/replay/main.cc rename to tools/replay/main.cc index e09587023c..d3d6894877 100644 --- a/selfdrive/ui/replay/main.cc +++ b/tools/replay/main.cc @@ -1,8 +1,8 @@ #include #include -#include "selfdrive/ui/replay/consoleui.h" -#include "selfdrive/ui/replay/replay.h" +#include "tools/replay/consoleui.h" +#include "tools/replay/replay.h" const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"; diff --git a/selfdrive/ui/replay/replay.cc b/tools/replay/replay.cc similarity index 99% rename from selfdrive/ui/replay/replay.cc rename to tools/replay/replay.cc index cf7520b361..c886a7e186 100644 --- a/selfdrive/ui/replay/replay.cc +++ b/tools/replay/replay.cc @@ -1,4 +1,4 @@ -#include "selfdrive/ui/replay/replay.h" +#include "tools/replay/replay.h" #include #include @@ -8,7 +8,7 @@ #include "common/params.h" #include "common/timing.h" #include "system/hardware/hw.h" -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/util.h" Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent) : sm(sm_), flags_(flags), QObject(parent) { diff --git a/selfdrive/ui/replay/replay.h b/tools/replay/replay.h similarity index 97% rename from selfdrive/ui/replay/replay.h rename to tools/replay/replay.h index c89a835f64..13269d3ec9 100644 --- a/selfdrive/ui/replay/replay.h +++ b/tools/replay/replay.h @@ -4,8 +4,8 @@ #include -#include "selfdrive/ui/replay/camera.h" -#include "selfdrive/ui/replay/route.h" +#include "tools/replay/camera.h" +#include "tools/replay/route.h" // one segment uses about 100M of memory constexpr int FORWARD_SEGS = 5; diff --git a/selfdrive/ui/replay/route.cc b/tools/replay/route.cc similarity index 97% rename from selfdrive/ui/replay/route.cc rename to tools/replay/route.cc index 3d595141cd..5b47090229 100644 --- a/selfdrive/ui/replay/route.cc +++ b/tools/replay/route.cc @@ -1,4 +1,4 @@ -#include "selfdrive/ui/replay/route.h" +#include "tools/replay/route.h" #include #include @@ -11,8 +11,8 @@ #include "system/hardware/hw.h" #include "selfdrive/ui/qt/api.h" -#include "selfdrive/ui/replay/replay.h" -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/replay.h" +#include "tools/replay/util.h" Route::Route(const QString &route, const QString &data_dir) : data_dir_(data_dir) { route_ = parseRoute(route); diff --git a/selfdrive/ui/replay/route.h b/tools/replay/route.h similarity index 92% rename from selfdrive/ui/replay/route.h rename to tools/replay/route.h index ac8fba75ca..6ca9c3b883 100644 --- a/selfdrive/ui/replay/route.h +++ b/tools/replay/route.h @@ -2,9 +2,9 @@ #include -#include "selfdrive/ui/replay/framereader.h" -#include "selfdrive/ui/replay/logreader.h" -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/framereader.h" +#include "tools/replay/logreader.h" +#include "tools/replay/util.h" struct RouteIdentifier { QString dongle_id; diff --git a/selfdrive/ui/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc similarity index 98% rename from selfdrive/ui/replay/tests/test_replay.cc rename to tools/replay/tests/test_replay.cc index bf984f5f3d..bd5dee013c 100644 --- a/selfdrive/ui/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -6,8 +6,8 @@ #include "catch2/catch.hpp" #include "common/util.h" -#include "selfdrive/ui/replay/replay.h" -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/replay.h" +#include "tools/replay/util.h" const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"; const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2"; diff --git a/selfdrive/ui/replay/tests/test_runner.cc b/tools/replay/tests/test_runner.cc similarity index 100% rename from selfdrive/ui/replay/tests/test_runner.cc rename to tools/replay/tests/test_runner.cc diff --git a/selfdrive/ui/replay/util.cc b/tools/replay/util.cc similarity index 99% rename from selfdrive/ui/replay/util.cc rename to tools/replay/util.cc index 099219ccde..a6ebbec615 100644 --- a/selfdrive/ui/replay/util.cc +++ b/tools/replay/util.cc @@ -1,4 +1,4 @@ -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/util.h" #include #include diff --git a/selfdrive/ui/replay/util.h b/tools/replay/util.h similarity index 100% rename from selfdrive/ui/replay/util.h rename to tools/replay/util.h From 42d51a1b959fbd00cd43b7fb36cd5dce00f22c55 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 28 Jun 2022 17:20:37 +0200 Subject: [PATCH 016/306] Properly pass KF dependencies to rednose (#24985) * Fix rednose dependencies * bump rednose * bump rednose --- SConstruct | 21 +++++++++++++-------- rednose_repo | 2 +- 2 files changed, 14 insertions(+), 9 deletions(-) diff --git a/SConstruct b/SConstruct index 425ce3d761..1209894ba4 100644 --- a/SConstruct +++ b/SConstruct @@ -356,22 +356,27 @@ Export('cereal', 'messaging', 'visionipc') # Build rednose library and ekf models +rednose_deps = [ + "#selfdrive/locationd/models/constants.py", + "#selfdrive/locationd/models/gnss_helpers.py", +] + rednose_config = { 'generated_folder': '#selfdrive/locationd/models/generated', 'to_build': { - 'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []), - 'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']), - 'car': ('#selfdrive/locationd/models/car_kf.py', True, []), + 'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, [], rednose_deps), + 'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h'], rednose_deps), + 'car': ('#selfdrive/locationd/models/car_kf.py', True, [], rednose_deps), }, } if arch != "larch64": rednose_config['to_build'].update({ - 'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []), - 'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []), - 'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []), - 'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, []), - 'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, []), + 'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, [], rednose_deps), + 'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, [], []), + 'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, [], []), + 'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, [], []), + 'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, [], rednose_deps), }) Export('rednose_config') diff --git a/rednose_repo b/rednose_repo index a79a87300a..225dbacbaa 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit a79a87300a6c5093d99f281307c65b1e99295b20 +Subproject commit 225dbacbaac312f85eaaee0b97a3acc31f9c6b47 From 712445c5314d0634e1f6a78a95901dd14ac6bc57 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 28 Jun 2022 17:39:22 +0200 Subject: [PATCH 017/306] build.py: remove retry logic (#24986) --- selfdrive/manager/build.py | 101 ++++++++++++++++--------------------- 1 file changed, 43 insertions(+), 58 deletions(-) diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index 10b4c0a4b8..12f894061a 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -1,8 +1,6 @@ #!/usr/bin/env python3 import os import subprocess -import sys -import time import textwrap from pathlib import Path @@ -28,62 +26,49 @@ def build(spinner: Spinner, dirty: bool = False) -> None: nproc = os.cpu_count() j_flag = "" if nproc is None else f"-j{nproc - 1}" - for retry in [True, False]: - scons: subprocess.Popen = subprocess.Popen(["scons", j_flag, "--cache-populate"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE) - assert scons.stderr is not None - - compile_output = [] - - # Read progress from stderr and update spinner - while scons.poll() is None: - try: - line = scons.stderr.readline() - if line is None: - continue - line = line.rstrip() - - prefix = b'progress: ' - if line.startswith(prefix): - i = int(line[len(prefix):]) - spinner.update_progress(MAX_BUILD_PROGRESS * min(1., i / TOTAL_SCONS_NODES), 100.) - elif len(line): - compile_output.append(line) - print(line.decode('utf8', 'replace')) - except Exception: - pass - - if scons.returncode != 0: - # Read remaining output - r = scons.stderr.read().split(b'\n') - compile_output += r - - if retry and (not dirty): - if not os.getenv("CI"): - print("scons build failed, cleaning in") - for i in range(3, -1, -1): - print("....%d" % i) - time.sleep(1) - subprocess.check_call(["scons", "-c"], cwd=BASEDIR, env=env) - else: - print("scons build failed after retry") - sys.exit(1) - else: - # Build failed log errors - errors = [line.decode('utf8', 'replace') for line in compile_output - if any(err in line for err in [b'error: ', b'not found, needed by target'])] - error_s = "\n".join(errors) - add_file_handler(cloudlog) - cloudlog.error("scons build failed\n" + error_s) - - # Show TextWindow - spinner.close() - if not os.getenv("CI"): - error_s = "\n \n".join("\n".join(textwrap.wrap(e, 65)) for e in errors) - with TextWindow("openpilot failed to build\n \n" + error_s) as t: - t.wait_for_exit() - exit(1) - else: - break + scons: subprocess.Popen = subprocess.Popen(["scons", j_flag, "--cache-populate"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE) + assert scons.stderr is not None + + compile_output = [] + + # Read progress from stderr and update spinner + while scons.poll() is None: + try: + line = scons.stderr.readline() + if line is None: + continue + line = line.rstrip() + + prefix = b'progress: ' + if line.startswith(prefix): + i = int(line[len(prefix):]) + spinner.update_progress(MAX_BUILD_PROGRESS * min(1., i / TOTAL_SCONS_NODES), 100.) + elif len(line): + compile_output.append(line) + print(line.decode('utf8', 'replace')) + except Exception: + pass + + if scons.returncode != 0: + # Read remaining output + r = scons.stderr.read().split(b'\n') + compile_output += r + + # Build failed log errors + errors = [line.decode('utf8', 'replace') for line in compile_output + if any(err in line for err in [b'error: ', b'not found, needed by target'])] + error_s = "\n".join(errors) + add_file_handler(cloudlog) + cloudlog.error("scons build failed\n" + error_s) + + # Show TextWindow + spinner.close() + if not os.getenv("CI"): + error_s = "\n \n".join("\n".join(textwrap.wrap(e, 65)) for e in errors) + with TextWindow("openpilot failed to build\n \n" + error_s) as t: + t.wait_for_exit() + exit(1) + # enforce max cache size cache_files = [f for f in CACHE_DIR.rglob('*') if f.is_file()] From 75f5282e832a844aafccac3bfa53ffb029c53a2b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 28 Jun 2022 14:19:17 -0700 Subject: [PATCH 018/306] Chrysler: fix steering angle signals (#24926) * Chrysler_Update * only steering * revert other changes for now only steering * bump * Update ref_commit * bump opendbc * update refs Co-authored-by: Jonathan --- opendbc | 2 +- selfdrive/car/chrysler/carstate.py | 4 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/opendbc b/opendbc index 82be71072c..47b79c4d5a 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 82be71072c52fc78cf0e1eabc396af26c18ddc11 +Subproject commit 47b79c4d5ab5adc0bdd9d228c3d9594da0355c49 diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index f71a300263..202526df05 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -47,8 +47,6 @@ class CarState(CarStateBase): ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1 ret.rightBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2 - ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"] - ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"] ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None)) ret.cruiseState.available = cp.vl["DAS_3"]["ACC_AVAILABLE"] == 1 # ACC is white @@ -58,6 +56,8 @@ class CarState(CarStateBase): ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2) ret.accFaulted = cp.vl["DAS_3"]["ACC_FAULTED"] != 0 + ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"] + ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"] ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"] ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"] ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 3e02830bf4..946ddce19e 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -2ee969b34585f8055bb3eabab2dcc4061cc4bef9 \ No newline at end of file +a0b5ce7b2e0b9c073e51ac8908402d53e1d99722 \ No newline at end of file From 4db3ca4cf2eca777c1cff7cb5a3010569f6cc7d5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 28 Jun 2022 20:38:08 -0700 Subject: [PATCH 019/306] Toyota: Add missing 2021 RAV4 TSS2 esp FW (#24989) Add missing Canadian TRD 2021 RAV4 --- selfdrive/car/toyota/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 76f84302ce..c7a26257f3 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1262,6 +1262,7 @@ FW_VERSIONS = { b'\x01F152642711\x00\x00\x00\x00\x00\x00', b'\x01F152642750\x00\x00\x00\x00\x00\x00', b'\x01F152642751\x00\x00\x00\x00\x00\x00', + b'\x01F15260R292\x00\x00\x00\x00\x00\x00', ], (Ecu.eps, 0x7a1, None): [ b'8965B42170\x00\x00\x00\x00\x00\x00', From e0cd3bf5fc56229c2a0b835d0ef43a0bf683bfa5 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 29 Jun 2022 17:27:37 +0800 Subject: [PATCH 020/306] framereader.cc: remove nv12toyuv_buffer (#24991) remove nv12toyuv_buffer --- tools/replay/framereader.cc | 9 +++------ tools/replay/framereader.h | 1 - 2 files changed, 3 insertions(+), 7 deletions(-) diff --git a/tools/replay/framereader.cc b/tools/replay/framereader.cc index bfa85a0625..ecde9ad5d2 100644 --- a/tools/replay/framereader.cc +++ b/tools/replay/framereader.cc @@ -117,8 +117,6 @@ bool FrameReader::load(const std::byte *data, size_t size, bool no_hw_decoder, s if (has_hw_decoder && !no_hw_decoder) { if (!initHardwareDecoder(HW_DEVICE_TYPE)) { rWarning("No device with hardware decoder found. fallback to CPU decoding."); - } else { - nv12toyuv_buffer.resize(getYUVSize()); } } @@ -227,17 +225,16 @@ AVFrame *FrameReader::decodeFrame(AVPacket *pkt) { } bool FrameReader::copyBuffers(AVFrame *f, uint8_t *yuv) { + assert(f != nullptr && yuv != nullptr); + uint8_t *y = yuv; + uint8_t *uv = y + width * height; if (hw_pix_fmt == HW_PIX_FMT) { - uint8_t *y = yuv ? yuv : nv12toyuv_buffer.data(); - uint8_t *uv = y + width * height; for (int i = 0; i < height/2; i++) { memcpy(y + (i*2 + 0)*width, f->data[0] + (i*2 + 0)*f->linesize[0], width); memcpy(y + (i*2 + 1)*width, f->data[0] + (i*2 + 1)*f->linesize[0], width); memcpy(uv + i*width, f->data[1] + i*f->linesize[1], width); } } else { - uint8_t *y = yuv ? yuv : nv12toyuv_buffer.data(); - uint8_t *uv = y + width * height; libyuv::I420ToNV12(f->data[0], f->linesize[0], f->data[1], f->linesize[1], f->data[2], f->linesize[2], diff --git a/tools/replay/framereader.h b/tools/replay/framereader.h index 10bf34a24e..e50b61d7f4 100644 --- a/tools/replay/framereader.h +++ b/tools/replay/framereader.h @@ -46,7 +46,6 @@ private: AVPixelFormat hw_pix_fmt = AV_PIX_FMT_NONE; AVBufferRef *hw_device_ctx = nullptr; - std::vector nv12toyuv_buffer; int prev_idx = -1; inline static std::atomic has_hw_decoder = true; }; From 67cf20977d8fc250ac9d43261554712e1b74c689 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 29 Jun 2022 11:36:03 +0200 Subject: [PATCH 021/306] bump cereal --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index 3fef4f7861..df08568318 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 3fef4f7861e04193fdb11dbd5b0eaf6d2b102ee1 +Subproject commit df08568318da97ed6f87747caee0a5b2c30086c4 From bef5350fa3cc99a79af75a108f50d6a76ce07988 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 29 Jun 2022 12:19:37 +0200 Subject: [PATCH 022/306] don't log LaikadEphemeris in initData --- common/params.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common/params.cc b/common/params.cc index b8526bc231..f93c87cd98 100644 --- a/common/params.cc +++ b/common/params.cc @@ -128,7 +128,7 @@ std::unordered_map keys = { {"IsTakingSnapshot", CLEAR_ON_MANAGER_START}, {"IsUpdateAvailable", CLEAR_ON_MANAGER_START}, {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, - {"LaikadEphemeris", PERSISTENT}, + {"LaikadEphemeris", PERSISTENT | DONT_LOG}, {"LastAthenaPingTime", CLEAR_ON_MANAGER_START}, {"LastGPSPosition", PERSISTENT}, {"LastManagerExitReason", CLEAR_ON_MANAGER_START}, From 879a7c3201a037c27c92ad6b92143114f52f29d3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 29 Jun 2022 14:47:46 -0700 Subject: [PATCH 023/306] UI: wrap all text for translation (#24961) * rough multiple language demo * more wrappings * stash * add some bad translations * updates * map from french to spanish still has same problem of needing to call setText on everything * add files * restart UI * use return code * relative path * more translations * don't loop restart * Toggle and prime translations * try on device * try QComboBox with readable style * stash * not yet scrollable * stash * dynamic translations (doesn't work for dynamic widget strings yet) * clean up multiple option selector * store languages in json * try transparent * Try transparent popup * see how this looks * tweaks * clean up * clean up * clean up 2 and missing tr * wrap more strings * missing updater * fixes * add basic test to ensure all strings wrapped * try in CI * clean up * test name * fix test * always install qt dev tools * fix deps * fast test * add section so it prints multiple errors * debug * debug get rid of those * make any difference? * comment * oh... * run with offscreen platform * try out section * clean up * fix missing wrappings (it works!) * move down * space * clear relevant params, set TICI=1 --- .github/workflows/selfdrive_tests.yaml | 2 + selfdrive/ui/SConscript | 3 + selfdrive/ui/installer/installer.cc | 8 +- selfdrive/ui/qt/home.cc | 4 +- selfdrive/ui/qt/maps/map_settings.cc | 16 +-- selfdrive/ui/qt/offroad/driverview.cc | 2 +- selfdrive/ui/qt/offroad/networking.cc | 32 ++--- selfdrive/ui/qt/offroad/onboarding.cc | 14 +-- selfdrive/ui/qt/offroad/settings.cc | 110 +++++++++--------- selfdrive/ui/qt/onroad.cc | 14 +-- selfdrive/ui/qt/setup/reset.cc | 18 +-- selfdrive/ui/qt/setup/setup.cc | 42 +++---- selfdrive/ui/qt/setup/updater.cc | 16 +-- selfdrive/ui/qt/sidebar.cc | 16 +-- selfdrive/ui/qt/text.cc | 4 +- selfdrive/ui/qt/util.cc | 8 +- selfdrive/ui/qt/widgets/drive_stats.cc | 8 +- selfdrive/ui/qt/widgets/drive_stats.h | 2 +- selfdrive/ui/qt/widgets/input.cc | 10 +- selfdrive/ui/qt/widgets/offroad_alerts.cc | 6 +- selfdrive/ui/qt/widgets/prime.cc | 28 ++--- selfdrive/ui/qt/widgets/ssh_keys.cc | 18 +-- selfdrive/ui/qt/widgets/ssh_keys.h | 2 +- selfdrive/ui/tests/.gitignore | 1 + .../ui/tests/create_test_translations.sh | 18 +++ selfdrive/ui/tests/test_runner.cc | 19 ++- selfdrive/ui/tests/test_translations.cc | 51 ++++++++ tools/ubuntu_setup.sh | 1 + 28 files changed, 282 insertions(+), 191 deletions(-) create mode 100755 selfdrive/ui/tests/create_test_translations.sh create mode 100644 selfdrive/ui/tests/test_translations.cc diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index a40aa31341..f5edfe5929 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -305,6 +305,8 @@ jobs: $UNIT_TEST selfdrive/hardware/tici && \ $UNIT_TEST selfdrive/modeld && \ $UNIT_TEST tools/lib/tests && \ + ./selfdrive/ui/tests/create_test_translations.sh && \ + QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ ./common/tests/test_util && \ ./common/tests/test_swaglog && \ ./selfdrive/boardd/tests/test_boardd_usbprotocol && \ diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 970f715f54..0835c16372 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -58,6 +58,9 @@ qt_src = ["main.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc", "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc", "qt/offroad/onboarding.cc", "qt/offroad/driverview.cc"] qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs) +if GetOption('test'): + qt_src.remove("main.cc") # replaced by test_runner + qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs) # setup and factory resetter diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc index 3588026ba6..fe31a2dcb1 100644 --- a/selfdrive/ui/installer/installer.cc +++ b/selfdrive/ui/installer/installer.cc @@ -53,7 +53,7 @@ Installer::Installer(QWidget *parent) : QWidget(parent) { layout->setContentsMargins(150, 290, 150, 150); layout->setSpacing(0); - QLabel *title = new QLabel("Installing..."); + QLabel *title = new QLabel(tr("Installing...")); title->setStyleSheet("font-size: 90px; font-weight: 600;"); layout->addWidget(title, 0, Qt::AlignTop); @@ -141,9 +141,9 @@ void Installer::cachedFetch(const QString &cache) { void Installer::readProgress() { const QVector> stages = { // prefix, weight in percentage - {"Receiving objects: ", 91}, - {"Resolving deltas: ", 2}, - {"Updating files: ", 7}, + {tr("Receiving objects: "), 91}, + {tr("Resolving deltas: "), 2}, + {tr("Updating files: "), 7}, }; auto line = QString(proc.readAllStandardError()); diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index aec9bffbc0..0edeb252b7 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -111,7 +111,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { date = new QLabel(); header_layout->addWidget(date, 1, Qt::AlignHCenter | Qt::AlignLeft); - update_notif = new QPushButton("UPDATE"); + update_notif = new QPushButton(tr("UPDATE")); update_notif->setVisible(false); update_notif->setStyleSheet("background-color: #364DEF;"); QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); }); @@ -202,6 +202,6 @@ void OffroadHome::refresh() { update_notif->setVisible(updateAvailable); alert_notif->setVisible(alerts); if (alerts) { - alert_notif->setText(QString::number(alerts) + (alerts > 1 ? " ALERTS" : " ALERT")); + alert_notif->setText(QString::number(alerts) + (alerts > 1 ? tr(" ALERTS") : tr(" ALERT"))); } } diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc index 674c7fa7cb..eaa8b1f703 100644 --- a/selfdrive/ui/qt/maps/map_settings.cc +++ b/selfdrive/ui/qt/maps/map_settings.cc @@ -59,11 +59,11 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { current_widget = new QWidget(this); QVBoxLayout *current_layout = new QVBoxLayout(current_widget); - QLabel *title = new QLabel("Current Destination"); + QLabel *title = new QLabel(tr("Current Destination")); title->setStyleSheet("font-size: 55px"); current_layout->addWidget(title); - current_route = new ButtonControl("", "CLEAR"); + current_route = new ButtonControl("", tr("CLEAR")); current_route->setStyleSheet("padding-left: 40px;"); current_layout->addWidget(current_route); QObject::connect(current_route, &ButtonControl::clicked, [=]() { @@ -78,7 +78,7 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { main_layout->addWidget(current_widget); // Recents - QLabel *recents_title = new QLabel("Recent Destinations"); + QLabel *recents_title = new QLabel(tr("Recent Destinations")); recents_title->setStyleSheet("font-size: 55px"); main_layout->addWidget(recents_title); main_layout->addSpacing(20); @@ -92,7 +92,7 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { QWidget * no_prime_widget = new QWidget; { QVBoxLayout *no_prime_layout = new QVBoxLayout(no_prime_widget); - QLabel *signup_header = new QLabel("Try the Navigation Beta"); + QLabel *signup_header = new QLabel(tr("Try the Navigation Beta")); signup_header->setStyleSheet(R"(font-size: 75px; color: white; font-weight:600;)"); signup_header->setAlignment(Qt::AlignCenter); @@ -104,7 +104,7 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { screenshot->setPixmap(pm.scaledToWidth(1080, Qt::SmoothTransformation)); no_prime_layout->addWidget(screenshot, 0, Qt::AlignHCenter); - QLabel *signup = new QLabel("Get turn-by-turn directions displayed and more with a comma \nprime subscription. Sign up now: https://connect.comma.ai"); + QLabel *signup = new QLabel(tr("Get turn-by-turn directions displayed and more with a comma \nprime subscription. Sign up now: https://connect.comma.ai")); signup->setStyleSheet(R"(font-size: 45px; color: white; font-weight:300;)"); signup->setAlignment(Qt::AlignCenter); @@ -161,12 +161,12 @@ void MapPanel::showEvent(QShowEvent *event) { void MapPanel::clear() { home_button->setIcon(QPixmap("../assets/navigation/home_inactive.png")); home_address->setStyleSheet(R"(font-size: 50px; color: grey;)"); - home_address->setText("No home\nlocation set"); + home_address->setText(tr("No home\nlocation set")); home_button->disconnect(); work_button->setIcon(QPixmap("../assets/navigation/work_inactive.png")); work_address->setStyleSheet(R"(font-size: 50px; color: grey;)"); - work_address->setText("No work\nlocation set"); + work_address->setText(tr("No work\nlocation set")); work_button->disconnect(); clearLayout(recent_layout); @@ -279,7 +279,7 @@ void MapPanel::parseResponse(const QString &response, bool success) { } if (!has_recents) { - QLabel *no_recents = new QLabel("no recent destinations"); + QLabel *no_recents = new QLabel(tr("no recent destinations")); no_recents->setStyleSheet(R"(font-size: 50px; color: #9c9c9c)"); recent_layout->addWidget(no_recents); } diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index dc9f292df1..5bf70584a1 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -53,7 +53,7 @@ void DriverViewScene::paintEvent(QPaintEvent* event) { p.setPen(Qt::white); p.setRenderHint(QPainter::TextAntialiasing); configFont(p, "Inter", 100, "Bold"); - p.drawText(geometry(), Qt::AlignCenter, "camera starting"); + p.drawText(geometry(), Qt::AlignCenter, tr("camera starting")); return; } diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc index 418ccd3179..536ca495ca 100644 --- a/selfdrive/ui/qt/offroad/networking.cc +++ b/selfdrive/ui/qt/offroad/networking.cc @@ -27,7 +27,7 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) { QVBoxLayout* vlayout = new QVBoxLayout(wifiScreen); vlayout->setContentsMargins(20, 20, 20, 20); if (show_advanced) { - QPushButton* advancedSettings = new QPushButton("Advanced"); + QPushButton* advancedSettings = new QPushButton(tr("Advanced")); advancedSettings->setObjectName("advanced_btn"); advancedSettings->setStyleSheet("margin-right: 30px;"); advancedSettings->setFixedSize(400, 100); @@ -84,7 +84,7 @@ void Networking::connectToNetwork(const Network &n) { } else if (n.security_type == SecurityType::OPEN) { wifi->connect(n); } else if (n.security_type == SecurityType::WPA) { - QString pass = InputDialog::getText("Enter password", this, "for \"" + n.ssid + "\"", true, 8); + QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"") + n.ssid + "\"", true, 8); if (!pass.isEmpty()) { wifi->connect(n, pass); } @@ -94,7 +94,7 @@ void Networking::connectToNetwork(const Network &n) { void Networking::wrongPassword(const QString &ssid) { if (wifi->seenNetworks.contains(ssid)) { const Network &n = wifi->seenNetworks.value(ssid); - QString pass = InputDialog::getText("Wrong password", this, "for \"" + n.ssid +"\"", true, 8); + QString pass = InputDialog::getText(tr("Wrong password"), this, tr("for \"") + n.ssid +"\"", true, 8); if (!pass.isEmpty()) { wifi->connect(n, pass); } @@ -118,7 +118,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid main_layout->setSpacing(20); // Back button - QPushButton* back = new QPushButton("Back"); + QPushButton* back = new QPushButton(tr("Back")); back->setObjectName("back_btn"); back->setFixedSize(400, 100); connect(back, &QPushButton::clicked, [=]() { emit backPress(); }); @@ -126,14 +126,14 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid ListWidget *list = new ListWidget(this); // Enable tethering layout - tetheringToggle = new ToggleControl("Enable Tethering", "", "", wifi->isTetheringEnabled()); + tetheringToggle = new ToggleControl(tr("Enable Tethering"), "", "", wifi->isTetheringEnabled()); list->addItem(tetheringToggle); QObject::connect(tetheringToggle, &ToggleControl::toggleFlipped, this, &AdvancedNetworking::toggleTethering); // Change tethering password - ButtonControl *editPasswordButton = new ButtonControl("Tethering Password", "EDIT"); + ButtonControl *editPasswordButton = new ButtonControl(tr("Tethering Password"), tr("EDIT")); connect(editPasswordButton, &ButtonControl::clicked, [=]() { - QString pass = InputDialog::getText("Enter new tethering password", this, "", true, 8, wifi->getTetheringPassword()); + QString pass = InputDialog::getText(tr("Enter new tethering password"), this, "", true, 8, wifi->getTetheringPassword()); if (!pass.isEmpty()) { wifi->changeTetheringPassword(pass); } @@ -141,7 +141,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid list->addItem(editPasswordButton); // IP address - ipLabel = new LabelControl("IP Address", wifi->ipv4_address); + ipLabel = new LabelControl(tr("IP Address"), wifi->ipv4_address); list->addItem(ipLabel); // SSH keys @@ -150,7 +150,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid // Roaming toggle const bool roamingEnabled = params.getBool("GsmRoaming"); - ToggleControl *roamingToggle = new ToggleControl("Enable Roaming", "", "", roamingEnabled); + ToggleControl *roamingToggle = new ToggleControl(tr("Enable Roaming"), "", "", roamingEnabled); QObject::connect(roamingToggle, &SshToggle::toggleFlipped, [=](bool state) { params.putBool("GsmRoaming", state); wifi->updateGsmSettings(state, QString::fromStdString(params.get("GsmApn"))); @@ -158,11 +158,11 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid list->addItem(roamingToggle); // APN settings - ButtonControl *editApnButton = new ButtonControl("APN Setting", "EDIT"); + ButtonControl *editApnButton = new ButtonControl(tr("APN Setting"), tr("EDIT")); connect(editApnButton, &ButtonControl::clicked, [=]() { const bool roamingEnabled = params.getBool("GsmRoaming"); const QString cur_apn = QString::fromStdString(params.get("GsmApn")); - QString apn = InputDialog::getText("Enter APN", this, "leave blank for automatic configuration", false, -1, cur_apn).trimmed(); + QString apn = InputDialog::getText(tr("Enter APN"), this, tr("leave blank for automatic configuration"), false, -1, cur_apn).trimmed(); if (apn.isEmpty()) { params.remove("GsmApn"); @@ -207,7 +207,7 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) checkmark = QPixmap(ASSET_PATH + "offroad/icon_checkmark.svg").scaledToWidth(49, Qt::SmoothTransformation); circled_slash = QPixmap(ASSET_PATH + "img_circled_slash.svg").scaledToWidth(49, Qt::SmoothTransformation); - QLabel *scanning = new QLabel("Scanning for networks..."); + QLabel *scanning = new QLabel(tr("Scanning for networks...")); scanning->setStyleSheet("font-size: 65px;"); main_layout->addWidget(scanning, 0, Qt::AlignCenter); @@ -260,7 +260,7 @@ void WifiUI::refresh() { clearLayout(main_layout); if (wifi->seenNetworks.size() == 0) { - QLabel *scanning = new QLabel("Scanning for networks..."); + QLabel *scanning = new QLabel(tr("Scanning for networks...")); scanning->setStyleSheet("font-size: 65px;"); main_layout->addWidget(scanning, 0, Qt::AlignCenter); return; @@ -286,17 +286,17 @@ void WifiUI::refresh() { hlayout->addWidget(ssidLabel, network.connected == ConnectedType::CONNECTING ? 0 : 1); if (network.connected == ConnectedType::CONNECTING) { - QPushButton *connecting = new QPushButton("CONNECTING..."); + QPushButton *connecting = new QPushButton(tr("CONNECTING...")); connecting->setObjectName("connecting"); hlayout->addWidget(connecting, 2, Qt::AlignLeft); } // Forget button if (wifi->isKnownConnection(network.ssid) && !wifi->isTetheringEnabled()) { - QPushButton *forgetBtn = new QPushButton("FORGET"); + QPushButton *forgetBtn = new QPushButton(tr("FORGET")); forgetBtn->setObjectName("forgetBtn"); QObject::connect(forgetBtn, &QPushButton::clicked, [=]() { - if (ConfirmationDialog::confirm("Forget Wi-Fi Network \"" + QString::fromUtf8(network.ssid) + "\"?", this)) { + if (ConfirmationDialog::confirm(tr("Forget Wi-Fi Network \"") + QString::fromUtf8(network.ssid) + "\"?", this)) { wifi->forgetConnection(network.ssid); } }); diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc index d32cc26e43..77e84293b2 100644 --- a/selfdrive/ui/qt/offroad/onboarding.cc +++ b/selfdrive/ui/qt/offroad/onboarding.cc @@ -76,7 +76,7 @@ void TermsPage::showEvent(QShowEvent *event) { main_layout->setContentsMargins(45, 35, 45, 45); main_layout->setSpacing(0); - QLabel *title = new QLabel("Terms & Conditions"); + QLabel *title = new QLabel(tr("Terms & Conditions")); title->setStyleSheet("font-size: 90px; font-weight: 600;"); main_layout->addWidget(title); @@ -104,11 +104,11 @@ void TermsPage::showEvent(QShowEvent *event) { buttons->setSpacing(45); main_layout->addLayout(buttons); - QPushButton *decline_btn = new QPushButton("Decline"); + QPushButton *decline_btn = new QPushButton(tr("Decline")); buttons->addWidget(decline_btn); QObject::connect(decline_btn, &QPushButton::clicked, this, &TermsPage::declinedTerms); - accept_btn = new QPushButton("Scroll to accept"); + accept_btn = new QPushButton(tr("Scroll to accept")); accept_btn->setEnabled(false); accept_btn->setStyleSheet(R"( QPushButton { @@ -123,7 +123,7 @@ void TermsPage::showEvent(QShowEvent *event) { } void TermsPage::enableAccept() { - accept_btn->setText("Agree"); + accept_btn->setText(tr("Agree")); accept_btn->setEnabled(true); } @@ -137,7 +137,7 @@ void DeclinePage::showEvent(QShowEvent *event) { main_layout->setSpacing(40); QLabel *text = new QLabel(this); - text->setText("You must accept the Terms and Conditions in order to use openpilot."); + text->setText(tr("You must accept the Terms and Conditions in order to use openpilot.")); text->setStyleSheet(R"(font-size: 80px; font-weight: 300; margin: 200px;)"); text->setWordWrap(true); main_layout->addWidget(text, 0, Qt::AlignCenter); @@ -146,12 +146,12 @@ void DeclinePage::showEvent(QShowEvent *event) { buttons->setSpacing(45); main_layout->addLayout(buttons); - QPushButton *back_btn = new QPushButton("Back"); + QPushButton *back_btn = new QPushButton(tr("Back")); buttons->addWidget(back_btn); QObject::connect(back_btn, &QPushButton::clicked, this, &DeclinePage::getBack); - QPushButton *uninstall_btn = new QPushButton(QString("Decline, uninstall %1").arg(getBrand())); + QPushButton *uninstall_btn = new QPushButton(QString(tr("Decline, uninstall %1")).arg(getBrand())); uninstall_btn->setStyleSheet("background-color: #B73D3D"); buttons->addWidget(uninstall_btn); QObject::connect(uninstall_btn, &QPushButton::clicked, [=]() { diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 175e6cf5a3..392287d65d 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -29,45 +29,45 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { std::vector> toggles{ { "OpenpilotEnabledToggle", - "Enable openpilot", - "Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.", + tr("Enable openpilot"), + tr("Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."), "../assets/offroad/icon_openpilot.png", }, { "IsLdwEnabled", - "Enable Lane Departure Warnings", - "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).", + tr("Enable Lane Departure Warnings"), + tr("Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h)."), "../assets/offroad/icon_warning.png", }, { "IsRHD", - "Enable Right-Hand Drive", - "Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.", + tr("Enable Right-Hand Drive"), + tr("Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat."), "../assets/offroad/icon_openpilot_mirrored.png", }, { "IsMetric", - "Use Metric System", - "Display speed in km/h instead of mph.", + tr("Use Metric System"), + tr("Display speed in km/h instead of mph."), "../assets/offroad/icon_metric.png", }, { "RecordFront", - "Record and Upload Driver Camera", - "Upload data from the driver facing camera and help improve the driver monitoring algorithm.", + tr("Record and Upload Driver Camera"), + tr("Upload data from the driver facing camera and help improve the driver monitoring algorithm."), "../assets/offroad/icon_monitoring.png", }, { "DisengageOnAccelerator", - "Disengage On Accelerator Pedal", - "When enabled, pressing the accelerator pedal will disengage openpilot.", + tr("Disengage On Accelerator Pedal"), + tr("When enabled, pressing the accelerator pedal will disengage openpilot."), "../assets/offroad/icon_disengage_on_accelerator.svg", }, #ifdef ENABLE_MAPS { "NavSettingTime24h", - "Show ETA in 24h format", - "Use 24h format instead of am/pm", + tr("Show ETA in 24h format"), + tr("Use 24h format instead of am/pm"), "../assets/offroad/icon_metric.png", }, #endif @@ -79,8 +79,8 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { if (params.getBool("DisableRadar_Allow")) { toggles.push_back({ "DisableRadar", - "openpilot Longitudinal Control", - "openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB!", + 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", }); } @@ -95,29 +95,29 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { setSpacing(50); - addItem(new LabelControl("Dongle ID", getDongleId().value_or("N/A"))); - addItem(new LabelControl("Serial", params.get("HardwareSerial").c_str())); + addItem(new LabelControl(tr("Dongle ID"), getDongleId().value_or(tr("N/A")))); + addItem(new LabelControl(tr("Serial"), params.get("HardwareSerial").c_str())); // offroad-only buttons - auto dcamBtn = new ButtonControl("Driver Camera", "PREVIEW", - "Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)"); + auto dcamBtn = new ButtonControl(tr("Driver Camera"), tr("PREVIEW"), + tr("Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)")); connect(dcamBtn, &ButtonControl::clicked, [=]() { emit showDriverView(); }); addItem(dcamBtn); - auto resetCalibBtn = new ButtonControl("Reset Calibration", "RESET", " "); + auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), ""); connect(resetCalibBtn, &ButtonControl::showDescription, this, &DevicePanel::updateCalibDescription); connect(resetCalibBtn, &ButtonControl::clicked, [&]() { - if (ConfirmationDialog::confirm("Are you sure you want to reset calibration?", this)) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), this)) { params.remove("CalibrationParams"); } }); addItem(resetCalibBtn); if (!params.getBool("Passive")) { - auto retrainingBtn = new ButtonControl("Review Training Guide", "REVIEW", "Review the rules, features, and limitations of openpilot"); + auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of openpilot")); connect(retrainingBtn, &ButtonControl::clicked, [=]() { - if (ConfirmationDialog::confirm("Are you sure you want to review the training guide?", this)) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), this)) { emit reviewTrainingGuide(); } }); @@ -125,7 +125,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { } if (Hardware::TICI()) { - auto regulatoryBtn = new ButtonControl("Regulatory", "VIEW", ""); + auto regulatoryBtn = new ButtonControl(tr("Regulatory"), tr("VIEW"), ""); connect(regulatoryBtn, &ButtonControl::clicked, [=]() { const std::string txt = util::read_file("../assets/offroad/fcc.html"); RichTextDialog::alert(QString::fromStdString(txt), this); @@ -143,12 +143,12 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { QHBoxLayout *power_layout = new QHBoxLayout(); power_layout->setSpacing(30); - QPushButton *reboot_btn = new QPushButton("Reboot"); + QPushButton *reboot_btn = new QPushButton(tr("Reboot")); reboot_btn->setObjectName("reboot_btn"); power_layout->addWidget(reboot_btn); QObject::connect(reboot_btn, &QPushButton::clicked, this, &DevicePanel::reboot); - QPushButton *poweroff_btn = new QPushButton("Power Off"); + QPushButton *poweroff_btn = new QPushButton(tr("Power Off")); poweroff_btn->setObjectName("poweroff_btn"); power_layout->addWidget(poweroff_btn); QObject::connect(poweroff_btn, &QPushButton::clicked, this, &DevicePanel::poweroff); @@ -168,8 +168,8 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { void DevicePanel::updateCalibDescription() { QString desc = - "openpilot requires the device to be mounted within 4° left or right and " - "within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required."; + tr("openpilot requires the device to be mounted within 4° left or right and " + "within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required."); std::string calib_bytes = Params().get("CalibrationParams"); if (!calib_bytes.empty()) { try { @@ -179,9 +179,9 @@ void DevicePanel::updateCalibDescription() { if (calib.getCalStatus() != 0) { double pitch = calib.getRpyCalib()[1] * (180 / M_PI); double yaw = calib.getRpyCalib()[2] * (180 / M_PI); - desc += QString(" Your device is pointed %1° %2 and %3° %4.") - .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? "down" : "up", - QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? "left" : "right"); + desc += QString(tr(" Your device is pointed %1° %2 and %3° %4.")) + .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? tr("down") : tr("up"), + QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? tr("left") : tr("right")); } } catch (kj::Exception) { qInfo() << "invalid CalibrationParams"; @@ -192,51 +192,51 @@ void DevicePanel::updateCalibDescription() { void DevicePanel::reboot() { if (!uiState()->engaged()) { - if (ConfirmationDialog::confirm("Are you sure you want to reboot?", this)) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to reboot?"), this)) { // Check engaged again in case it changed while the dialog was open if (!uiState()->engaged()) { Params().putBool("DoReboot", true); } } } else { - ConfirmationDialog::alert("Disengage to Reboot", this); + ConfirmationDialog::alert(tr("Disengage to Reboot"), this); } } void DevicePanel::poweroff() { if (!uiState()->engaged()) { - if (ConfirmationDialog::confirm("Are you sure you want to power off?", this)) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to power off?"), this)) { // Check engaged again in case it changed while the dialog was open if (!uiState()->engaged()) { Params().putBool("DoShutdown", true); } } } else { - ConfirmationDialog::alert("Disengage to Power Off", this); + ConfirmationDialog::alert(tr("Disengage to Power Off"), this); } } SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { - gitBranchLbl = new LabelControl("Git Branch"); - gitCommitLbl = new LabelControl("Git Commit"); - osVersionLbl = new LabelControl("OS Version"); - versionLbl = new LabelControl("Version", "", QString::fromStdString(params.get("ReleaseNotes")).trimmed()); - lastUpdateLbl = new LabelControl("Last Update Check", "", "The last time openpilot successfully checked for an update. The updater only runs while the car is off."); - updateBtn = new ButtonControl("Check for Update", ""); + gitBranchLbl = new LabelControl(tr("Git Branch")); + gitCommitLbl = new LabelControl(tr("Git Commit")); + osVersionLbl = new LabelControl(tr("OS Version")); + versionLbl = new LabelControl(tr("Version"), "", QString::fromStdString(params.get("ReleaseNotes")).trimmed()); + lastUpdateLbl = new LabelControl(tr("Last Update Check"), "", tr("The last time openpilot successfully checked for an update. The updater only runs while the car is off.")); + updateBtn = new ButtonControl(tr("Check for Update"), ""); connect(updateBtn, &ButtonControl::clicked, [=]() { if (params.getBool("IsOffroad")) { fs_watch->addPath(QString::fromStdString(params.getParamPath("LastUpdateTime"))); fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdateFailedCount"))); - updateBtn->setText("CHECKING"); + updateBtn->setText(tr("CHECKING")); updateBtn->setEnabled(false); } std::system("pkill -1 -f selfdrive.updated"); }); - auto uninstallBtn = new ButtonControl("Uninstall " + getBrand(), "UNINSTALL"); + auto uninstallBtn = new ButtonControl(tr("Uninstall ") + getBrand(), tr("UNINSTALL")); connect(uninstallBtn, &ButtonControl::clicked, [&]() { - if (ConfirmationDialog::confirm("Are you sure you want to uninstall?", this)) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to uninstall?"), this)) { params.putBool("DoUninstall", true); } }); @@ -250,8 +250,8 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { fs_watch = new QFileSystemWatcher(this); QObject::connect(fs_watch, &QFileSystemWatcher::fileChanged, [=](const QString path) { if (path.contains("UpdateFailedCount") && std::atoi(params.get("UpdateFailedCount").c_str()) > 0) { - lastUpdateLbl->setText("failed to fetch update"); - updateBtn->setText("CHECK"); + lastUpdateLbl->setText(tr("failed to fetch update")); + updateBtn->setText(tr("CHECK")); updateBtn->setEnabled(true); } else if (path.contains("LastUpdateTime")) { updateLabels(); @@ -272,7 +272,7 @@ void SoftwarePanel::updateLabels() { versionLbl->setText(getBrandVersion()); lastUpdateLbl->setText(lastUpdate); - updateBtn->setText("CHECK"); + updateBtn->setText(tr("CHECK")); updateBtn->setEnabled(true); gitBranchLbl->setText(QString::fromStdString(params.get("GitBranch"))); gitCommitLbl->setText(QString::fromStdString(params.get("GitCommit")).left(10)); @@ -301,7 +301,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { )"); // close button - QPushButton *close_btn = new QPushButton("×"); + QPushButton *close_btn = new QPushButton(tr("×")); close_btn->setStyleSheet(R"( QPushButton { font-size: 140px; @@ -327,15 +327,15 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { QObject::connect(device, &DevicePanel::showDriverView, this, &SettingsWindow::showDriverView); QList> panels = { - {"Device", device}, - {"Network", network_panel(this)}, - {"Toggles", new TogglesPanel(this)}, - {"Software", new SoftwarePanel(this)}, + {tr("Device"), device}, + {tr("Network"), network_panel(this)}, + {tr("Toggles"), new TogglesPanel(this)}, + {tr("Software"), new SoftwarePanel(this)}, }; #ifdef ENABLE_MAPS auto map_panel = new MapPanel(this); - panels.push_back({"Navigation", map_panel}); + panels.push_back({tr("Navigation"), map_panel}); QObject::connect(map_panel, &MapPanel::closeSettings, this, &SettingsWindow::closeSettings); #endif @@ -367,7 +367,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { nav_btns->addButton(btn); sidebar_layout->addWidget(btn, 0, Qt::AlignRight); - const int lr_margin = name != "Network" ? 50 : 0; // Network panel handles its own margins + const int lr_margin = name != tr("Network") ? 50 : 0; // Network panel handles its own margins panel->setContentsMargins(lr_margin, 25, lr_margin, 25); ScrollView *panel_frame = new ScrollView(panel, this); diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index ecd6d61471..7032fc7518 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -199,7 +199,7 @@ void NvgWindow::updateState(const UIState &s) { setProperty("is_metric", s.scene.is_metric); setProperty("speed", cur_speed); setProperty("setSpeed", set_speed); - setProperty("speedUnit", s.scene.is_metric ? "km/h" : "mph"); + setProperty("speedUnit", s.scene.is_metric ? tr("km/h") : tr("mph")); setProperty("hideDM", cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE); setProperty("status", s.status); @@ -266,10 +266,10 @@ void NvgWindow::drawHud(QPainter &p) { p.setPen(QColor(0xa6, 0xa6, 0xa6, 0xff)); } configFont(p, "Inter", 40, "SemiBold"); - QRect max_rect = getTextRect(p, Qt::AlignCenter, "MAX"); + QRect max_rect = getTextRect(p, Qt::AlignCenter, tr("MAX")); max_rect.moveCenter({set_speed_rect.center().x(), 0}); max_rect.moveTop(set_speed_rect.top() + 27); - p.drawText(max_rect, Qt::AlignCenter, "MAX"); + p.drawText(max_rect, Qt::AlignCenter, tr("MAX")); // Draw set speed if (is_cruise_set) { @@ -313,16 +313,16 @@ void NvgWindow::drawHud(QPainter &p) { // "SPEED" configFont(p, "Inter", 28, "SemiBold"); - QRect text_speed_rect = getTextRect(p, Qt::AlignCenter, "SPEED"); + QRect text_speed_rect = getTextRect(p, Qt::AlignCenter, tr("SPEED")); text_speed_rect.moveCenter({sign_rect.center().x(), 0}); text_speed_rect.moveTop(sign_rect_outer.top() + 22); - p.drawText(text_speed_rect, Qt::AlignCenter, "SPEED"); + p.drawText(text_speed_rect, Qt::AlignCenter, tr("SPEED")); // "LIMIT" - QRect text_limit_rect = getTextRect(p, Qt::AlignCenter, "LIMIT"); + QRect text_limit_rect = getTextRect(p, Qt::AlignCenter, tr("LIMIT")); text_limit_rect.moveCenter({sign_rect.center().x(), 0}); text_limit_rect.moveTop(sign_rect_outer.top() + 51); - p.drawText(text_limit_rect, Qt::AlignCenter, "LIMIT"); + p.drawText(text_limit_rect, Qt::AlignCenter, tr("LIMIT")); // Speed limit value configFont(p, "Inter", 70, "Bold"); diff --git a/selfdrive/ui/qt/setup/reset.cc b/selfdrive/ui/qt/setup/reset.cc index 9ffcf7f6cf..582217c1d7 100644 --- a/selfdrive/ui/qt/setup/reset.cc +++ b/selfdrive/ui/qt/setup/reset.cc @@ -26,16 +26,16 @@ void Reset::doReset() { if (rm == 0 || fmt == 0) { std::system("sudo reboot"); } - body->setText("Reset failed. Reboot to try again."); + body->setText(tr("Reset failed. Reboot to try again.")); rebootBtn->show(); } void Reset::confirm() { - const QString confirm_txt = "Are you sure you want to reset your device?"; + const QString confirm_txt = tr("Are you sure you want to reset your device?"); if (body->text() != confirm_txt) { body->setText(confirm_txt); } else { - body->setText("Resetting device..."); + body->setText(tr("Resetting device...")); rejectBtn->hide(); rebootBtn->hide(); confirmBtn->hide(); @@ -50,13 +50,13 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) { main_layout->setContentsMargins(45, 220, 45, 45); main_layout->setSpacing(0); - QLabel *title = new QLabel("System Reset"); + QLabel *title = new QLabel(tr("System Reset")); title->setStyleSheet("font-size: 90px; font-weight: 600;"); main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); main_layout->addSpacing(60); - body = new QLabel("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot."); + body = new QLabel(tr("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.")); body->setWordWrap(true); body->setStyleSheet("font-size: 80px; font-weight: light;"); main_layout->addWidget(body, 1, Qt::AlignTop | Qt::AlignLeft); @@ -65,11 +65,11 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) { main_layout->addLayout(blayout); blayout->setSpacing(50); - rejectBtn = new QPushButton("Cancel"); + rejectBtn = new QPushButton(tr("Cancel")); blayout->addWidget(rejectBtn); QObject::connect(rejectBtn, &QPushButton::clicked, QCoreApplication::instance(), &QCoreApplication::quit); - rebootBtn = new QPushButton("Reboot"); + rebootBtn = new QPushButton(tr("Reboot")); blayout->addWidget(rebootBtn); #ifdef __aarch64__ QObject::connect(rebootBtn, &QPushButton::clicked, [=]{ @@ -77,7 +77,7 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) { }); #endif - confirmBtn = new QPushButton("Confirm"); + confirmBtn = new QPushButton(tr("Confirm")); confirmBtn->setStyleSheet("background-color: #465BEA;"); blayout->addWidget(confirmBtn); QObject::connect(confirmBtn, &QPushButton::clicked, this, &Reset::confirm); @@ -85,7 +85,7 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) { rejectBtn->setVisible(!recover); rebootBtn->setVisible(recover); if (recover) { - body->setText("Unable to mount data partition. Press confirm to reset your device."); + body->setText(tr("Unable to mount data partition. Press confirm to reset your device.")); } setStyleSheet(R"( diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc index 10a2d05f34..69dafcf741 100644 --- a/selfdrive/ui/qt/setup/setup.cc +++ b/selfdrive/ui/qt/setup/setup.cc @@ -70,13 +70,13 @@ QWidget * Setup::low_voltage() { inner_layout->addWidget(triangle, 0, Qt::AlignTop | Qt::AlignLeft); inner_layout->addSpacing(80); - QLabel *title = new QLabel("WARNING: Low Voltage"); + QLabel *title = new QLabel(tr("WARNING: Low Voltage")); title->setStyleSheet("font-size: 90px; font-weight: 500; color: #FF594F;"); inner_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); inner_layout->addSpacing(25); - QLabel *body = new QLabel("Power your device in a car with a harness or proceed at your own risk."); + QLabel *body = new QLabel(tr("Power your device in a car with a harness or proceed at your own risk.")); body->setWordWrap(true); body->setAlignment(Qt::AlignTop | Qt::AlignLeft); body->setStyleSheet("font-size: 80px; font-weight: 300;"); @@ -89,14 +89,14 @@ QWidget * Setup::low_voltage() { blayout->setSpacing(50); main_layout->addLayout(blayout, 0); - QPushButton *poweroff = new QPushButton("Power off"); + QPushButton *poweroff = new QPushButton(tr("Power off")); poweroff->setObjectName("navBtn"); blayout->addWidget(poweroff); QObject::connect(poweroff, &QPushButton::clicked, this, [=]() { Hardware::poweroff(); }); - QPushButton *cont = new QPushButton("Continue"); + QPushButton *cont = new QPushButton(tr("Continue")); cont->setObjectName("navBtn"); blayout->addWidget(cont); QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage); @@ -114,12 +114,12 @@ QWidget * Setup::getting_started() { vlayout->setContentsMargins(165, 280, 100, 0); main_layout->addLayout(vlayout); - QLabel *title = new QLabel("Getting Started"); + QLabel *title = new QLabel(tr("Getting Started")); title->setStyleSheet("font-size: 90px; font-weight: 500;"); vlayout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); vlayout->addSpacing(90); - QLabel *desc = new QLabel("Before we get on the road, let’s finish installation and cover some details."); + QLabel *desc = new QLabel(tr("Before we get on the road, let’s finish installation and cover some details.")); desc->setWordWrap(true); desc->setStyleSheet("font-size: 80px; font-weight: 300;"); vlayout->addWidget(desc, 0, Qt::AlignTop | Qt::AlignLeft); @@ -144,7 +144,7 @@ QWidget * Setup::network_setup() { main_layout->setContentsMargins(55, 50, 55, 50); // title - QLabel *title = new QLabel("Connect to Wi-Fi"); + QLabel *title = new QLabel(tr("Connect to Wi-Fi")); title->setStyleSheet("font-size: 90px; font-weight: 500;"); main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop); @@ -162,7 +162,7 @@ QWidget * Setup::network_setup() { main_layout->addLayout(blayout); blayout->setSpacing(50); - QPushButton *back = new QPushButton("Back"); + QPushButton *back = new QPushButton(tr("Back")); back->setObjectName("navBtn"); QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage); blayout->addWidget(back); @@ -179,9 +179,9 @@ QWidget * Setup::network_setup() { cont->setEnabled(success); if (success) { const bool cell = networking->wifi->currentNetworkType() == NetworkType::CELL; - cont->setText(cell ? "Continue without Wi-Fi" : "Continue"); + cont->setText(cell ? tr("Continue without Wi-Fi") : tr("Continue")); } else { - cont->setText("Waiting for internet"); + cont->setText(tr("Waiting for internet")); } repaint(); }); @@ -235,7 +235,7 @@ QWidget * Setup::software_selection() { main_layout->setSpacing(0); // title - QLabel *title = new QLabel("Choose Software to Install"); + QLabel *title = new QLabel(tr("Choose Software to Install")); title->setStyleSheet("font-size: 90px; font-weight: 500;"); main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop); @@ -245,12 +245,12 @@ QWidget * Setup::software_selection() { QButtonGroup *group = new QButtonGroup(widget); group->setExclusive(true); - QWidget *dashcam = radio_button("Dashcam", group); + QWidget *dashcam = radio_button(tr("Dashcam"), group); main_layout->addWidget(dashcam); main_layout->addSpacing(30); - QWidget *custom = radio_button("Custom Software", group); + QWidget *custom = radio_button(tr("Custom Software"), group); main_layout->addWidget(custom); main_layout->addStretch(); @@ -260,12 +260,12 @@ QWidget * Setup::software_selection() { main_layout->addLayout(blayout); blayout->setSpacing(50); - QPushButton *back = new QPushButton("Back"); + QPushButton *back = new QPushButton(tr("Back")); back->setObjectName("navBtn"); QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage); blayout->addWidget(back); - QPushButton *cont = new QPushButton("Continue"); + QPushButton *cont = new QPushButton(tr("Continue")); cont->setObjectName("navBtn"); cont->setEnabled(false); cont->setProperty("primary", true); @@ -278,7 +278,7 @@ QWidget * Setup::software_selection() { }); QString url = DASHCAM_URL; if (group->checkedButton() != dashcam) { - url = InputDialog::getText("Enter URL", this, "for Custom Software"); + url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software")); } if (!url.isEmpty()) { QTimer::singleShot(1000, this, [=]() { @@ -300,7 +300,7 @@ QWidget * Setup::software_selection() { QWidget * Setup::downloading() { QWidget *widget = new QWidget(); QVBoxLayout *main_layout = new QVBoxLayout(widget); - QLabel *txt = new QLabel("Downloading..."); + QLabel *txt = new QLabel(tr("Downloading...")); txt->setStyleSheet("font-size: 90px; font-weight: 500;"); main_layout->addWidget(txt, 0, Qt::AlignCenter); return widget; @@ -312,13 +312,13 @@ QWidget * Setup::download_failed() { main_layout->setContentsMargins(55, 225, 55, 55); main_layout->setSpacing(0); - QLabel *title = new QLabel("Download Failed"); + QLabel *title = new QLabel(tr("Download Failed")); title->setStyleSheet("font-size: 90px; font-weight: 500;"); main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); main_layout->addSpacing(67); - QLabel *body = new QLabel("Ensure the entered URL is valid, and the device’s internet connection is good."); + QLabel *body = new QLabel(tr("Ensure the entered URL is valid, and the device’s internet connection is good.")); body->setWordWrap(true); body->setAlignment(Qt::AlignTop | Qt::AlignLeft); body->setStyleSheet("font-size: 80px; font-weight: 300; margin-right: 100px;"); @@ -331,14 +331,14 @@ QWidget * Setup::download_failed() { blayout->setSpacing(50); main_layout->addLayout(blayout, 0); - QPushButton *reboot = new QPushButton("Reboot device"); + QPushButton *reboot = new QPushButton(tr("Reboot device")); reboot->setObjectName("navBtn"); blayout->addWidget(reboot); QObject::connect(reboot, &QPushButton::clicked, this, [=]() { Hardware::reboot(); }); - QPushButton *restart = new QPushButton("Start over"); + QPushButton *restart = new QPushButton(tr("Start over")); restart->setObjectName("navBtn"); restart->setProperty("primary", true); blayout->addWidget(restart); diff --git a/selfdrive/ui/qt/setup/updater.cc b/selfdrive/ui/qt/setup/updater.cc index 6e8189f4ba..fd7148c534 100644 --- a/selfdrive/ui/qt/setup/updater.cc +++ b/selfdrive/ui/qt/setup/updater.cc @@ -20,13 +20,13 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid QVBoxLayout *layout = new QVBoxLayout(prompt); layout->setContentsMargins(100, 250, 100, 100); - QLabel *title = new QLabel("Update Required"); + QLabel *title = new QLabel(tr("Update Required")); title->setStyleSheet("font-size: 80px; font-weight: bold;"); layout->addWidget(title); layout->addSpacing(75); - QLabel *desc = new QLabel("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB."); + QLabel *desc = new QLabel(tr("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.")); desc->setWordWrap(true); desc->setStyleSheet("font-size: 65px;"); layout->addWidget(desc); @@ -37,14 +37,14 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid hlayout->setSpacing(30); layout->addLayout(hlayout); - QPushButton *connect = new QPushButton("Connect to Wi-Fi"); + QPushButton *connect = new QPushButton(tr("Connect to Wi-Fi")); connect->setObjectName("navBtn"); QObject::connect(connect, &QPushButton::clicked, [=]() { setCurrentWidget(wifi); }); hlayout->addWidget(connect); - QPushButton *install = new QPushButton("Install"); + QPushButton *install = new QPushButton(tr("Install")); install->setObjectName("navBtn"); install->setStyleSheet("background-color: #465BEA;"); QObject::connect(install, &QPushButton::clicked, this, &Updater::installUpdate); @@ -61,7 +61,7 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid networking->setStyleSheet("Networking { background-color: #292929; border-radius: 13px; }"); layout->addWidget(networking, 1); - QPushButton *back = new QPushButton("Back"); + QPushButton *back = new QPushButton(tr("Back")); back->setObjectName("navBtn"); back->setStyleSheet("padding-left: 60px; padding-right: 60px;"); QObject::connect(back, &QPushButton::clicked, [=]() { @@ -77,7 +77,7 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid layout->setContentsMargins(150, 330, 150, 150); layout->setSpacing(0); - text = new QLabel("Loading..."); + text = new QLabel(tr("Loading...")); text->setStyleSheet("font-size: 90px; font-weight: 600;"); layout->addWidget(text, 0, Qt::AlignTop); @@ -91,7 +91,7 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid layout->addStretch(); - reboot = new QPushButton("Reboot"); + reboot = new QPushButton(tr("Reboot")); reboot->setObjectName("navBtn"); reboot->setStyleSheet("padding-left: 60px; padding-right: 60px;"); QObject::connect(reboot, &QPushButton::clicked, [=]() { @@ -161,7 +161,7 @@ void Updater::updateFinished(int exitCode, QProcess::ExitStatus exitStatus) { if (exitCode == 0) { Hardware::reboot(); } else { - text->setText("Update failed"); + text->setText(tr("Update failed")); reboot->show(); } } diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc index 00e72b352c..accab67bf0 100644 --- a/selfdrive/ui/qt/sidebar.cc +++ b/selfdrive/ui/qt/sidebar.cc @@ -64,26 +64,26 @@ void Sidebar::updateState(const UIState &s) { ItemStatus connectStatus; auto last_ping = deviceState.getLastAthenaPingTime(); if (last_ping == 0) { - connectStatus = ItemStatus{{"CONNECT", "OFFLINE"}, warning_color}; + connectStatus = ItemStatus{{tr("CONNECT"), tr("OFFLINE")}, warning_color}; } else { - connectStatus = nanos_since_boot() - last_ping < 80e9 ? ItemStatus{{"CONNECT", "ONLINE"}, good_color} : ItemStatus{{"CONNECT", "ERROR"}, danger_color}; + connectStatus = nanos_since_boot() - last_ping < 80e9 ? ItemStatus{{tr("CONNECT"), tr("ONLINE")}, good_color} : ItemStatus{{tr("CONNECT"), tr("ERROR")}, danger_color}; } setProperty("connectStatus", QVariant::fromValue(connectStatus)); - ItemStatus tempStatus = {{"TEMP", "HIGH"}, danger_color}; + ItemStatus tempStatus = {{tr("TEMP"), tr("HIGH")}, danger_color}; auto ts = deviceState.getThermalStatus(); if (ts == cereal::DeviceState::ThermalStatus::GREEN) { - tempStatus = {{"TEMP", "GOOD"}, good_color}; + tempStatus = {{tr("TEMP"), tr("GOOD")}, good_color}; } else if (ts == cereal::DeviceState::ThermalStatus::YELLOW) { - tempStatus = {{"TEMP", "OK"}, warning_color}; + tempStatus = {{tr("TEMP"), tr("OK")}, warning_color}; } setProperty("tempStatus", QVariant::fromValue(tempStatus)); - ItemStatus pandaStatus = {{"VEHICLE", "ONLINE"}, good_color}; + ItemStatus pandaStatus = {{tr("VEHICLE"), tr("ONLINE")}, good_color}; if (s.scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) { - pandaStatus = {{"NO", "PANDA"}, danger_color}; + pandaStatus = {{tr("NO"), tr("PANDA")}, danger_color}; } else if (s.scene.started && !sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK()) { - pandaStatus = {{"GPS", "SEARCH"}, warning_color}; + pandaStatus = {{tr("GPS"), tr("SEARCH")}, warning_color}; } setProperty("pandaStatus", QVariant::fromValue(pandaStatus)); } diff --git a/selfdrive/ui/qt/text.cc b/selfdrive/ui/qt/text.cc index ac8e7bcd18..21ec5eedcf 100644 --- a/selfdrive/ui/qt/text.cc +++ b/selfdrive/ui/qt/text.cc @@ -33,12 +33,12 @@ int main(int argc, char *argv[]) { QPushButton *btn = new QPushButton(); #ifdef __aarch64__ - btn->setText("Reboot"); + btn->setText(QObject::tr("Reboot")); QObject::connect(btn, &QPushButton::clicked, [=]() { Hardware::reboot(); }); #else - btn->setText("Exit"); + btn->setText(QObject::tr("Exit")); QObject::connect(btn, &QPushButton::clicked, &a, &QApplication::quit); #endif main_layout->addWidget(btn, 0, 0, Qt::AlignRight | Qt::AlignBottom); diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index 366aa76f49..f82d9bf496 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -15,7 +15,7 @@ QString getVersion() { } QString getBrand() { - return Params().getBool("Passive") ? "dashcam" : "openpilot"; + return Params().getBool("Passive") ? QObject::tr("dashcam") : QObject::tr("openpilot"); } QString getBrandVersion() { @@ -63,13 +63,13 @@ QString timeAgo(const QDateTime &date) { s = "now"; } else if (diff < 60 * 60) { int minutes = diff / 60; - s = QString("%1 minute%2 ago").arg(minutes).arg(minutes > 1 ? "s" : ""); + s = QString(QObject::tr("%1 minute%2 ago")).arg(minutes).arg(minutes > 1 ? "s" : ""); } else if (diff < 60 * 60 * 24) { int hours = diff / (60 * 60); - s = QString("%1 hour%2 ago").arg(hours).arg(hours > 1 ? "s" : ""); + s = QString(QObject::tr("%1 hour%2 ago")).arg(hours).arg(hours > 1 ? "s" : ""); } else if (diff < 3600 * 24 * 7) { int days = diff / (60 * 60 * 24); - s = QString("%1 day%2 ago").arg(days).arg(days > 1 ? "s" : ""); + s = QString(QObject::tr("%1 day%2 ago")).arg(days).arg(days > 1 ? "s" : ""); } else { s = date.date().toString(); } diff --git a/selfdrive/ui/qt/widgets/drive_stats.cc b/selfdrive/ui/qt/widgets/drive_stats.cc index 61d47db1c3..31009f03ca 100644 --- a/selfdrive/ui/qt/widgets/drive_stats.cc +++ b/selfdrive/ui/qt/widgets/drive_stats.cc @@ -34,16 +34,16 @@ DriveStats::DriveStats(QWidget* parent) : QFrame(parent) { grid_layout->addWidget(labels.distance = newLabel("0", "number"), row, 1, Qt::AlignLeft); grid_layout->addWidget(labels.hours = newLabel("0", "number"), row, 2, Qt::AlignLeft); - grid_layout->addWidget(newLabel("Drives", "unit"), row + 1, 0, Qt::AlignLeft); + grid_layout->addWidget(newLabel((tr("Drives")), "unit"), row + 1, 0, Qt::AlignLeft); grid_layout->addWidget(labels.distance_unit = newLabel(getDistanceUnit(), "unit"), row + 1, 1, Qt::AlignLeft); - grid_layout->addWidget(newLabel("Hours ", "unit"), row + 1, 2, Qt::AlignLeft); + grid_layout->addWidget(newLabel(tr("Hours"), "unit"), row + 1, 2, Qt::AlignLeft); main_layout->addLayout(grid_layout); }; - add_stats_layouts("ALL TIME", all_); + add_stats_layouts(tr("ALL TIME"), all_); main_layout->addStretch(); - add_stats_layouts("PAST WEEK", week_); + add_stats_layouts(tr("PAST WEEK"), week_); if (auto dongleId = getDongleId()) { QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/stats"; diff --git a/selfdrive/ui/qt/widgets/drive_stats.h b/selfdrive/ui/qt/widgets/drive_stats.h index 9446294516..5e2d96b240 100644 --- a/selfdrive/ui/qt/widgets/drive_stats.h +++ b/selfdrive/ui/qt/widgets/drive_stats.h @@ -12,7 +12,7 @@ public: private: void showEvent(QShowEvent *event) override; void updateStats(); - inline QString getDistanceUnit() const { return metric_ ? "KM" : "Miles"; } + inline QString getDistanceUnit() const { return metric_ ? tr("KM") : tr("Miles"); } bool metric_; QJsonDocument stats_; diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc index 8a5d492804..755ccfe8c5 100644 --- a/selfdrive/ui/qt/widgets/input.cc +++ b/selfdrive/ui/qt/widgets/input.cc @@ -67,7 +67,7 @@ InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &s vlayout->addWidget(sublabel, 1, Qt::AlignTop | Qt::AlignLeft); } - QPushButton* cancel_btn = new QPushButton("Cancel"); + QPushButton* cancel_btn = new QPushButton(tr("Cancel")); cancel_btn->setFixedSize(386, 125); cancel_btn->setStyleSheet(R"( font-size: 48px; @@ -164,7 +164,7 @@ void InputDialog::handleEnter() { done(QDialog::Accepted); emitText(line->text()); } else { - setMessage("Need at least "+QString::number(minLength)+" characters!", false); + setMessage(tr("Need at least ") + QString::number(minLength) + tr(" characters!"), false); } } @@ -217,12 +217,12 @@ ConfirmationDialog::ConfirmationDialog(const QString &prompt_text, const QString } bool ConfirmationDialog::alert(const QString &prompt_text, QWidget *parent) { - ConfirmationDialog d = ConfirmationDialog(prompt_text, "Ok", "", parent); + ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), "", parent); return d.exec(); } bool ConfirmationDialog::confirm(const QString &prompt_text, QWidget *parent) { - ConfirmationDialog d = ConfirmationDialog(prompt_text, "Ok", "Cancel", parent); + ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), tr("Cancel"), parent); return d.exec(); } @@ -254,6 +254,6 @@ RichTextDialog::RichTextDialog(const QString &prompt_text, const QString &btn_te } bool RichTextDialog::alert(const QString &prompt_text, QWidget *parent) { - auto d = RichTextDialog(prompt_text, "Ok", parent); + auto d = RichTextDialog(prompt_text, tr("Ok"), parent); return d.exec(); } diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.cc b/selfdrive/ui/qt/widgets/offroad_alerts.cc index 433193df5d..937ea02f86 100644 --- a/selfdrive/ui/qt/widgets/offroad_alerts.cc +++ b/selfdrive/ui/qt/widgets/offroad_alerts.cc @@ -22,12 +22,12 @@ AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent QHBoxLayout *footer_layout = new QHBoxLayout(); main_layout->addLayout(footer_layout); - QPushButton *dismiss_btn = new QPushButton("Close"); + QPushButton *dismiss_btn = new QPushButton(tr("Close")); dismiss_btn->setFixedSize(400, 125); footer_layout->addWidget(dismiss_btn, 0, Qt::AlignBottom | Qt::AlignLeft); QObject::connect(dismiss_btn, &QPushButton::clicked, this, &AbstractAlert::dismiss); - snooze_btn = new QPushButton("Snooze Update"); + snooze_btn = new QPushButton(tr("Snooze Update")); snooze_btn->setVisible(false); snooze_btn->setFixedSize(550, 125); footer_layout->addWidget(snooze_btn, 0, Qt::AlignBottom | Qt::AlignRight); @@ -38,7 +38,7 @@ AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent snooze_btn->setStyleSheet(R"(color: white; background-color: #4F4F4F;)"); if (hasRebootBtn) { - QPushButton *rebootBtn = new QPushButton("Reboot and Update"); + QPushButton *rebootBtn = new QPushButton(tr("Reboot and Update")); rebootBtn->setFixedSize(600, 125); footer_layout->addWidget(rebootBtn, 0, Qt::AlignBottom | Qt::AlignRight); QObject::connect(rebootBtn, &QPushButton::clicked, [=]() { Hardware::reboot(); }); diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc index 8a208bf3cf..d2529821f4 100644 --- a/selfdrive/ui/qt/widgets/prime.cc +++ b/selfdrive/ui/qt/widgets/prime.cc @@ -83,18 +83,18 @@ PairingPopup::PairingPopup(QWidget *parent) : QDialogBase(parent) { vlayout->addSpacing(30); - QLabel *title = new QLabel("Pair your device to your comma account", this); + QLabel *title = new QLabel(tr("Pair your device to your comma account"), this); title->setStyleSheet("font-size: 75px; color: black;"); title->setWordWrap(true); vlayout->addWidget(title); - QLabel *instructions = new QLabel(R"( + QLabel *instructions = new QLabel(tr(R"(
  1. Go to https://connect.comma.ai on your phone
  2. Click "add new device" and scan the QR code on the right
  3. Bookmark connect.comma.ai to your home screen to use it like an app
- )", this); + )"), this); instructions->setStyleSheet("font-size: 47px; font-weight: bold; color: black;"); instructions->setWordWrap(true); vlayout->addWidget(instructions); @@ -120,19 +120,19 @@ PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QWidget(parent) { primeLayout->setMargin(0); primeWidget->setContentsMargins(60, 50, 60, 50); - QLabel* subscribed = new QLabel("✓ SUBSCRIBED"); + QLabel* subscribed = new QLabel(tr("✓ SUBSCRIBED")); subscribed->setStyleSheet("font-size: 41px; font-weight: bold; color: #86FF4E;"); primeLayout->addWidget(subscribed, 0, Qt::AlignTop); primeLayout->addSpacing(60); - QLabel* commaPrime = new QLabel("comma prime"); + QLabel* commaPrime = new QLabel(tr("comma prime")); commaPrime->setStyleSheet("font-size: 75px; font-weight: bold;"); primeLayout->addWidget(commaPrime, 0, Qt::AlignTop); primeLayout->addSpacing(20); - QLabel* connectUrl = new QLabel("CONNECT.COMMA.AI"); + QLabel* connectUrl = new QLabel(tr("CONNECT.COMMA.AI")); connectUrl->setStyleSheet("font-size: 41px; font-family: Inter SemiBold; color: #A0A0A0;"); primeLayout->addWidget(connectUrl, 0, Qt::AlignTop); @@ -145,7 +145,7 @@ PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QWidget(parent) { pointsLayout->setMargin(0); pointsWidget->setContentsMargins(60, 50, 60, 50); - QLabel* commaPoints = new QLabel("COMMA POINTS"); + QLabel* commaPoints = new QLabel(tr("COMMA POINTS")); commaPoints->setStyleSheet("font-size: 41px; font-family: Inter SemiBold;"); pointsLayout->addWidget(commaPoints, 0, Qt::AlignTop); @@ -181,24 +181,24 @@ PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) { main_layout->setContentsMargins(80, 90, 80, 60); main_layout->setSpacing(0); - QLabel *upgrade = new QLabel("Upgrade Now"); + QLabel *upgrade = new QLabel(tr("Upgrade Now")); upgrade->setStyleSheet("font-size: 75px; font-weight: bold;"); main_layout->addWidget(upgrade, 0, Qt::AlignTop); main_layout->addSpacing(50); - QLabel *description = new QLabel("Become a comma prime member at connect.comma.ai"); + QLabel *description = new QLabel(tr("Become a comma prime member at connect.comma.ai")); description->setStyleSheet("font-size: 60px; font-weight: light; color: white;"); description->setWordWrap(true); main_layout->addWidget(description, 0, Qt::AlignTop); main_layout->addStretch(); - QLabel *features = new QLabel("PRIME FEATURES:"); + QLabel *features = new QLabel(tr("PRIME FEATURES:")); features->setStyleSheet("font-size: 41px; font-weight: bold; color: #E5E5E5;"); main_layout->addWidget(features, 0, Qt::AlignBottom); main_layout->addSpacing(30); - QVector bullets = {"Remote access", "1 year of storage", "Developer perks"}; + QVector bullets = {tr("Remote access"), tr("1 year of storage"), tr("Developer perks")}; for (auto &b: bullets) { const QString check = "✓ "; QLabel *l = new QLabel(check + b); @@ -227,20 +227,20 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) { finishRegistationLayout->setContentsMargins(30, 75, 30, 45); finishRegistationLayout->setSpacing(0); - QLabel* registrationTitle = new QLabel("Finish Setup"); + QLabel* registrationTitle = new QLabel(tr("Finish Setup")); registrationTitle->setStyleSheet("font-size: 75px; font-weight: bold; margin-left: 55px;"); finishRegistationLayout->addWidget(registrationTitle); finishRegistationLayout->addSpacing(30); - QLabel* registrationDescription = new QLabel("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."); + QLabel* registrationDescription = new QLabel(tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.")); registrationDescription->setWordWrap(true); registrationDescription->setStyleSheet("font-size: 55px; font-weight: light; margin-left: 55px;"); finishRegistationLayout->addWidget(registrationDescription); finishRegistationLayout->addStretch(); - QPushButton* pair = new QPushButton("Pair device"); + QPushButton* pair = new QPushButton(tr("Pair device")); pair->setFixedHeight(220); pair->setStyleSheet(R"( QPushButton { diff --git a/selfdrive/ui/qt/widgets/ssh_keys.cc b/selfdrive/ui/qt/widgets/ssh_keys.cc index 46ccf6aee3..1f48c72735 100644 --- a/selfdrive/ui/qt/widgets/ssh_keys.cc +++ b/selfdrive/ui/qt/widgets/ssh_keys.cc @@ -4,16 +4,16 @@ #include "selfdrive/ui/qt/api.h" #include "selfdrive/ui/qt/widgets/input.h" -SshControl::SshControl() : ButtonControl("SSH Keys", "", "Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.") { +SshControl::SshControl() : ButtonControl(tr("SSH Keys"), "", tr("Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.")) { username_label.setAlignment(Qt::AlignRight | Qt::AlignVCenter); username_label.setStyleSheet("color: #aaaaaa"); hlayout->insertWidget(1, &username_label); QObject::connect(this, &ButtonControl::clicked, [=]() { - if (text() == "ADD") { - QString username = InputDialog::getText("Enter your GitHub username", this); + if (text() == tr("ADD")) { + QString username = InputDialog::getText(tr("Enter your GitHub username"), this); if (username.length() > 0) { - setText("LOADING"); + setText(tr("LOADING")); setEnabled(false); getUserKeys(username); } @@ -31,10 +31,10 @@ void SshControl::refresh() { QString param = QString::fromStdString(params.get("GithubSshKeys")); if (param.length()) { username_label.setText(QString::fromStdString(params.get("GithubUsername"))); - setText("REMOVE"); + setText(tr("REMOVE")); } else { username_label.setText(""); - setText("ADD"); + setText(tr("ADD")); } setEnabled(true); } @@ -47,13 +47,13 @@ void SshControl::getUserKeys(const QString &username) { params.put("GithubUsername", username.toStdString()); params.put("GithubSshKeys", resp.toStdString()); } else { - ConfirmationDialog::alert(QString("Username '%1' has no keys on GitHub").arg(username), this); + ConfirmationDialog::alert(QString(tr("Username '%1' has no keys on GitHub")).arg(username), this); } } else { if (request->timeout()) { - ConfirmationDialog::alert("Request timed out", this); + ConfirmationDialog::alert(tr("Request timed out"), this); } else { - ConfirmationDialog::alert(QString("Username '%1' doesn't exist on GitHub").arg(username), this); + ConfirmationDialog::alert(QString(tr("Username '%1' doesn't exist on GitHub")).arg(username), this); } } diff --git a/selfdrive/ui/qt/widgets/ssh_keys.h b/selfdrive/ui/qt/widgets/ssh_keys.h index 596d1d83b9..01e2ab83ce 100644 --- a/selfdrive/ui/qt/widgets/ssh_keys.h +++ b/selfdrive/ui/qt/widgets/ssh_keys.h @@ -10,7 +10,7 @@ class SshToggle : public ToggleControl { Q_OBJECT public: - SshToggle() : ToggleControl("Enable SSH", "", "", Hardware::get_ssh_enabled()) { + SshToggle() : ToggleControl(tr("Enable SSH"), "", "", Hardware::get_ssh_enabled()) { QObject::connect(this, &SshToggle::toggleFlipped, [=](bool state) { Hardware::set_ssh_enabled(state); }); diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore index 7765bab17d..26335744f3 100644 --- a/selfdrive/ui/tests/.gitignore +++ b/selfdrive/ui/tests/.gitignore @@ -1,3 +1,4 @@ test playsound test_sound +test_translations diff --git a/selfdrive/ui/tests/create_test_translations.sh b/selfdrive/ui/tests/create_test_translations.sh new file mode 100755 index 0000000000..451a3cbfb0 --- /dev/null +++ b/selfdrive/ui/tests/create_test_translations.sh @@ -0,0 +1,18 @@ +#!/bin/bash + +set -e + +UI_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"/.. +TEST_TEXT="(WRAPPED_SOURCE_TEXT)" +TEST_TS_FILE=$UI_DIR/translations/main_test_en.ts +TEST_QM_FILE=$UI_DIR/translations/main_test_en.qm + +# translation strings +UNFINISHED="<\/translation>" +TRANSLATED="$TEST_TEXT<\/translation>" + +mkdir -p $UI_DIR/translations +rm -f $TEST_TS_FILE $TEST_QM_FILE +lupdate -recursive "$UI_DIR" -ts $TEST_TS_FILE +sed -i "s/$UNFINISHED/$TRANSLATED/" $TEST_TS_FILE +lrelease $TEST_TS_FILE diff --git a/selfdrive/ui/tests/test_runner.cc b/selfdrive/ui/tests/test_runner.cc index b20ac86c64..ac63139d17 100644 --- a/selfdrive/ui/tests/test_runner.cc +++ b/selfdrive/ui/tests/test_runner.cc @@ -1,10 +1,25 @@ #define CATCH_CONFIG_RUNNER #include "catch2/catch.hpp" -#include + +#include +#include +#include +#include int main(int argc, char **argv) { // unit tests for Qt - QCoreApplication app(argc, argv); + QApplication app(argc, argv); + + QString language_file = "main_test_en"; + qDebug() << "Loading language:" << language_file; + + QTranslator translator; + QString translationsPath = QDir::cleanPath(qApp->applicationDirPath() + "/../translations"); + if (!translator.load(language_file, translationsPath)) { + qDebug() << "Failed to load translation file!"; + } + app.installTranslator(&translator); + const int res = Catch::Session().run(argc, argv); return (res < 0xff ? res : 0xff); } diff --git a/selfdrive/ui/tests/test_translations.cc b/selfdrive/ui/tests/test_translations.cc new file mode 100644 index 0000000000..fecb9da44a --- /dev/null +++ b/selfdrive/ui/tests/test_translations.cc @@ -0,0 +1,51 @@ +#include "catch2/catch.hpp" + +#include "common/params.h" +#include "selfdrive/ui/qt/window.h" + +const QString TEST_TEXT = "(WRAPPED_SOURCE_TEXT)"; // what each string should be translated to +QRegExp RE_NUM("\\d*"); + +QStringList getParentWidgets(QWidget* widget){ + QStringList parentWidgets; + while (widget->parentWidget() != Q_NULLPTR) { + widget = widget->parentWidget(); + parentWidgets.append(widget->metaObject()->className()); + } + return parentWidgets; +} + +template +void checkWidgetTrWrap(MainWindow &w) { + int i = 0; + for (auto widget : w.findChildren()) { + const QString text = widget->text(); + SECTION(text.toStdString() + "-" + std::to_string(i)) { + bool isNumber = RE_NUM.exactMatch(text); + bool wrapped = text.contains(TEST_TEXT); + QString parentWidgets = getParentWidgets(widget).join("->"); + + if (!text.isEmpty() && !isNumber && !wrapped) { + FAIL(("\"" + text + "\" must be wrapped. Parent widgets: " + parentWidgets).toStdString()); + } + + // warn if source string wrapped, but UI adds text + // TODO: add way to ignore this + if (wrapped && text != TEST_TEXT) { + WARN(("\"" + text + "\" is dynamic and needs a custom retranslate function. Parent widgets: " + parentWidgets).toStdString()); + } + } + i++; + } +} + +// Tests all strings in the UI are wrapped with tr() +TEST_CASE("UI: test all strings wrapped") { + Params().remove("HardwareSerial"); + Params().remove("DongleId"); + qputenv("TICI", "1"); + + MainWindow w; + checkWidgetTrWrap(w); + checkWidgetTrWrap(w); +} diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh index 60d41a4771..5bc3630766 100755 --- a/tools/ubuntu_setup.sh +++ b/tools/ubuntu_setup.sh @@ -59,6 +59,7 @@ function install_ubuntu_common_requirements() { qtmultimedia5-dev \ qtlocation5-dev \ qtpositioning5-dev \ + qttools5-dev-tools \ libqt5sql5-sqlite \ libqt5svg5-dev \ libqt5x11extras5-dev \ From f79b068a71607700c4bbcc9e33f1bb2d10bb8e60 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 29 Jun 2022 20:31:22 -0700 Subject: [PATCH 024/306] Honda Civic 2022: remove LKAS fault reinitialization (#24979) * no lkas problem * remove frame --- selfdrive/car/honda/carcontroller.py | 2 +- selfdrive/car/honda/hondacan.py | 4 +--- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 4d04927b2f..14049c9997 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -241,7 +241,7 @@ class CarController: idx = (self.frame // 10) % 4 hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible, hud_control.lanesVisible, fcw_display, acc_alert, steer_required) - can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud, self.frame)) + can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud)) if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH: self.speed = pcm_speed diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index 5de29b4f37..7246b98686 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -101,7 +101,7 @@ def create_bosch_supplemental_1(packer, car_fingerprint, idx): return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx) -def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud, frame): +def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud): commands = [] bus_pt = get_pt_bus(CP.carFingerprint) radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl @@ -141,8 +141,6 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc if CP.carFingerprint in HONDA_BOSCH_RADARLESS: lkas_hud_values['LANE_LINES'] = 3 lkas_hud_values['DASHED_LANES'] = hud.lanes_visible - # TODO: understand this better, does car need to see it fall after start up? - lkas_hud_values['LKAS_PROBLEM'] = 0 if frame > 200 else 1 if not (CP.flags & HondaFlags.BOSCH_EXT_HUD): lkas_hud_values['SET_ME_X48'] = 0x48 From e643f8e6815eee04511dceecd23b434e5255f15b Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Thu, 30 Jun 2022 01:52:56 -0700 Subject: [PATCH 025/306] docs: ssh.comma.ai (#25000) --- tools/ssh/README.md | 49 +++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 49 insertions(+) diff --git a/tools/ssh/README.md b/tools/ssh/README.md index 66f030de52..29d3349328 100644 --- a/tools/ssh/README.md +++ b/tools/ssh/README.md @@ -22,3 +22,52 @@ The public keys are only fetched from your GitHub account once. In order to upda The `id_rsa` key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed. See the [community wiki](https://github.com/commaai/openpilot/wiki/SSH) for more detailed instructions and information. + +# Connecting to ssh.comma.ai +SSH into your comma device from anywhere with `ssh.comma.ai`. + +## Setup + +With software version 0.6.1 or newer, enter your GitHub username on your device under Developer Settings. Your GitHub authorized public keys will become your authorized SSH keys for `ssh.comma.ai`. You can add any additional keys in `/system/comma/home/.ssh/authorized_keys.persist`. + +Requires [comma SIM with comma prime](https://comma.ai/shop) activated with comma connect, available on iOS and Android. comma two and EON ship with a pre-inserted comma SIM. + +## Recommended .ssh/config + +With the below ssh configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`. For example, `ssh comma-ffffffffffffffff`. + +``` +Host comma-* + Port 22 + User comma + IdentityFile ~/.ssh/my_github_key + ProxyCommand ssh %h@ssh.comma.ai -W %h:%p +Host ssh.comma.ai + Hostname ssh.comma.ai + Port 22 + IdentityFile ~/.ssh/my_github_key +``` + +## One-off connection + +``` +ssh -i ~/.ssh/my_github_key -o ProxyCommand="ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai" comma@ffffffffffffffff +``` +(Replace `ffffffffffffffff` with your dongle_id) + +## ssh.comma.ai host key fingerprint + +``` +Host key fingerprint is SHA256:X22GOmfjGb9J04IA2+egtdaJ7vW9Fbtmpz9/x8/W1X4 ++---[RSA 4096]----+ +| | +| | +| . | +| + o | +| S = + +..| +| + @ = .=| +| . B @ ++=| +| o * B XE| +| .o o OB/| ++----[SHA256]-----+ +``` From 8d53e2c2b4e549119538d1baf36d202dbe33d012 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 30 Jun 2022 16:55:49 +0800 Subject: [PATCH 026/306] Multilang: remove redundant QString() around tr() (#25003) remove qstring --- selfdrive/ui/qt/offroad/onboarding.cc | 2 +- selfdrive/ui/qt/offroad/settings.cc | 2 +- selfdrive/ui/qt/util.cc | 6 +++--- selfdrive/ui/qt/widgets/ssh_keys.cc | 4 ++-- 4 files changed, 7 insertions(+), 7 deletions(-) diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc index 77e84293b2..f3e50b572b 100644 --- a/selfdrive/ui/qt/offroad/onboarding.cc +++ b/selfdrive/ui/qt/offroad/onboarding.cc @@ -151,7 +151,7 @@ void DeclinePage::showEvent(QShowEvent *event) { QObject::connect(back_btn, &QPushButton::clicked, this, &DeclinePage::getBack); - QPushButton *uninstall_btn = new QPushButton(QString(tr("Decline, uninstall %1")).arg(getBrand())); + QPushButton *uninstall_btn = new QPushButton(tr("Decline, uninstall %1").arg(getBrand())); uninstall_btn->setStyleSheet("background-color: #B73D3D"); buttons->addWidget(uninstall_btn); QObject::connect(uninstall_btn, &QPushButton::clicked, [=]() { diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 392287d65d..547ad168f1 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -179,7 +179,7 @@ void DevicePanel::updateCalibDescription() { if (calib.getCalStatus() != 0) { double pitch = calib.getRpyCalib()[1] * (180 / M_PI); double yaw = calib.getRpyCalib()[2] * (180 / M_PI); - desc += QString(tr(" Your device is pointed %1° %2 and %3° %4.")) + desc += tr(" Your device is pointed %1° %2 and %3° %4.") .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? tr("down") : tr("up"), QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? tr("left") : tr("right")); } diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index f82d9bf496..cab7299cd6 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -63,13 +63,13 @@ QString timeAgo(const QDateTime &date) { s = "now"; } else if (diff < 60 * 60) { int minutes = diff / 60; - s = QString(QObject::tr("%1 minute%2 ago")).arg(minutes).arg(minutes > 1 ? "s" : ""); + s = QObject::tr("%1 minute%2 ago").arg(minutes).arg(minutes > 1 ? "s" : ""); } else if (diff < 60 * 60 * 24) { int hours = diff / (60 * 60); - s = QString(QObject::tr("%1 hour%2 ago")).arg(hours).arg(hours > 1 ? "s" : ""); + s = QObject::tr("%1 hour%2 ago").arg(hours).arg(hours > 1 ? "s" : ""); } else if (diff < 3600 * 24 * 7) { int days = diff / (60 * 60 * 24); - s = QString(QObject::tr("%1 day%2 ago")).arg(days).arg(days > 1 ? "s" : ""); + s = QObject::tr("%1 day%2 ago").arg(days).arg(days > 1 ? "s" : ""); } else { s = date.date().toString(); } diff --git a/selfdrive/ui/qt/widgets/ssh_keys.cc b/selfdrive/ui/qt/widgets/ssh_keys.cc index 1f48c72735..f17604b3e5 100644 --- a/selfdrive/ui/qt/widgets/ssh_keys.cc +++ b/selfdrive/ui/qt/widgets/ssh_keys.cc @@ -47,13 +47,13 @@ void SshControl::getUserKeys(const QString &username) { params.put("GithubUsername", username.toStdString()); params.put("GithubSshKeys", resp.toStdString()); } else { - ConfirmationDialog::alert(QString(tr("Username '%1' has no keys on GitHub")).arg(username), this); + ConfirmationDialog::alert(tr("Username '%1' has no keys on GitHub").arg(username), this); } } else { if (request->timeout()) { ConfirmationDialog::alert(tr("Request timed out"), this); } else { - ConfirmationDialog::alert(QString(tr("Username '%1' doesn't exist on GitHub")).arg(username), this); + ConfirmationDialog::alert(tr("Username '%1' doesn't exist on GitHub").arg(username), this); } } From 867a1cf35a200c10c9ea513140b74be04ce4bb83 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 30 Jun 2022 16:57:47 +0800 Subject: [PATCH 027/306] ui: replace line_vertices_data with QPolygonF (#25001) use QPolygonF use push_front --- selfdrive/ui/qt/onroad.cc | 6 +++--- selfdrive/ui/ui.cc | 20 +++++++------------- selfdrive/ui/ui.h | 12 ++++-------- 3 files changed, 14 insertions(+), 24 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 7032fc7518..604d3c09a9 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -430,13 +430,13 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) { // lanelines for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) { painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp(scene.lane_line_probs[i], 0.0, 0.7))); - painter.drawPolygon(scene.lane_line_vertices[i].v, scene.lane_line_vertices[i].cnt); + painter.drawPolygon(scene.lane_line_vertices[i]); } // road edges for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) { painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp(1.0 - scene.road_edge_stds[i], 0.0, 1.0))); - painter.drawPolygon(scene.road_edge_vertices[i].v, scene.road_edge_vertices[i].cnt); + painter.drawPolygon(scene.road_edge_vertices[i]); } // paint path @@ -455,7 +455,7 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) { bg.setColorAt(0.75 / 1.5, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.35)); bg.setColorAt(1.0, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.0)); painter.setBrush(bg); - painter.drawPolygon(scene.track_vertices.v, scene.track_vertices.cnt); + painter.drawPolygon(scene.track_vertices); painter.restore(); } diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index c8fc645cf2..f6193f97a6 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -55,10 +55,13 @@ static void update_leads(UIState *s, const cereal::RadarState::Reader &radar_sta } static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line, - float y_off, float z_off, line_vertices_data *pvd, int max_idx, bool allow_invert=true) { + float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) { const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ(); - std::vector left_points, right_points; + QPolygonF left_points, right_points; + left_points.reserve(max_idx + 1); + right_points.reserve(max_idx + 1); + for (int i = 0; i <= max_idx; i++) { QPointF left, right; bool l = calib_frame_to_full_frame(s, line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left); @@ -69,19 +72,10 @@ static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTDa continue; } left_points.push_back(left); - right_points.push_back(right); + right_points.push_front(right); } } - - pvd->cnt = 2 * left_points.size(); - assert(left_points.size() == right_points.size()); - assert(pvd->cnt <= std::size(pvd->v)); - - for (int left_idx = 0; left_idx < left_points.size(); left_idx++){ - int right_idx = 2 * left_points.size() - left_idx - 1; - pvd->v[left_idx] = left_points[left_idx]; - pvd->v[right_idx] = right_points[left_idx]; - } + *pvd = left_points + right_points; } static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) { diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 7364b81a40..1aee3df9a1 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -8,6 +8,7 @@ #include #include #include +#include #include #include "cereal/messaging/messaging.h" @@ -84,11 +85,6 @@ const QColor bg_colors [] = { [STATUS_ALERT] = QColor(0xC9, 0x22, 0x31, 0xf1), }; -typedef struct { - QPointF v[TRAJECTORY_SIZE * 2]; - int cnt; -} line_vertices_data; - typedef struct UIScene { bool calibration_valid = false; mat3 view_from_calib = DEFAULT_CALIBRATION; @@ -97,9 +93,9 @@ typedef struct UIScene { // modelV2 float lane_line_probs[4]; float road_edge_stds[2]; - line_vertices_data track_vertices; - line_vertices_data lane_line_vertices[4]; - line_vertices_data road_edge_vertices[2]; + QPolygonF track_vertices; + QPolygonF lane_line_vertices[4]; + QPolygonF road_edge_vertices[2]; // lead QPointF lead_vertices[2]; From b3f4e94169f459fc5cd6ad45fd69baffdef838da Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 30 Jun 2022 16:58:37 +0800 Subject: [PATCH 028/306] remove selfdrive/common (#24997) --- selfdrive/common/tests/.gitignore | 2 -- 1 file changed, 2 deletions(-) delete mode 100644 selfdrive/common/tests/.gitignore diff --git a/selfdrive/common/tests/.gitignore b/selfdrive/common/tests/.gitignore deleted file mode 100644 index 1350b3b825..0000000000 --- a/selfdrive/common/tests/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -test_util -test_swaglog From 1ac1fe632f8945a24c12413cfad7aa93fac17f9b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 30 Jun 2022 16:59:08 +0800 Subject: [PATCH 029/306] swaglog.cc/cloudlog_common: pass json object by reference (#24996) * pass json object by reference * space between functions --- common/swaglog.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/common/swaglog.cc b/common/swaglog.cc index 6b0028326a..22682dc54c 100644 --- a/common/swaglog.cc +++ b/common/swaglog.cc @@ -66,8 +66,9 @@ static void log(int levelnum, const char* filename, int lineno, const char* func char levelnum_c = levelnum; zmq_send(s.sock, (levelnum_c + log_s).c_str(), log_s.length() + 1, ZMQ_NOBLOCK); } + static void cloudlog_common(int levelnum, const char* filename, int lineno, const char* func, - char* msg_buf, json11::Json::object msg_j={}) { + char* msg_buf, const json11::Json::object &msg_j={}) { std::lock_guard lk(s.lock); if (!s.initialized) s.initialize(); From 7178800d844469601cb779d8f76b568ff82ac766 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 30 Jun 2022 02:02:53 -0700 Subject: [PATCH 030/306] Multilang prerequisites (#24999) * some supporting code for multilang * for now just english * test for missing language files * test for checking if ts file is up to date * Skip test if causes exception, other test catches this Test test Should also work should now fail revert rmn * add to files_common * fix files_common * newlines * no need to not update * comment * only english * double quotes * switch around --- .github/workflows/selfdrive_tests.yaml | 1 + release/files_common | 7 ++-- selfdrive/ui/tests/test_translations.py | 50 ++++++++++++++++++++++++ selfdrive/ui/translations/languages.json | 3 ++ selfdrive/ui/update_translations.py | 37 ++++++++++++++++++ 5 files changed, 94 insertions(+), 4 deletions(-) create mode 100755 selfdrive/ui/tests/test_translations.py create mode 100644 selfdrive/ui/translations/languages.json create mode 100755 selfdrive/ui/update_translations.py diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index f5edfe5929..0ff0092b02 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -307,6 +307,7 @@ jobs: $UNIT_TEST tools/lib/tests && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ + ./selfdrive/ui/tests/test_translations.py && \ ./common/tests/test_util && \ ./common/tests/test_swaglog && \ ./selfdrive/boardd/tests/test_boardd_usbprotocol && \ diff --git a/release/files_common b/release/files_common index 7e8dbd37a6..acf74e2137 100644 --- a/release/files_common +++ b/release/files_common @@ -60,6 +60,8 @@ release/* tools/lib/* tools/joystick/* +tools/replay/*.cc +tools/replay/*.h selfdrive/__init__.py selfdrive/sentry.py @@ -287,6 +289,7 @@ selfdrive/ui/soundd/*.cc selfdrive/ui/soundd/*.h selfdrive/ui/soundd/soundd selfdrive/ui/soundd/.gitignore +selfdrive/ui/translations/* selfdrive/ui/qt/*.cc selfdrive/ui/qt/*.h @@ -295,10 +298,6 @@ selfdrive/ui/qt/offroad/*.h selfdrive/ui/qt/offroad/*.qml selfdrive/ui/qt/widgets/*.cc selfdrive/ui/qt/widgets/*.h - -tools/replay/*.cc -tools/replay/*.h - selfdrive/ui/qt/maps/*.cc selfdrive/ui/qt/maps/*.h diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py new file mode 100755 index 0000000000..ccea748e24 --- /dev/null +++ b/selfdrive/ui/tests/test_translations.py @@ -0,0 +1,50 @@ +#!/usr/bin/env python3 +import json +import os +import unittest + +from selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations + + +class TestTranslations(unittest.TestCase): + @classmethod + def setUpClass(cls): + with open(LANGUAGES_FILE, "r") as f: + cls.translation_files = json.load(f) + + def test_missing_translation_files(self): + for name, file in self.translation_files.items(): + with self.subTest(name=name, file=file): + if not len(file): + self.skipTest(f"{name} translation has no file") + + self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")), + f"{name} has no XML translation file, run selfdrive/ui/update_translations.py") + self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.qm")), + f"{name} has no compiled QM translation file, run selfdrive/ui/update_translations.py --release") + + def test_translations_updated(self): + suffix = "_test" + update_translations(suffix=suffix) + + for name, file in self.translation_files.items(): + with self.subTest(name=name, file=file): + cur_tr_file = os.path.join(TRANSLATIONS_DIR, f"{file}.ts") + new_tr_file = os.path.join(TRANSLATIONS_DIR, f"{file}{suffix}.ts") + + if not len(file): + self.skipTest(f"{name} translation has no file") + elif not os.path.exists(cur_tr_file): + self.skipTest(f"{name} missing translation file") # caught by test_missing_translation_files + + with open(cur_tr_file, "r") as f: + cur_translations = f.read() + with open(new_tr_file, "r") as f: + new_translations = f.read() + + self.assertEqual(cur_translations, new_translations, + f"{name} translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files") + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json new file mode 100644 index 0000000000..f2f9400d64 --- /dev/null +++ b/selfdrive/ui/translations/languages.json @@ -0,0 +1,3 @@ +{ + "English": "" +} diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py new file mode 100755 index 0000000000..5d57fa39d2 --- /dev/null +++ b/selfdrive/ui/update_translations.py @@ -0,0 +1,37 @@ +#!/usr/bin/env python3 +import argparse +import os +import json + +from common.basedir import BASEDIR + +UI_DIR = os.path.join(BASEDIR, "selfdrive", "ui") +TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations") +LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json") + + +def update_translations(release=False, suffix=""): + with open(LANGUAGES_FILE, "r") as f: + translation_files = json.load(f) + + for name, file in translation_files.items(): + if not len(file): + print(f"{name} has no translation file, skipping...") + continue + + tr_file = os.path.join(TRANSLATIONS_DIR, f"{file}{suffix}.ts") + ret = os.system(f"lupdate -recursive {UI_DIR} -ts {tr_file}") + assert ret == 0 + + if release: + ret = os.system(f"lrelease {tr_file}") + assert ret == 0 + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Update translation files for UI", + formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser.add_argument("--release", action="store_true", help="Create compiled QM translation files used by UI") + args = parser.parse_args() + + update_translations(args.release) From e20d2cfa9b80e41c6af3b7879c15c6df1cfb81c1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 30 Jun 2022 17:05:49 +0800 Subject: [PATCH 031/306] Camerad: small cleanup (#24992) * remove CameraExpInfo * remove release callback --- system/camerad/cameras/camera_common.cc | 7 ++----- system/camerad/cameras/camera_common.h | 10 +--------- 2 files changed, 3 insertions(+), 14 deletions(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 34dde9389c..506b3fb995 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -66,11 +66,10 @@ private: bool hdr_; }; -void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_rgb_type, VisionStreamType init_yuv_type, release_cb init_release_callback) { +void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_rgb_type, VisionStreamType init_yuv_type) { vipc_server = v; this->rgb_type = init_rgb_type; this->yuv_type = init_yuv_type; - this->release_callback = init_release_callback; const CameraInfo *ci = &s->ci; camera_state = s; @@ -169,9 +168,7 @@ bool CameraBuf::acquire() { } void CameraBuf::release() { - if (release_callback) { - release_callback((void*)camera_state, cur_buf_idx); - } + // Empty } void CameraBuf::queue(size_t buf_idx) { diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 6b483372bb..4695d4e2c9 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -48,8 +48,6 @@ const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL; const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL; const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL; -typedef void (*release_cb)(void *cookie, int buf_idx); - typedef struct CameraInfo { uint32_t frame_width, frame_height; uint32_t frame_stride; @@ -85,11 +83,6 @@ typedef struct FrameMetadata { float processing_time; } FrameMetadata; -typedef struct CameraExpInfo { - int op_id; - float grey_frac; -} CameraExpInfo; - struct MultiCameraState; struct CameraState; class Debayer; @@ -108,7 +101,6 @@ private: SafeQueue safe_queue; int frame_buf_count; - release_cb release_callback; public: cl_command_queue q; @@ -124,7 +116,7 @@ public: CameraBuf() = default; ~CameraBuf(); - void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType rgb_type, VisionStreamType yuv_type, release_cb release_callback=nullptr); + void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType rgb_type, VisionStreamType yuv_type); bool acquire(); void release(); void queue(size_t buf_idx); From d13137a83f2036d436c4bc56b4a65fa6962b519d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 30 Jun 2022 17:29:25 +0800 Subject: [PATCH 032/306] camerad: reduce cpu usage (#24993) wait for 50ms --- system/camerad/cameras/camera_common.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 506b3fb995..04f3136485 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -126,7 +126,7 @@ CameraBuf::~CameraBuf() { } bool CameraBuf::acquire() { - if (!safe_queue.try_pop(cur_buf_idx, 1)) return false; + if (!safe_queue.try_pop(cur_buf_idx, 50)) return false; if (camera_bufs_metadata[cur_buf_idx].frame_id == -1) { LOGE("no frame data? wtf"); From 30ddadc8b4d510c824221d2010e4aef853741a92 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 30 Jun 2022 13:25:42 +0200 Subject: [PATCH 033/306] test onroad: lower camerad cpu usage --- selfdrive/test/test_onroad.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index f10c79313b..a7ab55fe2a 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -24,7 +24,7 @@ PROCS = { "selfdrive.controls.controlsd": 35.0, "./loggerd": 10.0, "./encoderd": 12.5, - "./camerad": 16.5, + "./camerad": 14.5, "./locationd": 9.1, "selfdrive.controls.plannerd": 11.7, "./_ui": 19.2, From af7d3c115a4780ad734c3f3a8d0084dd506aefec Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 30 Jun 2022 14:22:55 +0200 Subject: [PATCH 034/306] cameraview.cc: prev_frame_id static -> class member --- selfdrive/ui/qt/widgets/cameraview.cc | 7 +++---- selfdrive/ui/qt/widgets/cameraview.h | 1 + 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 0bc90b5307..305f8a3abb 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -243,13 +243,12 @@ void CameraViewWidget::paintGL() { // } // Log duplicate/dropped frames - static int prev_id = 0; - if (frames[frame_idx].first == prev_id) { + if (frames[frame_idx].first == prev_frame_id) { qInfo() << "Drawing same frame twice" << frames[frame_idx].first; - } else if (frames[frame_idx].first != prev_id + 1) { + } else if (frames[frame_idx].first != prev_frame_id + 1) { qInfo() << "Skipped frame" << frames[frame_idx].first; } - prev_id = frames[frame_idx].first; + prev_frame_id = frames[frame_idx].first; glViewport(0, 0, width(), height()); glBindVertexArray(frame_vao); diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index cc11ec2c27..016522b05c 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -78,6 +78,7 @@ protected: std::deque> frames; uint32_t draw_frame_id = 0; + int prev_frame_id = 0; protected slots: void vipcConnected(VisionIpcClient *vipc_client); From ca800da8951f83892a3593b2203e74be6af53844 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 30 Jun 2022 14:25:32 +0200 Subject: [PATCH 035/306] cameraview.cc: qInfo -> qDebug --- selfdrive/ui/qt/widgets/cameraview.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 305f8a3abb..63d15660a0 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -244,9 +244,9 @@ void CameraViewWidget::paintGL() { // Log duplicate/dropped frames if (frames[frame_idx].first == prev_frame_id) { - qInfo() << "Drawing same frame twice" << frames[frame_idx].first; + qDebug() << "Drawing same frame twice" << frames[frame_idx].first; } else if (frames[frame_idx].first != prev_frame_id + 1) { - qInfo() << "Skipped frame" << frames[frame_idx].first; + qDebug() << "Skipped frame" << frames[frame_idx].first; } prev_frame_id = frames[frame_idx].first; From c49f997be505760a18e85a241e6d45b98952c894 Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Thu, 30 Jun 2022 17:39:12 +0200 Subject: [PATCH 036/306] Add laikadOffline subtest to process replay. (#24995) * Add subtests to process replay. Adds laikadOffline subtest * Update cpp. * Update ref * Update ref again * Update ref again * update ref * Fix disabling fetching orbits * Add proc name to event exception * update ref * Update setup_env * Fix offline test and update refs --- selfdrive/locationd/laikad.py | 15 ++++--- .../test/process_replay/process_replay.py | 41 +++++++++++++++---- selfdrive/test/process_replay/ref_commit | 2 +- .../test/process_replay/test_processes.py | 4 +- 4 files changed, 47 insertions(+), 15 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 5098b25d38..d51ac10816 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -1,5 +1,6 @@ #!/usr/bin/env python3 import json +import math import os import time from collections import defaultdict @@ -29,11 +30,12 @@ CACHE_VERSION = 0.1 class Laikad: - def __init__(self, valid_const=("GPS", "GLONASS"), auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV), + def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_orbits=True, auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV), save_ephemeris=False, last_known_position=None): self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True) self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True) + self.auto_fetch_orbits = auto_fetch_orbits self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None self.orbit_fetch_future: Optional[Future] = None @@ -41,6 +43,7 @@ class Laikad: self.last_cached_t = None self.save_ephemeris = save_ephemeris self.load_cache() + self.posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)} self.last_pos_fix = last_known_position if last_known_position is not None else [] self.last_pos_residual = [] @@ -85,7 +88,8 @@ class Laikad: report = ublox_msg.measurementReport if report.gpsWeek > 0: latest_msg_t = GPSTime(report.gpsWeek, report.rcvTow) - self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block) + if self.auto_fetch_orbits: + self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block) new_meas = read_raw_ublox(report) processed_measurements = process_measurements(new_meas, self.astro_dog) @@ -146,8 +150,8 @@ class Laikad: def kf_valid(self, t: float) -> List[bool]: filter_time = self.gnss_kf.filter.get_filter_time() - return [filter_time is not None, - filter_time is not None and abs(t - filter_time) < MAX_TIME_GAP, + return [not math.isnan(filter_time), + abs(t - filter_time) < MAX_TIME_GAP, all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS]))] def init_gnss_localizer(self, est_pos): @@ -275,7 +279,8 @@ def main(sm=None, pm=None): replay = "REPLAY" in os.environ # todo get last_known_position - laikad = Laikad(save_ephemeris=not replay) + use_internet = "LAIKAD_NO_INTERNET" not in os.environ + laikad = Laikad(save_ephemeris=not replay, auto_fetch_orbits=use_internet) while True: sm.update() diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index def61a10a1..fc83b4b61f 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -27,14 +27,14 @@ TIMEOUT = 15 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__)) FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/") -ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config'], defaults=({},)) +ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config', 'environ', 'subtest_name'], defaults=({}, {}, "")) def wait_for_event(evt): if not evt.wait(TIMEOUT): if threading.currentThread().getName() == "MainThread": # tested process likely died. don't let test just hang - raise Exception("Timeout reached. Tested process likely crashed.") + raise Exception(f"Timeout reached. Tested process {os.environ['PROC_NAME']} likely crashed.") else: # done testing this process, let it die sys.exit(0) @@ -190,6 +190,7 @@ def get_car_params(msgs, fsm, can_sock, fingerprint): _, CP = get_car(can, sendcan) Params().put("CarParams", CP.to_bytes()) + def controlsd_rcv_callback(msg, CP, cfg, fsm): # no sendcan until controlsd is initialized socks = [s for s in cfg.pub_sub[msg.which()] if @@ -198,6 +199,7 @@ def controlsd_rcv_callback(msg, CP, cfg, fsm): socks.remove("sendcan") return socks, len(socks) > 0 + def radar_rcv_callback(msg, CP, cfg, fsm): if msg.which() != "can": return [], False @@ -240,7 +242,7 @@ def laika_rcv_callback(msg, CP, cfg, fsm): if msg.ubloxGnss.which() == "measurementReport": return ["gnssMeasurements"], True else: - return [], False + return [], True CONFIGS = [ @@ -345,6 +347,19 @@ CONFIGS = [ tolerance=None, fake_pubsubmaster=False, ), + ProcessConfig( + proc_name="laikad", + subtest_name="Offline", + pub_sub={ + "ubloxGnss": ["gnssMeasurements"], + }, + ignore=["logMonoTime"], + init_callback=get_car_params, + should_recv_callback=laika_rcv_callback, + tolerance=NUMPY_TOLERANCE, + fake_pubsubmaster=True, + environ={"LAIKAD_NO_INTERNET": "1"}, + ), ProcessConfig( proc_name="laikad", pub_sub={ @@ -366,7 +381,8 @@ def replay_process(cfg, lr, fingerprint=None): else: return cpp_replay_process(cfg, lr, fingerprint) -def setup_env(simulation=False, CP=None): + +def setup_env(simulation=False, CP=None, cfg=None): params = Params() params.clear_all() params.put_bool("OpenpilotEnabledToggle", True) @@ -380,6 +396,16 @@ def setup_env(simulation=False, CP=None): os.environ['SKIP_FW_QUERY'] = "" os.environ['FINGERPRINT'] = "" + if cfg is not None: + # Clear all custom processConfig environment variables + for cfg in CONFIGS: + for k, _ in cfg.environ.items(): + if k in os.environ: + del os.environ[k] + + os.environ.update(cfg.environ) + os.environ['PROC_NAME'] = cfg.proc_name + if simulation: os.environ["SIMULATION"] = "1" elif "SIMULATION" in os.environ: @@ -396,6 +422,7 @@ def setup_env(simulation=False, CP=None): os.environ['SKIP_FW_QUERY'] = "1" os.environ['FINGERPRINT'] = CP.carFingerprint + def python_replay_process(cfg, lr, fingerprint=None): sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub] pub_sockets = [s for s in cfg.pub_sub.keys() if s != 'can'] @@ -413,10 +440,10 @@ def python_replay_process(cfg, lr, fingerprint=None): if fingerprint is not None: os.environ['SKIP_FW_QUERY'] = "1" os.environ['FINGERPRINT'] = fingerprint - setup_env() + setup_env(cfg=cfg) else: CP = [m for m in lr if m.which() == 'carParams'][0].carParams - setup_env(CP=CP) + setup_env(CP=CP, cfg=cfg) assert(type(managed_processes[cfg.proc_name]) is PythonProcess) managed_processes[cfg.proc_name].prepare() @@ -477,7 +504,7 @@ def cpp_replay_process(cfg, lr, fingerprint=None): log_msgs = [] # We need to fake SubMaster alive since we can't inject a fake clock - setup_env(simulation=True) + setup_env(simulation=True, cfg=cfg) managed_processes[cfg.proc_name].prepare() managed_processes[cfg.proc_name].start() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 946ddce19e..c3e8eca42d 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a0b5ce7b2e0b9c073e51ac8908402d53e1d99722 \ No newline at end of file +a9adebff7ce27d6233d443217a30337b761898ee \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 25fbd210cc..4e7ba4a6dd 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -200,11 +200,11 @@ if __name__ == "__main__": if cfg.proc_name not in tested_procs: continue - cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.bz2") + cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}{cfg.subtest_name}_{cur_commit}.bz2") if args.update_refs: # reference logs will not exist if routes were just regenerated ref_log_path = get_url(*segment.rsplit("--", 1)) else: - ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.bz2") + ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}{cfg.subtest_name}_{ref_commit}.bz2") ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn) dat = None if args.upload_only else log_data[segment] From dd43ae2856e144ec13eff462556d8e681aa57789 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Thu, 30 Jun 2022 14:49:17 -0700 Subject: [PATCH 037/306] Full localizer: Use standard naming conventions (#25007) Use standard naming conventions --- selfdrive/locationd/models/loc_kf.py | 32 ++++++++++++++-------------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/selfdrive/locationd/models/loc_kf.py b/selfdrive/locationd/models/loc_kf.py index 6b08828695..b1ed8599f1 100755 --- a/selfdrive/locationd/models/loc_kf.py +++ b/selfdrive/locationd/models/loc_kf.py @@ -25,15 +25,15 @@ class States(): ODO_SCALE_UNUSED = slice(18, 19) # odometer scale ACCELERATION = slice(19, 22) # Acceleration in device frame in m/s**2 FOCAL_SCALE_UNUSED = slice(22, 23) # focal length scale - IMU_OFFSET = slice(23, 26) # imu offset angles in radians + IMU_FROM_DEVICE_EULER = slice(23, 26) # imu offset angles in radians GLONASS_BIAS = slice(26, 27) # GLONASS bias in m expressed as bias + freq_num*freq_slope GLONASS_FREQ_SLOPE = slice(27, 28) # GLONASS bias in m expressed as bias + freq_num*freq_slope CLOCK_ACCELERATION = slice(28, 29) # clock acceleration in light-meters/s**2, ACCELEROMETER_SCALE_UNUSED = slice(29, 30) # scale of mems accelerometer ACCELEROMETER_BIAS = slice(30, 33) # bias of mems accelerometer # TODO the offset is likely a translation of the sensor, not a rotation of the camera - WIDE_CAM_OFFSET = slice(33, 36) # wide camera offset angles in radians (tici only) - # We curently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_OFFSET). + WIDE_FROM_DEVICE_EULER = slice(33, 36) # wide camera offset angles in radians (tici only) + # We curently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER). # From experiments we see that ACCELEROMETER_BIAS is more correct than ACCELEROMETER_SCALE # Error-state has different slices because it is an ESKF @@ -47,13 +47,13 @@ class States(): ODO_SCALE_ERR_UNUSED = slice(17, 18) ACCELERATION_ERR = slice(18, 21) FOCAL_SCALE_ERR_UNUSED = slice(21, 22) - IMU_OFFSET_ERR = slice(22, 25) + IMU_FROM_DEVICE_EULER_ERR = slice(22, 25) GLONASS_BIAS_ERR = slice(25, 26) GLONASS_FREQ_SLOPE_ERR = slice(26, 27) CLOCK_ACCELERATION_ERR = slice(27, 28) ACCELEROMETER_SCALE_ERR_UNUSED = slice(28, 29) ACCELEROMETER_BIAS_ERR = slice(29, 32) - WIDE_CAM_OFFSET_ERR = slice(32, 35) + WIDE_FROM_DEVICE_EULER_ERR = slice(32, 35) class LocKalman(): @@ -140,15 +140,15 @@ class LocKalman(): cd = state[States.CLOCK_DRIFT, :] roll_bias, pitch_bias, yaw_bias = state[States.GYRO_BIAS, :] acceleration = state[States.ACCELERATION, :] - imu_angles = state[States.IMU_OFFSET, :] - imu_angles[0, 0] = 0 # not observable enough - imu_angles[2, 0] = 0 # not observable enough + imu_from_device_euler = state[States.IMU_FROM_DEVICE_EULER, :] + imu_from_device_euler[0, 0] = 0 # not observable enough + imu_from_device_euler[2, 0] = 0 # not observable enough glonass_bias = state[States.GLONASS_BIAS, :] glonass_freq_slope = state[States.GLONASS_FREQ_SLOPE, :] ca = state[States.CLOCK_ACCELERATION, :] accel_bias = state[States.ACCELEROMETER_BIAS, :] - wide_cam_angles = state[States.WIDE_CAM_OFFSET, :] - wide_cam_angles[0, 0] = 0 # not observable enough + wide_from_device_euler = state[States.WIDE_FROM_DEVICE_EULER, :] + wide_from_device_euler[0, 0] = 0 # not observable enough dt = sp.Symbol('dt') @@ -273,15 +273,15 @@ class LocKalman(): los_vector[2] * (sat_vz - vz) + cd[0]]) - imu_rot = euler_rotate(*imu_angles) - h_gyro_sym = imu_rot * sp.Matrix([vroll + roll_bias, + imu_from_device = euler_rotate(*imu_from_device_euler) + h_gyro_sym = imu_from_device * sp.Matrix([vroll + roll_bias, vpitch + pitch_bias, vyaw + yaw_bias]) pos = sp.Matrix([x, y, z]) # add 1 for stability, prevent division by 0 gravity = quat_rot.T * ((EARTH_GM / ((x**2 + y**2 + z**2 + 1)**(3.0 / 2.0))) * pos) - h_acc_sym = imu_rot * (gravity + acceleration + accel_bias) + h_acc_sym = imu_from_device * (gravity + acceleration + accel_bias) h_acc_stationary_sym = acceleration h_phone_rot_sym = sp.Matrix([vroll, vpitch, vyaw]) h_relative_motion = sp.Matrix(quat_rot.T * v) @@ -297,7 +297,7 @@ class LocKalman(): [h_phone_rot_sym, ObservationKind.CAMERA_ODO_ROTATION, None], [h_acc_stationary_sym, ObservationKind.NO_ACCEL, None]] - wide_cam_rot = euler_rotate(*wide_cam_angles) + wide_from_device = euler_rotate(*wide_from_device_euler) # MSCKF configuration if N > 0: # experimentally found this is correct value for imx298 with 910 focal length @@ -312,7 +312,7 @@ class LocKalman(): track_pos_sym = sp.Matrix([track_x - x, track_y - y, track_z - z]) track_pos_rot_sym = quat_rot.T * track_pos_sym - track_pos_rot_wide_cam_sym = wide_cam_rot * track_pos_rot_sym + track_pos_rot_wide_cam_sym = wide_from_device * track_pos_rot_sym h_track_sym[-2:, :] = sp.Matrix([focal_scale * (track_pos_rot_sym[1] / track_pos_rot_sym[0]), focal_scale * (track_pos_rot_sym[2] / track_pos_rot_sym[0])]) h_track_wide_cam_sym[-2:, :] = sp.Matrix([focal_scale * (track_pos_rot_wide_cam_sym[1] / track_pos_rot_wide_cam_sym[0]), @@ -329,7 +329,7 @@ class LocKalman(): quat_rot = quat_rotate(*q) track_pos_sym = sp.Matrix([track_x - x, track_y - y, track_z - z]) track_pos_rot_sym = quat_rot.T * track_pos_sym - track_pos_rot_wide_cam_sym = wide_cam_rot * track_pos_rot_sym + track_pos_rot_wide_cam_sym = wide_from_device * track_pos_rot_sym h_track_sym[n * 2:n * 2 + 2, :] = sp.Matrix([focal_scale * (track_pos_rot_sym[1] / track_pos_rot_sym[0]), focal_scale * (track_pos_rot_sym[2] / track_pos_rot_sym[0])]) h_track_wide_cam_sym[n * 2: n * 2 + 2, :] = sp.Matrix([focal_scale * (track_pos_rot_wide_cam_sym[1] / track_pos_rot_wide_cam_sym[0]), From f0062f624260bcbdadeec643c993ac597b73c4fc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 30 Jun 2022 15:01:52 -0700 Subject: [PATCH 038/306] Toyota: fix BSM detection (#24964) * revert to 1 second * Revert "revert to 1 second" This reverts commit 6ab3f75cb73fdfe254431c479b6d337030b0d538. * Revert "remove toyota can fingerprinting exceptions (#22803)" This reverts commit d8f5e8b7a4b6c9132ce2515a9106aeb971ee2579. fix static analysis * Revert "Revert "remove toyota can fingerprinting exceptions (#22803)"" This reverts commit fc359fc9b2db146d77b6533be9e7434f08a665df. * 1 second for all brands * update refs Co-authored-by: Adeeb Shihadeh --- selfdrive/car/car_helpers.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 8c0fd7c90d..7f83732153 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -115,7 +115,7 @@ def fingerprint(logcan, sendcan): finger = gen_empty_fingerprint() candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1 frame = 0 - frame_fingerprint = 25 # 0.25s + frame_fingerprint = 100 # 1s car_fingerprint = None done = False diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index c3e8eca42d..b9ba47e8f7 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a9adebff7ce27d6233d443217a30337b761898ee \ No newline at end of file +a98dfc72bb4c5624c2223ca65d52b151f419460c \ No newline at end of file From 2027d5311d419addfb67ad94d45a198592b2e459 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 30 Jun 2022 15:03:15 -0700 Subject: [PATCH 039/306] tools: add support for nv12 in compressed_vipc (#24962) reshape for nv12 --- tools/camerastream/compressed_vipc.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py index 290610e45f..d321d6fd2b 100755 --- a/tools/camerastream/compressed_vipc.py +++ b/tools/camerastream/compressed_vipc.py @@ -73,6 +73,10 @@ def decoder(addr, sock_name, vipc_server, vst, nvidia): continue assert len(frames) == 1 img_yuv = frames[0].to_ndarray(format=av.video.format.VideoFormat('yuv420p')).flatten() + uv_offset = H*W + y = img_yuv[:uv_offset] + uv = img_yuv[uv_offset:].reshape(2, -1).ravel('F') + img_yuv = np.hstack((y, uv)) vipc_server.send(vst, img_yuv.data, cnt, int(time_q[0]*1e9), int(time.monotonic()*1e9)) cnt += 1 From 8b32e1b060e8c2c3c084393a569d4e78992ca598 Mon Sep 17 00:00:00 2001 From: Jason Shuler Date: Thu, 30 Jun 2022 18:26:25 -0400 Subject: [PATCH 040/306] GM: Lower LKA loopback CAN Error timing threshold to accommodate dropped packets (#24927) * LKA loopback timing to 10Hz * Typo Co-authored-by: Willem Melching Co-authored-by: Willem Melching --- selfdrive/car/gm/carstate.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 48b9f25444..3605dab486 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -133,7 +133,9 @@ class CarState(CarStateBase): ] checks = [ - ("ASCMLKASteeringCmd", 50), + ("ASCMLKASteeringCmd", 10), # 10 Hz is the stock inactive rate (every 100ms). + # While active 50 Hz (every 20 ms) is normal + # EPS will tolerate around 200ms when active before faulting ] return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.LOOPBACK) From 11b5d51da61cac111fb4e5af3b1df6091d860dfc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 30 Jun 2022 15:36:40 -0700 Subject: [PATCH 041/306] remove mypy ignore from a few scripts --- selfdrive/debug/check_freq.py | 11 +++++++---- selfdrive/debug/check_lag.py | 4 ++-- selfdrive/debug/check_timings.py | 5 +++-- 3 files changed, 12 insertions(+), 8 deletions(-) diff --git a/selfdrive/debug/check_freq.py b/selfdrive/debug/check_freq.py index 424ad67b6d..b6f3c91bd0 100755 --- a/selfdrive/debug/check_freq.py +++ b/selfdrive/debug/check_freq.py @@ -1,9 +1,9 @@ #!/usr/bin/env python3 -# type: ignore - import argparse import numpy as np from collections import defaultdict, deque +from typing import DefaultDict, Deque + from common.realtime import sec_since_boot import cereal.messaging as messaging @@ -19,8 +19,8 @@ if __name__ == "__main__": socket_names = args.socket sockets = {} - rcv_times = defaultdict(lambda: deque(maxlen=100)) - valids = defaultdict(lambda: deque(maxlen=100)) + rcv_times: DefaultDict[str, Deque[float]] = defaultdict(lambda: deque(maxlen=100)) + valids: DefaultDict[str, Deque[bool]] = defaultdict(lambda: deque(maxlen=100)) t = sec_since_boot() for name in socket_names: @@ -31,6 +31,9 @@ if __name__ == "__main__": while True: for socket in poller.poll(100): msg = messaging.recv_one(socket) + if msg is None: + continue + name = msg.which() t = sec_since_boot() diff --git a/selfdrive/debug/check_lag.py b/selfdrive/debug/check_lag.py index c922642982..141156db91 100755 --- a/selfdrive/debug/check_lag.py +++ b/selfdrive/debug/check_lag.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -# type: ignore +from typing import Dict import cereal.messaging as messaging from cereal.services import service_list @@ -10,7 +10,7 @@ TO_CHECK = ['carState'] if __name__ == "__main__": sm = messaging.SubMaster(TO_CHECK) - prev_t = {} + prev_t: Dict[str, float] = {} while True: sm.update() diff --git a/selfdrive/debug/check_timings.py b/selfdrive/debug/check_timings.py index 03e39fd70d..69304f97b5 100755 --- a/selfdrive/debug/check_timings.py +++ b/selfdrive/debug/check_timings.py @@ -1,14 +1,15 @@ #!/usr/bin/env python3 -# type: ignore + import sys import time import numpy as np +from typing import DefaultDict, Deque from collections import defaultdict, deque import cereal.messaging as messaging socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]} -ts = defaultdict(lambda: deque(maxlen=100)) +ts: DefaultDict[str, Deque[float]] = defaultdict(lambda: deque(maxlen=100)) if __name__ == "__main__": while True: From 9279c02258e7ab2f60b4e5ea0198bdcb757bf533 Mon Sep 17 00:00:00 2001 From: Jason Shuler Date: Thu, 30 Jun 2022 18:47:26 -0400 Subject: [PATCH 042/306] GM: prep and cleanup for future ports (#24910) * Interface radarOffCan set, comments * pass pcmCruise value to common events * add transType and networkLoc to iface * carstate use transtype to detect EV * ctrl: limit sends by config * Add clarifying comments for new vals * clean up * comment on new line * these have the same frequency * remove 25hz * add to upper comment * update refs * update refs * move into same block move into same block Co-authored-by: Shane Smiskol --- selfdrive/car/gm/carcontroller.py | 94 ++++++++++++------------ selfdrive/car/gm/carstate.py | 8 +- selfdrive/car/gm/interface.py | 19 +++-- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 67 insertions(+), 56 deletions(-) diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index ae2a188e3f..8ad5049e32 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -8,10 +8,12 @@ from selfdrive.car.gm import gmcan from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams VisualAlert = car.CarControl.HUDControl.VisualAlert +NetworkLocation = car.CarParams.NetworkLocation class CarController: def __init__(self, dbc_name, CP, VM): + self.CP = CP self.start_time = 0. self.apply_steer_last = 0 self.apply_gas = 0 @@ -24,9 +26,9 @@ class CarController: self.params = CarControllerParams() - self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt']) - self.packer_obj = CANPacker(DBC[CP.carFingerprint]['radar']) - self.packer_ch = CANPacker(DBC[CP.carFingerprint]['chassis']) + self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt']) + self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar']) + self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis']) def update(self, CC, CS): actuators = CC.actuators @@ -60,48 +62,48 @@ class CarController: can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled)) - # Gas/regen and brakes - all at 25Hz - if (self.frame % 4) == 0: - if not CC.longActive: - # Stock ECU sends max regen when not enabled - self.apply_gas = self.params.MAX_ACC_REGEN - self.apply_brake = 0 - else: - self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) - self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) - - idx = (self.frame // 4) % 4 - - at_full_stop = CC.longActive and CS.out.standstill - near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE) - # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation - can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop)) - can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop)) - - # Send dashboard UI commands (ACC status), 25hz - if (self.frame % 4) == 0: - send_fcw = hud_alert == VisualAlert.fcw - can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled, - hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw)) - - # Radar needs to know current speed and yaw rate (50hz), - # and that ADAS is alive (10hz) - time_and_headlights_step = 10 - tt = self.frame * DT_CTRL - - if self.frame % time_and_headlights_step == 0: - idx = (self.frame // time_and_headlights_step) % 4 - can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx)) - can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE)) - - speed_and_accelerometer_step = 2 - if self.frame % speed_and_accelerometer_step == 0: - idx = (self.frame // speed_and_accelerometer_step) % 4 - can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx)) - can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx)) - - if self.frame % self.params.ADAS_KEEPALIVE_STEP == 0: - can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN) + if self.CP.openpilotLongitudinalControl: + # Gas/regen, brakes, and UI commands - all at 25Hz + if self.frame % 4 == 0: + if not CC.longActive: + # Stock ECU sends max regen when not enabled + self.apply_gas = self.params.MAX_ACC_REGEN + self.apply_brake = 0 + else: + self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) + self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) + + idx = (self.frame // 4) % 4 + + at_full_stop = CC.longActive and CS.out.standstill + near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE) + # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation + can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop)) + can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop)) + + # Send dashboard UI commands (ACC status) + send_fcw = hud_alert == VisualAlert.fcw + can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled, + hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw)) + + # Radar needs to know current speed and yaw rate (50hz), + # and that ADAS is alive (10hz) + if not self.CP.radarOffCan: + tt = self.frame * DT_CTRL + time_and_headlights_step = 10 + if self.frame % time_and_headlights_step == 0: + idx = (self.frame // time_and_headlights_step) % 4 + can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx)) + can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE)) + + speed_and_accelerometer_step = 2 + if self.frame % speed_and_accelerometer_step == 0: + idx = (self.frame // speed_and_accelerometer_step) % 4 + can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx)) + can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx)) + + if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0: + can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN) # Show green icon when LKA torque is applied, and # alarming orange icon when approaching torque limit. @@ -110,7 +112,7 @@ class CarController: lka_active = CS.lkas_status == 1 lka_critical = lka_active and abs(actuators.steer) > 0.9 lka_icon_status = (lka_active, lka_critical) - if self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last: + if self.CP.networkLocation != NetworkLocation.fwdCamera and (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last): steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw) can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert)) self.lka_icon_status_last = lka_icon_status diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 3605dab486..c28abc6036 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -3,7 +3,9 @@ from common.numpy_fast import mean from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, STEER_THRESHOLD +from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD + +TransmissionType = car.CarParams.TransmissionType class CarState(CarStateBase): @@ -35,7 +37,7 @@ class CarState(CarStateBase): ret.brakePressed = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] >= 10 # Regen braking is braking - if self.car_fingerprint == CAR.VOLT: + if self.CP.transmissionType == TransmissionType.direct: ret.brakePressed = ret.brakePressed or pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0 ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254. @@ -120,7 +122,7 @@ class CarState(CarStateBase): ("EBCMBrakePedalPosition", 100), ] - if CP.carFingerprint == CAR.VOLT: + if CP.transmissionType == TransmissionType.direct: signals.append(("RegenPaddle", "EBCMRegenPaddle")) checks.append(("EBCMRegenPaddle", 50)) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 9c1744dfb4..282844d095 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -9,6 +9,8 @@ from selfdrive.car.interfaces import CarInterfaceBase ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName +TransmissionType = car.CarParams.TransmissionType +NetworkLocation = car.CarParams.NetworkLocation BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise, CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel} @@ -45,7 +47,11 @@ class CarInterface(CarInterfaceBase): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "gm" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)] - ret.pcmCruise = False # stock cruise control is kept off + ret.pcmCruise = False # For ASCM, stock non-adaptive cruise control is kept off + ret.radarOffCan = False # For ASCM, radar exists + ret.transmissionType = TransmissionType.automatic + # NetworkLocation.gateway: OBD-II harness (typically ASCM), NetworkLocation.fwdCamera: non-ASCM + ret.networkLocation = NetworkLocation.gateway # These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars likely still work fine. Once a user confirms each car works and a test route is @@ -77,17 +83,18 @@ class CarInterface(CarInterfaceBase): ret.minEnableSpeed = 18 * CV.MPH_TO_MS if candidate == CAR.VOLT: + ret.transmissionType = TransmissionType.direct ret.mass = 1607. + STD_CARGO_KG ret.wheelbase = 2.69 ret.steerRatio = 17.7 # Stock 15.7, LiveParameters - tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters - ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh + tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters + ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh ret.lateralTuning.pid.kpBP = [0., 40.] ret.lateralTuning.pid.kpV = [0., 0.17] ret.lateralTuning.pid.kiBP = [0.] ret.lateralTuning.pid.kiV = [0.] - ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt() + ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt() ret.steerActuatorDelay = 0.2 elif candidate == CAR.MALIBU: @@ -160,7 +167,7 @@ class CarInterface(CarInterfaceBase): ret.buttonEvents = [be] - events = self.create_common_events(ret, pcm_enable=False) + events = self.create_common_events(ret, pcm_enable=self.CP.pcmCruise) if ret.vEgo < self.CP.minEnableSpeed: events.add(EventName.belowEngageSpeed) @@ -170,7 +177,7 @@ class CarInterface(CarInterfaceBase): events.add(car.CarEvent.EventName.belowSteerSpeed) # handle button presses - events.events.extend(create_button_enable_events(ret.buttonEvents)) + events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise)) ret.events = events.to_msg() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index b9ba47e8f7..a1cb2bf362 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a98dfc72bb4c5624c2223ca65d52b151f419460c \ No newline at end of file +d7c610172f3ff10b68403abc19b260c91c848ebb \ No newline at end of file From 61d21ff00ae6d4b5f510c5880d2ca747272da754 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 30 Jun 2022 15:52:53 -0700 Subject: [PATCH 043/306] update release notes --- RELEASES.md | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 5d81b43085..5b71fc3375 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,6 +1,5 @@ -Version 0.8.15 (2022-XX-XX) +Version 0.8.15 (2022-07-XX) ======================== -* New driving model * New lateral controller based on physical wheel torque model * Much smoother control, consistent across the speed range * Effective feedforward that uses road roll @@ -10,8 +9,12 @@ Version 0.8.15 (2022-XX-XX) * takes a larger input frame * outputs a driver state for both driver and passenger * automatically determines which side the driver is on (soon) -* Display speed limit while navigating * Reduced power usage: device runs cooler and fan spins less +* Minor UI updates + * New font + * Refreshed max speed design + * Speed limits shown while navigating + * More consistent camera view perspective across cars * AGNOS 5 * Honda Civic 2022 support * Hyundai Tucson 2021 support thanks to bluesforte! From d2c2154a32db0876036f4f6b61b912de0c90fc5a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 30 Jun 2022 17:23:12 -0700 Subject: [PATCH 044/306] Clean up CarControllers (#25008) * do VW * Do the rest * unused * ford cc formatting * final clean ups * also just return update output --- selfdrive/car/body/carcontroller.py | 4 +-- selfdrive/car/ford/carcontroller.py | 15 +++++---- selfdrive/car/ford/interface.py | 4 +-- selfdrive/car/gm/carcontroller.py | 2 +- selfdrive/car/gm/interface.py | 3 +- selfdrive/car/hyundai/carcontroller.py | 6 ++-- selfdrive/car/hyundai/interface.py | 3 +- selfdrive/car/mazda/carcontroller.py | 31 ++++++++++-------- selfdrive/car/mazda/interface.py | 4 +-- selfdrive/car/nissan/carcontroller.py | 33 ++++++++++--------- selfdrive/car/nissan/interface.py | 11 ++----- selfdrive/car/subaru/carcontroller.py | 21 +++++++----- selfdrive/car/subaru/interface.py | 10 ++---- selfdrive/car/tesla/interface.py | 3 +- selfdrive/car/toyota/interface.py | 3 +- selfdrive/car/volkswagen/carcontroller.py | 40 +++++++++++++---------- selfdrive/car/volkswagen/interface.py | 10 +----- 17 files changed, 97 insertions(+), 106 deletions(-) diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py index 5714445f67..c13acebacb 100644 --- a/selfdrive/car/body/carcontroller.py +++ b/selfdrive/car/body/carcontroller.py @@ -1,8 +1,8 @@ import numpy as np from common.realtime import DT_CTRL -from selfdrive.car.body import bodycan from opendbc.can.packer import CANPacker +from selfdrive.car.body import bodycan from selfdrive.car.body.values import SPEED_FROM_RPM from selfdrive.controls.lib.pid import PIDController @@ -14,7 +14,7 @@ MAX_POS_INTEGRATOR = 0.2 # meters MAX_TURN_INTEGRATOR = 0.1 # meters -class CarController(): +class CarController: def __init__(self, dbc_name, CP, VM): self.frame = 0 self.packer = CANPacker(dbc_name) diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index c2f87a4806..d7666c1d65 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -1,8 +1,8 @@ from cereal import car from common.numpy_fast import clip, interp +from opendbc.can.packer import CANPacker from selfdrive.car.ford import fordcan from selfdrive.car.ford.values import CarControllerParams -from opendbc.can.packer import CANPacker VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -17,11 +17,12 @@ def apply_ford_steer_angle_limits(apply_steer, apply_steer_last, vEgo): return apply_steer -class CarController(): +class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP self.VM = VM self.packer = CANPacker(dbc_name) + self.frame = 0 self.apply_steer_last = 0 self.steer_rate_limited = False @@ -29,7 +30,7 @@ class CarController(): self.lkas_enabled_last = False self.steer_alert_last = False - def update(self, CC, CS, frame): + def update(self, CC, CS): can_sends = [] actuators = CC.actuators @@ -48,7 +49,7 @@ class CarController(): self.steer_rate_limited = new_steer != apply_steer # send steering commands at 20Hz - if (frame % CarControllerParams.LKAS_STEER_STEP) == 0: + if (self.frame % CarControllerParams.LKAS_STEER_STEP) == 0: lca_rq = 1 if CC.latActive else 0 # use LatCtlPath_An_Actl to actuate steering for now until curvature control is implemented @@ -69,15 +70,14 @@ class CarController(): can_sends.append(fordcan.create_tja_command(self.packer, lca_rq, ramp_type, precision, path_offset, path_angle, curvature_rate, curvature)) - send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) # send lkas ui command at 1Hz or if ui state changes - if (frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui: + if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui: can_sends.append(fordcan.create_lkas_ui_command(self.packer, main_on, CC.latActive, steer_alert, CS.lkas_status_stock_values)) # send acc ui command at 20Hz or if ui state changes - if (frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui: + if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui: can_sends.append(fordcan.create_acc_ui_command(self.packer, main_on, CC.latActive, CS.acc_tja_status_stock_values)) self.main_on_last = main_on @@ -87,4 +87,5 @@ class CarController(): new_actuators = actuators.copy() new_actuators.steeringAngleDeg = apply_steer + self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index c608cc08d9..1af04bee41 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -78,6 +78,4 @@ class CarInterface(CarInterfaceBase): return ret def apply(self, c): - ret = self.CC.update(c, self.CS, self.frame) - self.frame += 1 - return ret + return self.CC.update(c, self.CS) diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 8ad5049e32..f763a58532 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -1,7 +1,7 @@ from cereal import car from common.conversions import Conversions as CV -from common.realtime import DT_CTRL from common.numpy_fast import interp +from common.realtime import DT_CTRL from opendbc.can.packer import CANPacker from selfdrive.car import apply_std_steer_torque_limits from selfdrive.car.gm import gmcan diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 282844d095..e0dd10d4a8 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -184,5 +184,4 @@ class CarInterface(CarInterfaceBase): return ret def apply(self, c): - ret = self.CC.update(c, self.CS) - return ret + return self.CC.update(c, self.CS) diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index fb3579464a..4fbb5ce0e1 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -1,11 +1,11 @@ from cereal import car -from common.realtime import DT_CTRL -from common.numpy_fast import clip, interp from common.conversions import Conversions as CV +from common.numpy_fast import clip, interp +from common.realtime import DT_CTRL +from opendbc.can.packer import CANPacker from selfdrive.car import apply_std_steer_torque_limits from selfdrive.car.hyundai import hda2can, hyundaican from selfdrive.car.hyundai.values import Buttons, CarControllerParams, HDA2_CAR, CAR -from opendbc.can.packer import CANPacker VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 58a67f58ce..97119c77b7 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -349,5 +349,4 @@ class CarInterface(CarInterfaceBase): return ret def apply(self, c): - ret = self.CC.update(c, self.CS) - return ret + return self.CC.update(c, self.CS) diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py index d003079d63..0e43a11ceb 100644 --- a/selfdrive/car/mazda/carcontroller.py +++ b/selfdrive/car/mazda/carcontroller.py @@ -1,46 +1,48 @@ from cereal import car from opendbc.can.packer import CANPacker +from selfdrive.car import apply_std_steer_torque_limits from selfdrive.car.mazda import mazdacan from selfdrive.car.mazda.values import CarControllerParams, Buttons -from selfdrive.car import apply_std_steer_torque_limits VisualAlert = car.CarControl.HUDControl.VisualAlert -class CarController(): + +class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP self.apply_steer_last = 0 self.packer = CANPacker(dbc_name) self.steer_rate_limited = False self.brake_counter = 0 + self.frame = 0 - def update(self, c, CS, frame): + def update(self, CC, CS): can_sends = [] apply_steer = 0 self.steer_rate_limited = False - if c.latActive: + if CC.latActive: # calculate steer and also set limits due to driver torque - new_steer = int(round(c.actuators.steer * CarControllerParams.STEER_MAX)) + new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX)) apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, CarControllerParams) self.steer_rate_limited = new_steer != apply_steer - if c.enabled: - if CS.out.standstill and frame % 5 == 0: + if CC.enabled: + if CS.out.standstill and self.frame % 5 == 0: # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds # Send Resume button at 20hz if we're engaged at standstill to support full stop and go! # TODO: improve the resume trigger logic by looking at actual radar data can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME)) - if c.cruiseControl.cancel: + if CC.cruiseControl.cancel: # If brake is pressed, let us wait >70ms before trying to disable crz to avoid # a race condition with the stock system, where the second cancel from openpilot # will disable the crz 'main on'. crz ctrl msg runs at 50hz. 70ms allows us to # read 3 messages and most likely sync state before we attempt cancel. self.brake_counter = self.brake_counter + 1 - if frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7): + if self.frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7): # Cancel Stock ACC if it's enabled while OP is disengaged # Send at a rate of 10hz until we sync with stock ACC state can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL)) @@ -50,18 +52,19 @@ class CarController(): self.apply_steer_last = apply_steer # send HUD alerts - if frame % 50 == 0: - ldw = c.hudControl.visualAlert == VisualAlert.ldw - steer_required = c.hudControl.visualAlert == VisualAlert.steerRequired + if self.frame % 50 == 0: + ldw = CC.hudControl.visualAlert == VisualAlert.ldw + steer_required = CC.hudControl.visualAlert == VisualAlert.steerRequired # TODO: find a way to silence audible warnings so we can add more hud alerts steer_required = steer_required and CS.lkas_allowed_speed can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required)) # send steering command can_sends.append(mazdacan.create_steering_control(self.packer, self.CP.carFingerprint, - frame, apply_steer, CS.cam_lkas)) + self.frame, apply_steer, CS.cam_lkas)) - new_actuators = c.actuators.copy() + new_actuators = CC.actuators.copy() new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX + self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index cbeb910de2..35e3c1bb01 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -90,6 +90,4 @@ class CarInterface(CarInterfaceBase): return ret def apply(self, c): - ret = self.CC.update(c, self.CS, self.frame) - self.frame += 1 - return ret + return self.CC.update(c, self.CS) diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py index 4ceb142d45..7d9dad6693 100644 --- a/selfdrive/car/nissan/carcontroller.py +++ b/selfdrive/car/nissan/carcontroller.py @@ -1,25 +1,27 @@ from cereal import car from common.numpy_fast import clip, interp -from selfdrive.car.nissan import nissancan from opendbc.can.packer import CANPacker +from selfdrive.car.nissan import nissancan from selfdrive.car.nissan.values import CAR, CarControllerParams - VisualAlert = car.CarControl.HUDControl.VisualAlert -class CarController(): +class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP self.car_fingerprint = CP.carFingerprint + self.frame = 0 self.lkas_max_torque = 0 self.last_angle = 0 self.packer = CANPacker(dbc_name) - def update(self, c, CS, frame, actuators, cruise_cancel, hud_alert, - left_line, right_line, left_lane_depart, right_lane_depart): + def update(self, CC, CS): + actuators = CC.actuators + hud_control = CC.hudControl + pcm_cancel_cmd = CC.cruiseControl.cancel can_sends = [] @@ -28,9 +30,9 @@ class CarController(): lkas_hud_info_msg = CS.lkas_hud_info_msg apply_angle = actuators.steeringAngleDeg - steer_hud_alert = 1 if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0 + steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0 - if c.latActive: + if CC.latActive: # # windup slower if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle): angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_V) @@ -57,25 +59,25 @@ class CarController(): self.last_angle = apply_angle - if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and cruise_cancel: - can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, frame)) + if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and pcm_cancel_cmd: + can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, self.frame)) # TODO: Find better way to cancel! # For some reason spamming the cancel button is unreliable on the Leaf # We now cancel by making propilot think the seatbelt is unlatched, # this generates a beep and a warning message every time you disengage - if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC) and frame % 2 == 0: - can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, cruise_cancel)) + if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC) and self.frame % 2 == 0: + can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, pcm_cancel_cmd)) can_sends.append(nissancan.create_steering_control( - self.packer, apply_angle, frame, c.enabled, self.lkas_max_torque)) + self.packer, apply_angle, self.frame, CC.enabled, self.lkas_max_torque)) if lkas_hud_msg and lkas_hud_info_msg: - if frame % 2 == 0: + if self.frame % 2 == 0: can_sends.append(nissancan.create_lkas_hud_msg( - self.packer, lkas_hud_msg, c.enabled, left_line, right_line, left_lane_depart, right_lane_depart)) + self.packer, lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)) - if frame % 50 == 0: + if self.frame % 50 == 0: can_sends.append(nissancan.create_lkas_hud_info_msg( self.packer, lkas_hud_info_msg, steer_hud_alert )) @@ -83,4 +85,5 @@ class CarController(): new_actuators = actuators.copy() new_actuators.steeringAngleDeg = apply_angle + self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index 436cef68bf..9c04d975f9 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -1,8 +1,9 @@ #!/usr/bin/env python3 from cereal import car -from selfdrive.car.nissan.values import CAR from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase +from selfdrive.car.nissan.values import CAR + class CarInterface(CarInterfaceBase): @@ -67,10 +68,4 @@ class CarInterface(CarInterfaceBase): return ret def apply(self, c): - hud_control = c.hudControl - ret = self.CC.update(c, self.CS, self.frame, c.actuators, - c.cruiseControl.cancel, hud_control.visualAlert, - hud_control.leftLaneVisible, hud_control.rightLaneVisible, - hud_control.leftLaneDepart, hud_control.rightLaneDepart) - self.frame += 1 - return ret + return self.CC.update(c, self.CS) diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index d37b82eed7..dca86c30a6 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -1,10 +1,10 @@ +from opendbc.can.packer import CANPacker from selfdrive.car import apply_std_steer_torque_limits from selfdrive.car.subaru import subarucan from selfdrive.car.subaru.values import DBC, PREGLOBAL_CARS, CarControllerParams -from opendbc.can.packer import CANPacker -class CarController(): +class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP self.apply_steer_last = 0 @@ -12,16 +12,20 @@ class CarController(): self.es_lkas_cnt = -1 self.cruise_button_prev = 0 self.steer_rate_limited = False + self.frame = 0 self.p = CarControllerParams(CP) self.packer = CANPacker(DBC[CP.carFingerprint]['pt']) - def update(self, c, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart): + def update(self, CC, CS): + actuators = CC.actuators + hud_control = CC.hudControl + pcm_cancel_cmd = CC.cruiseControl.cancel can_sends = [] # *** steering *** - if (frame % self.p.STEER_STEP) == 0: + if (self.frame % self.p.STEER_STEP) == 0: apply_steer = int(round(actuators.steer * self.p.STEER_MAX)) @@ -31,13 +35,13 @@ class CarController(): apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p) self.steer_rate_limited = new_steer != apply_steer - if not c.latActive: + if not CC.latActive: apply_steer = 0 if self.CP.carFingerprint in PREGLOBAL_CARS: - can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, self.p.STEER_STEP)) + can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, self.frame, self.p.STEER_STEP)) else: - can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, self.p.STEER_STEP)) + can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, self.frame, self.p.STEER_STEP)) self.apply_steer_last = apply_steer @@ -70,10 +74,11 @@ class CarController(): self.es_distance_cnt = CS.es_distance_msg["Counter"] if self.es_lkas_cnt != CS.es_lkas_msg["Counter"]: - can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, c.enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart)) + can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)) self.es_lkas_cnt = CS.es_lkas_msg["Counter"] new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX + self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 8c5cab86e8..952885a751 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -1,8 +1,9 @@ #!/usr/bin/env python3 from cereal import car -from selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase +from selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS + class CarInterface(CarInterfaceBase): @@ -117,9 +118,4 @@ class CarInterface(CarInterfaceBase): return ret def apply(self, c): - hud_control = c.hudControl - ret = self.CC.update(c, self.CS, self.frame, c.actuators, - c.cruiseControl.cancel, hud_control.visualAlert, - hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart) - self.frame += 1 - return ret + return self.CC.update(c, self.CS) diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py index d4eda38e64..5e78c72b60 100755 --- a/selfdrive/car/tesla/interface.py +++ b/selfdrive/car/tesla/interface.py @@ -64,5 +64,4 @@ class CarInterface(CarInterfaceBase): return ret def apply(self, c): - ret = self.CC.update(c, self.CS) - return ret + return self.CC.update(c, self.CS) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index fdb923f693..337c039565 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -274,5 +274,4 @@ class CarInterface(CarInterfaceBase): # pass in a car.CarControl # to be called @ 100hz def apply(self, c): - ret = self.CC.update(c, self.CS) - return ret + return self.CC.update(c, self.CS) diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index 842eb6d139..4614463c6e 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -1,15 +1,17 @@ from cereal import car +from opendbc.can.packer import CANPacker from selfdrive.car import apply_std_steer_torque_limits from selfdrive.car.volkswagen import volkswagencan from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams as P -from opendbc.can.packer import CANPacker VisualAlert = car.CarControl.HUDControl.VisualAlert -class CarController(): + +class CarController: def __init__(self, dbc_name, CP, VM): - self.apply_steer_last = 0 self.CP = CP + self.apply_steer_last = 0 + self.frame = 0 self.packer_pt = CANPacker(DBC_FILES.mqb) @@ -22,14 +24,15 @@ class CarController(): self.steer_rate_limited = False - def update(self, c, CS, frame, ext_bus, actuators, visual_alert, left_lane_visible, right_lane_visible, left_lane_depart, right_lane_depart): - """ Controls thread """ + def update(self, CC, CS, ext_bus): + actuators = CC.actuators + hud_control = CC.hudControl can_sends = [] # **** Steering Controls ************************************************ # - if frame % P.HCA_STEP == 0: + if self.frame % P.HCA_STEP == 0: # Logic to avoid HCA state 4 "refused": # * Don't steer unless HCA is in state 3 "ready" or 5 "active" # * Don't steer at standstill @@ -40,7 +43,7 @@ class CarController(): # torque value. Do that anytime we happen to have 0 torque, or failing that, # when exceeding ~1/3 the 360 second timer. - if c.latActive: + if CC.latActive: new_steer = int(round(actuators.steer * P.STEER_MAX)) apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P) self.steer_rate_limited = new_steer != apply_steer @@ -66,34 +69,34 @@ class CarController(): apply_steer = 0 self.apply_steer_last = apply_steer - idx = (frame / P.HCA_STEP) % 16 + idx = (self.frame / P.HCA_STEP) % 16 can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer, idx, hcaEnabled)) # **** HUD Controls ***************************************************** # - if frame % P.LDW_STEP == 0: - if visual_alert in (VisualAlert.steerRequired, VisualAlert.ldw): + if self.frame % P.LDW_STEP == 0: + if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw): hud_alert = MQB_LDW_MESSAGES["laneAssistTakeOverSilent"] else: hud_alert = MQB_LDW_MESSAGES["none"] - can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, c.enabled, - CS.out.steeringPressed, hud_alert, left_lane_visible, - right_lane_visible, CS.ldw_stock_values, - left_lane_depart, right_lane_depart)) + can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, CC.enabled, + CS.out.steeringPressed, hud_alert, hud_control.leftLaneVisible, + hud_control.rightLaneVisible, CS.ldw_stock_values, + hud_control.leftLaneDepart, hud_control.rightLaneDepart)) # **** ACC Button Controls ********************************************** # # FIXME: this entire section is in desperate need of refactoring if self.CP.pcmCruise: - if frame > self.graMsgStartFramePrev + P.GRA_VBP_STEP: - if c.cruiseControl.cancel: + if self.frame > self.graMsgStartFramePrev + P.GRA_VBP_STEP: + if CC.cruiseControl.cancel: # Cancel ACC if it's engaged with OP disengaged. self.graButtonStatesToSend = BUTTON_STATES.copy() self.graButtonStatesToSend["cancel"] = True - elif c.enabled and CS.out.cruiseState.standstill: + elif CC.enabled and CS.out.cruiseState.standstill: # Blip the Resume button if we're engaged at standstill. # FIXME: This is a naive implementation, improve with visiond or radar input. self.graButtonStatesToSend = BUTTON_STATES.copy() @@ -103,7 +106,7 @@ class CarController(): self.graMsgBusCounterPrev = CS.graMsgBusCounter if self.graButtonStatesToSend is not None: if self.graMsgSentCount == 0: - self.graMsgStartFramePrev = frame + self.graMsgStartFramePrev = self.frame idx = (CS.graMsgBusCounter + 1) % 16 can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, self.graButtonStatesToSend, CS, idx)) self.graMsgSentCount += 1 @@ -114,4 +117,5 @@ class CarController(): new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / P.STEER_MAX + self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 6782105c16..c2b077b6db 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -193,12 +193,4 @@ class CarInterface(CarInterfaceBase): return ret def apply(self, c): - hud_control = c.hudControl - ret = self.CC.update(c, self.CS, self.frame, self.ext_bus, c.actuators, - hud_control.visualAlert, - hud_control.leftLaneVisible, - hud_control.rightLaneVisible, - hud_control.leftLaneDepart, - hud_control.rightLaneDepart) - self.frame += 1 - return ret + return self.CC.update(c, self.CS, self.ext_bus) From 38ff2982eb2e72b634af26e2adb0ac7a363999ce Mon Sep 17 00:00:00 2001 From: realfast Date: Thu, 30 Jun 2022 19:27:35 -0500 Subject: [PATCH 045/306] Chrysler: carState signals update (#24760) * carstate update * update refs Co-authored-by: Adeeb Shihadeh --- opendbc | 2 +- selfdrive/car/chrysler/carcontroller.py | 4 +- selfdrive/car/chrysler/carstate.py | 58 ++++++++++++------------ selfdrive/car/chrysler/chryslercan.py | 9 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 37 insertions(+), 38 deletions(-) diff --git a/opendbc b/opendbc index 47b79c4d5a..7fbf7c2a68 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 47b79c4d5ab5adc0bdd9d228c3d9594da0355c49 +Subproject commit 7fbf7c2a685a90ff01e744cfb410f1a8a3c06278 diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 3d6295d77d..49525646ca 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -1,7 +1,7 @@ from cereal import car from opendbc.can.packer import CANPacker from selfdrive.car import apply_toyota_steer_torque_limits -from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_wheel_buttons +from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons from selfdrive.car.chrysler.values import CAR, CarControllerParams @@ -49,7 +49,7 @@ class CarController: # *** control msgs *** if CC.cruiseControl.cancel: - can_sends.append(create_wheel_buttons(self.packer, CS.button_counter + 1, cancel=True)) + can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, cancel=True)) # LKAS_HEARTBIT is forwarded by Panda so no need to send it here. # frame is 100Hz (0.01s period) diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index 202526df05..444557191a 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -16,13 +16,13 @@ class CarState(CarStateBase): ret = car.CarState.new_message() - self.frame = int(cp.vl["EPS_STATUS"]["COUNTER"]) + self.frame = int(cp.vl["EPS_2"]["COUNTER"]) ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"], cp.vl["BCM_1"]["DOOR_OPEN_FR"], cp.vl["BCM_1"]["DOOR_OPEN_RL"], cp.vl["BCM_1"]["DOOR_OPEN_RR"]]) - ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"] == 1 + ret.seatbeltUnlatched = cp.vl["ORC_1"]["SEATBELT_DRIVER_UNLATCHED"] == 1 # brake pedal ret.brake = 0 @@ -35,10 +35,10 @@ class CarState(CarStateBase): ret.espDisabled = (cp.vl["TRACTION_BUTTON"]["TRACTION_OFF"] == 1) ret.wheelSpeeds = self.get_wheel_speeds( - cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"], - cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"], - cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"], - cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"], + cp.vl["ESP_6"]["WHEEL_SPEED_FL"], + cp.vl["ESP_6"]["WHEEL_SPEED_FR"], + cp.vl["ESP_6"]["WHEEL_SPEED_RL"], + cp.vl["ESP_6"]["WHEEL_SPEED_RR"], unit=1, ) ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2. @@ -51,17 +51,17 @@ class CarState(CarStateBase): ret.cruiseState.available = cp.vl["DAS_3"]["ACC_AVAILABLE"] == 1 # ACC is white ret.cruiseState.enabled = cp.vl["DAS_3"]["ACC_ACTIVE"] == 1 # ACC is green - ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS + ret.cruiseState.speed = cp.vl["DAS_4"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS # CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too - ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2) + ret.cruiseState.nonAdaptive = cp.vl["DAS_4"]["CRUISE_STATE"] in (1, 2) ret.accFaulted = cp.vl["DAS_3"]["ACC_FAULTED"] != 0 ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"] ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"] - ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"] - ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"] + ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"] + ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"] ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD - steer_state = cp.vl["EPS_STATUS"]["LKAS_STATE"] + steer_state = cp.vl["EPS_2"]["LKAS_STATE"] ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed) ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_FLASH"]) @@ -73,7 +73,7 @@ class CarState(CarStateBase): self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"] self.lkas_car_model = cp_cam.vl["LKAS_HUD"]["CAR_MODEL"] self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"] - self.button_counter = cp.vl["WHEEL_BUTTONS"]["COUNTER"] + self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"] return ret @@ -90,10 +90,10 @@ class CarState(CarStateBase): ("Accelerator_Position", "ECM_5"), ("SPEED_LEFT", "SPEED_1"), ("SPEED_RIGHT", "SPEED_1"), - ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_RR", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_RL", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_FR", "WHEEL_SPEEDS"), + ("WHEEL_SPEED_FL", "ESP_6"), + ("WHEEL_SPEED_RR", "ESP_6"), + ("WHEEL_SPEED_RL", "ESP_6"), + ("WHEEL_SPEED_FR", "ESP_6"), ("STEER_ANGLE", "STEERING"), ("STEERING_RATE", "STEERING"), ("TURN_SIGNALS", "STEERING_LEVERS"), @@ -101,31 +101,31 @@ class CarState(CarStateBase): ("ACC_ACTIVE", "DAS_3"), ("ACC_FAULTED", "DAS_3"), ("HIGH_BEAM_FLASH", "STEERING_LEVERS"), - ("ACC_SPEED_CONFIG_KPH", "DASHBOARD"), - ("CRUISE_STATE", "DASHBOARD"), - ("TORQUE_DRIVER", "EPS_STATUS"), - ("TORQUE_MOTOR", "EPS_STATUS"), - ("LKAS_STATE", "EPS_STATUS"), - ("COUNTER", "EPS_STATUS",), + ("ACC_SPEED_CONFIG_KPH", "DAS_4"), + ("CRUISE_STATE", "DAS_4"), + ("COLUMN_TORQUE", "EPS_2"), + ("EPS_TORQUE_MOTOR", "EPS_2"), + ("LKAS_STATE", "EPS_2"), + ("COUNTER", "EPS_2",), ("TRACTION_OFF", "TRACTION_BUTTON"), - ("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS"), - ("COUNTER", "WHEEL_BUTTONS"), + ("SEATBELT_DRIVER_UNLATCHED", "ORC_1"), + ("COUNTER", "CRUISE_BUTTONS"), ] checks = [ # sig_address, frequency ("ESP_1", 50), - ("EPS_STATUS", 100), + ("EPS_2", 100), ("SPEED_1", 100), - ("WHEEL_SPEEDS", 50), + ("ESP_6", 50), ("STEERING", 100), ("DAS_3", 50), ("GEAR", 50), ("ECM_5", 50), - ("WHEEL_BUTTONS", 50), - ("DASHBOARD", 15), + ("CRUISE_BUTTONS", 50), + ("DAS_4", 15), ("STEERING_LEVERS", 10), - ("SEATBELT_STATUS", 2), + ("ORC_1", 2), ("BCM_1", 1), ("TRACTION_BUTTON", 1), ] diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py index 896a6b15da..53b79cab73 100644 --- a/selfdrive/car/chrysler/chryslercan.py +++ b/selfdrive/car/chrysler/chryslercan.py @@ -48,10 +48,9 @@ def create_lkas_command(packer, apply_steer, moving_fast, frame): return packer.make_can_msg("LKAS_COMMAND", 0, values) -def create_wheel_buttons(packer, frame, cancel=False): - # WHEEL_BUTTONS (571) Message sent to cancel ACC. +def create_cruise_buttons(packer, frame, cancel=False): values = { - "ACC_CANCEL": cancel, - "COUNTER": frame % 0x10 + "ACC_Cancel": cancel, + "COUNTER": frame % 0x10, } - return packer.make_can_msg("WHEEL_BUTTONS", 0, values) + return packer.make_can_msg("CRUISE_BUTTONS", 0, values) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index a1cb2bf362..90444b1fa7 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -d7c610172f3ff10b68403abc19b260c91c848ebb \ No newline at end of file +806984d4206056fb132625c5dad6c0ca1835a2d6 \ No newline at end of file From ab8592187f36ea9fda6767e86a0651366c12c487 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 30 Jun 2022 17:55:22 -0700 Subject: [PATCH 046/306] Chrysler Pacifica 2019 is supported (#25010) 19 is secretly supported --- docs/CARS.md | 2 +- selfdrive/car/chrysler/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index fb163b44e0..25de6a2549 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -154,7 +154,7 @@ How We Rate The Cars |Audi|Q3 2020-21|ACC + Lane Assist|||||| |Cadillac|Escalade ESV 2016[1](#footnotes)|ACC + LKAS|||||| |Chrysler|Pacifica 2017-18|Adaptive Cruise|||||| -|Chrysler|Pacifica 2020|Adaptive Cruise|||||| +|Chrysler|Pacifica 2019-20|Adaptive Cruise|||||| |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|||||| |Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|||||| |Genesis|G90 2018|All|||||| diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index bdd80757f4..6faa76a479 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -39,7 +39,7 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { CAR.PACIFICA_2018_HYBRID: None, # same platforms CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-22"), CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"), - CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2020"), + CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2019-20"), CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-20", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), } From c21ee5b76411de1bea1b95a0d71b48be879d7734 Mon Sep 17 00:00:00 2001 From: TheWizard1328 Date: Thu, 30 Jun 2022 21:06:49 -0600 Subject: [PATCH 047/306] Chrysler: add missing 2022 Pacifica Hybrid fingerprint (#24685) * Added 2022 PacHy info Didn't really need to add this but thought it would be useful. * Added 2022 PacHy info * Added 2022 PacHy info Added 2022 PacHy FP * add to current platform * generate docs * should only need this Co-authored-by: Shane Smiskol --- selfdrive/car/chrysler/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 6faa76a479..d624bd2727 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -88,7 +88,7 @@ FINGERPRINTS = { }, # Based on "8190c7275a24557b|2020-02-24--09-57-23" { - 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8 + 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1536: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8 }], CAR.JEEP_CHEROKEE: [{ 55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 From b51a90b5a87e0b6388191f7cc5857af8d72e79de Mon Sep 17 00:00:00 2001 From: Yu Yamaguchi Date: Fri, 1 Jul 2022 15:35:37 +0900 Subject: [PATCH 048/306] Mazda: add missing FW version for CX-5 2022 (#24925) --- selfdrive/car/mazda/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 5c80303dbc..f5d63418f1 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -65,6 +65,7 @@ FW_VERSIONS = { ], (Ecu.engine, 0x7e0, None): [ b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -77,6 +78,7 @@ FW_VERSIONS = { ], (Ecu.transmission, 0x7e1, None): [ b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], }, CAR.CX5: { From 20ccfed9c1d75de2a589294a5407e15304fd3f4a Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Fri, 1 Jul 2022 16:43:36 +0200 Subject: [PATCH 049/306] laikad: Improve logging, fix warning and more exception handling (#25005) * change logs and add some debugging. Add test * Less logging and better check for exceptions when parsing orbits * Fix debug log and fix kf initialization --- selfdrive/locationd/laikad.py | 28 ++++++++++++++++--------- selfdrive/locationd/laikad_helpers.py | 2 +- selfdrive/locationd/test/test_laikad.py | 12 +++++++++++ 3 files changed, 31 insertions(+), 11 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index d51ac10816..427eb3dbe0 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -31,7 +31,14 @@ CACHE_VERSION = 0.1 class Laikad: def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_orbits=True, auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV), - save_ephemeris=False, last_known_position=None): + save_ephemeris=False): + """ + valid_const: GNSS constellation which can be used + auto_fetch_orbits: If true fetch orbits from internet when needed + auto_update: If true download AstroDog will download all files needed. This can be ephemeris or correction data like ionosphere. + valid_ephem_types: Valid ephemeris types to be used by AstroDog + save_ephemeris: If true saves and loads nav and orbit ephemeris to cache. + """ self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True) self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True) @@ -45,7 +52,7 @@ class Laikad: self.load_cache() self.posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)} - self.last_pos_fix = last_known_position if last_known_position is not None else [] + self.last_pos_fix = [] self.last_pos_residual = [] self.last_pos_fix_t = None @@ -64,12 +71,16 @@ class Laikad: self.last_fetch_orbits_t = cache['last_fetch_orbits_t'] except json.decoder.JSONDecodeError: cloudlog.exception("Error parsing cache") + timestamp = self.last_fetch_orbits_t.as_datetime() if self.last_fetch_orbits_t is not None else 'Nan' + cloudlog.debug(f"Loaded nav and orbits cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['orbits'].keys())} {list(cache['nav'].keys())} " + + f"Total: {sum([len(v) for v in cache['orbits']])} and {sum([len(v) for v in cache['nav']])}") def cache_ephemeris(self, t: GPSTime): if self.save_ephemeris and (self.last_cached_t is None or t - self.last_cached_t > SECS_IN_MIN): put_nonblocking(EPHEMERIS_CACHE, json.dumps( {'version': CACHE_VERSION, 'last_fetch_orbits_t': self.last_fetch_orbits_t, 'orbits': self.astro_dog.orbits, 'nav': self.astro_dog.nav}, cls=CacheSerializer)) + cloudlog.debug("Cache saved") self.last_cached_t = t def get_est_pos(self, t, processed_measurements): @@ -130,9 +141,8 @@ class Laikad: # Check time and outputs are valid valid = self.kf_valid(t) if not all(valid): - if not valid[0]: - cloudlog.info("Kalman filter uninitialized") - elif not valid[1]: + + if not valid[1]: cloudlog.error("Time gap of over 10s detected, gnss kalman reset") elif not valid[2]: cloudlog.error("Gnss kalman filter state is nan") @@ -140,7 +150,6 @@ class Laikad: cloudlog.info(f"Reset kalman filter with {est_pos}") self.init_gnss_localizer(est_pos) else: - cloudlog.info("Could not reset kalman filter") return if len(measurements) > 0: kf_add_observations(self.gnss_kf, t, measurements) @@ -189,8 +198,8 @@ def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types): try: astro_dog.get_orbit_data(t, only_predictions=True) data = (astro_dog.orbits, astro_dog.orbit_fetched_times) - except RuntimeError as e: - cloudlog.warning(f"No orbit data found. {e}") + except (RuntimeError, ValueError, IOError) as e: + cloudlog.warning(f"No orbit data found or parsing failure: {e}") cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s") return data @@ -241,7 +250,7 @@ def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMe ekf_data[ObservationKind.PSEUDORANGE_RATE_GPS] = ekf_data[ObservationKind.PSEUDORANGE_GPS] ekf_data[ObservationKind.PSEUDORANGE_RATE_GLONASS] = ekf_data[ObservationKind.PSEUDORANGE_GLONASS] for kind, data in ekf_data.items(): - if len(data) >0: + if len(data) > 0: gnss_kf.predict_and_observe(t, kind, data) @@ -278,7 +287,6 @@ def main(sm=None, pm=None): pm = messaging.PubMaster(['gnssMeasurements']) replay = "REPLAY" in os.environ - # todo get last_known_position use_internet = "LAIKAD_NO_INTERNET" not in os.environ laikad = Laikad(save_ephemeris=not replay, auto_fetch_orbits=use_internet) while True: diff --git a/selfdrive/locationd/laikad_helpers.py b/selfdrive/locationd/laikad_helpers.py index 81f5ac3dd6..f13e8e73bb 100644 --- a/selfdrive/locationd/laikad_helpers.py +++ b/selfdrive/locationd/laikad_helpers.py @@ -86,4 +86,4 @@ def get_posfix_sympy_fun(constellation): res = [res] + [sympy.diff(res, v) for v in var] - return sympy.lambdify([x, y, z, bc, bg, pr, sat_x, sat_y, sat_z, weight], res) + return sympy.lambdify([x, y, z, bc, bg, pr, sat_x, sat_y, sat_z, weight], res, modules=["numpy"]) diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index c353da9624..26c1d28820 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -120,6 +120,18 @@ class TestLaikad(unittest.TestCase): self.assertEqual(correct_msgs_expected, len(correct_msgs)) self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) + def test_kf_becomes_valid(self): + laikad = Laikad(auto_update=False) + m = self.logs[0] + self.assertFalse(all(laikad.kf_valid(m.logMonoTime * 1e-9))) + kf_valid = False + for m in self.logs: + laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime, block=True) + kf_valid = all(laikad.kf_valid(m.logMonoTime * 1e-9)) + if kf_valid: + break + self.assertTrue(kf_valid) + def test_laika_online_nav_only(self): laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV) # Disable fetch_orbits to test NAV only From c8e5912b6173c64fae18f79109eb72e8499908c9 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 1 Jul 2022 16:43:44 +0200 Subject: [PATCH 050/306] bump laika --- laika_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/laika_repo b/laika_repo index 27a0d8a776..6e87f536db 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 27a0d8a776fc8c1eaf8608d17ce81a00136f8bd0 +Subproject commit 6e87f536dbe8cf80040f724c89798e66ca17cf9d From 12f8237bfbdea668ae96ce6389cbe33ce1bea7f3 Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Fri, 1 Jul 2022 16:50:18 +0200 Subject: [PATCH 051/306] process replay: Fix setting environment vars (#25015) Fix setting environments in process replay --- selfdrive/test/process_replay/process_replay.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index fc83b4b61f..9c45281b0c 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -398,8 +398,8 @@ def setup_env(simulation=False, CP=None, cfg=None): if cfg is not None: # Clear all custom processConfig environment variables - for cfg in CONFIGS: - for k, _ in cfg.environ.items(): + for config in CONFIGS: + for k, _ in config.environ.items(): if k in os.environ: del os.environ[k] From f10283072e4519ad95566dd0d54dbc7f52566f6d Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Fri, 1 Jul 2022 16:49:56 +0200 Subject: [PATCH 052/306] Laikad: dont log when filter is not initialized --- selfdrive/locationd/laikad.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 427eb3dbe0..da00c7aa6f 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -141,8 +141,9 @@ class Laikad: # Check time and outputs are valid valid = self.kf_valid(t) if not all(valid): - - if not valid[1]: + if not valid[0]: # Filter not initialized + pass + elif not valid[1]: cloudlog.error("Time gap of over 10s detected, gnss kalman reset") elif not valid[2]: cloudlog.error("Gnss kalman filter state is nan") From cdc7a6dbea75f10316e45833be6bade9f2e1694d Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 1 Jul 2022 17:26:41 +0200 Subject: [PATCH 053/306] enable laikad (#25013) * enable laikad * increase logprint for onroad test --- selfdrive/controls/controlsd.py | 2 +- selfdrive/manager/process_config.py | 2 +- selfdrive/test/test_onroad.py | 1 + 3 files changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 67eaf1588b..cceb47947a 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -38,7 +38,7 @@ REPLAY = "REPLAY" in os.environ SIMULATION = "SIMULATION" in os.environ NOSENSOR = "NOSENSOR" in os.environ IGNORE_PROCESSES = {"uploader", "deleter", "loggerd", "logmessaged", "tombstoned", "statsd", - "logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad"} | \ + "logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad", "laikad"} | \ {k for k, v in managed_processes.items() if not v.enabled} ThermalStatus = log.DeviceState.ThermalStatus diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 7e4029664d..dec51966a4 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -41,6 +41,7 @@ procs = [ PythonProcess("controlsd", "selfdrive.controls.controlsd"), PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True), PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview), + PythonProcess("laikad", "selfdrive.locationd.laikad"), PythonProcess("navd", "selfdrive.navd.navd"), PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True), PythonProcess("paramsd", "selfdrive.locationd.paramsd"), @@ -57,7 +58,6 @@ procs = [ # Experimental PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=os.path.isfile("/persist/comma/use-quectel-rawgps")), - PythonProcess("laikad", "selfdrive.locationd.laikad", enabled=os.path.isfile("/persist/comma/use-laikad")), ] managed_processes = {p.name: p for p in procs} diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index a7ab55fe2a..8007afb84c 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -118,6 +118,7 @@ class TestOnroad(unittest.TestCase): os.environ['REPLAY'] = "1" os.environ['SKIP_FW_QUERY'] = "1" os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019" + os.environ['LOGPRINT'] = 'debug' params = Params() params.clear_all() From 8d6799d95a0a0ab9b2b0bc4ed6998abf6cabf266 Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Fri, 1 Jul 2022 17:44:10 +0200 Subject: [PATCH 054/306] Laikad: Allow fetching orbits every minute (#25016) * Allow fetching orbits every minute * Small cleanup --- selfdrive/locationd/laikad.py | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index da00c7aa6f..0df48dd893 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -13,7 +13,7 @@ import numpy as np from cereal import log, messaging from common.params import Params, put_nonblocking from laika import AstroDog -from laika.constants import SECS_IN_HR, SECS_IN_MIN +from laika.constants import SECS_IN_MIN from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_ephem from laika.gps_time import GPSTime from laika.helpers import ConstellationId @@ -171,7 +171,7 @@ class Laikad: self.gnss_kf.init_state(x_initial, covs_diag=p_initial_diag) def fetch_orbits(self, t: GPSTime, block): - if t not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or t - self.last_fetch_orbits_t > SECS_IN_HR): + if t not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or t - self.last_fetch_orbits_t > SECS_IN_MIN): astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types ret = None @@ -195,14 +195,12 @@ def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types): astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types) cloudlog.info(f"Start to download/parse orbits for time {t.as_datetime()}") start_time = time.monotonic() - data = None try: astro_dog.get_orbit_data(t, only_predictions=True) - data = (astro_dog.orbits, astro_dog.orbit_fetched_times) + cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s") + return astro_dog.orbits, astro_dog.orbit_fetched_times except (RuntimeError, ValueError, IOError) as e: cloudlog.warning(f"No orbit data found or parsing failure: {e}") - cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s") - return data def create_measurement_msg(meas: GNSSMeasurement): From fcc5b3d70c14b05e642eda93a528f7583f986468 Mon Sep 17 00:00:00 2001 From: Jason Shuler Date: Fri, 1 Jul 2022 16:45:32 -0400 Subject: [PATCH 055/306] GM: values.py cleanup & minor updates (#24908) * Comment update on static limits * Astra FP cleanup * DBC autogen & customizable * Add new Escalade FP, disable bad * Add DROPPED CanBus value * Update/cleanup CarInfo * DBC -> defaultdict * Fix DBC typing issue * Revert Escalade fix * clean up * comment spacing * revert this for now Co-authored-by: Shane Smiskol --- selfdrive/car/gm/values.py | 43 ++++++++++++++++++-------------------- 1 file changed, 20 insertions(+), 23 deletions(-) diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 8ef33e8297..328ca7c286 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -1,4 +1,5 @@ -from dataclasses import dataclass +from collections import defaultdict +from dataclasses import dataclass, field from enum import Enum from typing import Dict, List, Union @@ -9,9 +10,9 @@ Ecu = car.CarParams.Ecu class CarControllerParams: - STEER_MAX = 300 # Safety limit, not LKA max. Trucks use 600. - STEER_STEP = 2 # control frames per command - STEER_DELTA_UP = 7 + STEER_MAX = 300 # GM limit is 3Nm. Used by carcontroller to generate LKA output + STEER_STEP = 2 # Control frames per command (50hz) + STEER_DELTA_UP = 7 # Delta rates require review due to observed EPS weakness STEER_DELTA_DOWN = 17 MIN_STEER_SPEED = 3. # m/s STEER_DRIVER_ALLOWANCE = 50 @@ -24,19 +25,20 @@ class CarControllerParams: CAMERA_KEEPALIVE_STEP = 100 # Volt gasbrake lookups - MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill. - ZERO_GAS = 2048 # Coasting - MAX_BRAKE = 350 # ~ -3.5 m/s^2 with regen + # TODO: These values should be confirmed on non-Volt vehicles + MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill. + ZERO_GAS = 2048 # Coasting + MAX_BRAKE = 350 # ~ -3.5 m/s^2 with regen + MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we # perform the closed loop control, and might need some # to apply some more braking if we're on a downhill slope. # Our controller should still keep the 2 second average above # -3.5 m/s^2 as per planner limits - ACCEL_MAX = 2. # m/s^2 - ACCEL_MIN = -4. # m/s^2 + ACCEL_MAX = 2. # m/s^2 + ACCEL_MIN = -4. # m/s^2 - MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX] GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS] BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.] @@ -67,16 +69,17 @@ class Footnote(Enum): class GMCarInfo(CarInfo): package: str = "Adaptive Cruise" harness: Enum = Harness.none + footnotes: List[Enum] = field(default_factory=lambda: [Footnote.OBD_II]) CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = { CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017", harness=Harness.custom), - CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", footnotes=[Footnote.OBD_II], min_enable_speed=0, harness=Harness.custom), + CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, harness=Harness.custom), CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"), CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017", harness=Harness.custom), - CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo", footnotes=[Footnote.OBD_II]), + CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"), CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"), - CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "ACC + LKAS", footnotes=[Footnote.OBD_II]), + CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "ACC + LKAS"), } @@ -100,10 +103,12 @@ class CanBus: CHASSIS = 2 SW_GMLAN = 3 LOOPBACK = 128 + DROPPED = 192 FINGERPRINTS = { + CAR.HOLDEN_ASTRA: [ # Astra BK MY17, ASCM unplugged - CAR.HOLDEN_ASTRA: [{ + { 190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7, }], CAR.VOLT: [ @@ -145,12 +150,4 @@ FINGERPRINTS = { }], } -DBC = { - CAR.HOLDEN_ASTRA: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'), - CAR.VOLT: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'), - CAR.MALIBU: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'), - CAR.ACADIA: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'), - CAR.CADILLAC_ATS: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'), - CAR.BUICK_REGAL: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'), - CAR.ESCALADE_ESV: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'), -} +DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')) From e11bb76a6408c0ceeacd0b4dd7e6ccb7a133387a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Jul 2022 19:11:28 -0700 Subject: [PATCH 056/306] car docs: remove steering torque hard-coding (#25019) remove good torque hardcoding --- selfdrive/car/docs_definitions.py | 4 ++-- selfdrive/car/hyundai/values.py | 1 - selfdrive/car/mazda/values.py | 4 ++-- selfdrive/car/subaru/values.py | 2 +- selfdrive/car/toyota/values.py | 1 - selfdrive/car/volkswagen/values.py | 1 - 6 files changed, 5 insertions(+), 8 deletions(-) diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 618c986d18..1efa23037f 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -55,7 +55,6 @@ class CarInfo: footnotes: Optional[List[Enum]] = None min_steer_speed: Optional[float] = None min_enable_speed: Optional[float] = None - good_torque: bool = False harness: Optional[Enum] = None def init(self, CP: car.CarParams, non_tested_cars: List[str], all_footnotes: Dict[Enum, int]): @@ -82,10 +81,11 @@ class CarInfo: Column.LONGITUDINAL: Star.FULL if CP.openpilotLongitudinalControl and not CP.radarOffCan else Star.EMPTY, Column.FSR_LONGITUDINAL: Star.FULL if min_enable_speed <= 0. else Star.EMPTY, Column.FSR_STEERING: Star.FULL if min_steer_speed <= 0. else Star.EMPTY, - Column.STEERING_TORQUE: Star.FULL if self.good_torque else Star.EMPTY, # TODO: remove hardcoding and use maxLateralAccel + # Column.STEERING_TORQUE set below Column.MAINTAINED: Star.FULL if CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none else Star.EMPTY, } + # Set steering torque star from max lateral acceleration if not math.isnan(CP.maxLateralAccel): if CP.maxLateralAccel >= GREAT_TORQUE_THRESHOLD: self.row[Column.STEERING_TORQUE] = Star.FULL diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 645d2f523b..0717ed1fbe 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -89,7 +89,6 @@ class HyundaiCarInfo(CarInfo): # TODO: we can probably remove LKAS. LKAS is standard on many # HKG and for others, it's likely packaged together with SCC package: str = "SCC + LKAS" - good_torque: bool = True CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index f5d63418f1..09b9b7732b 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -40,8 +40,8 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = { CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-17"), CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017"), CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017"), - CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021", good_torque=True), - CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022", good_torque=True), + CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021"), + CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022"), } diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 9badc3ca50..45358eb3a4 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -41,7 +41,7 @@ class SubaruCarInfo(CarInfo): CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { - CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20", "All", good_torque=True), + CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20", "All"), CAR.IMPREZA: [ SubaruCarInfo("Subaru Impreza 2017-19"), SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index c7a26257f3..43d923338e 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -99,7 +99,6 @@ class Footnote(Enum): class ToyotaCarInfo(CarInfo): package: str = "All" harness: Enum = Harness.toyota - good_torque: bool = True CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 0148a138a2..6e64f705b0 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -114,7 +114,6 @@ class Footnote(Enum): @dataclass class VWCarInfo(CarInfo): package: str = "Driver Assistance" - good_torque: bool = True harness: Enum = Harness.vw From 0c95493dc0cbc5d3dec59a50ac5476573041942d Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Fri, 1 Jul 2022 19:14:21 -0700 Subject: [PATCH 057/306] Torque control: max torque warning (#25018) * New steer torque warning * typo --- selfdrive/controls/controlsd.py | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index cceb47947a..3ee47c620b 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -317,7 +317,7 @@ class Controls: self.events.add(EventName.commIssue) elif not self.sm.all_freq_ok(): self.events.add(EventName.commIssueAvgFreq) - else: # invalid or can_rcv_error. + else: # invalid or can_rcv_error. self.events.add(EventName.commIssue) logs = { @@ -598,7 +598,14 @@ class Controls: lac_log.saturated = abs(actuators.steer) >= 0.9 # Send a "steering required alert" if saturation count has reached the limit - if lac_log.active and lac_log.saturated and not CS.steeringPressed: + if lac_log.active and not CS.steeringPressed and self.CP.lateralTuning.which() == 'torque': + undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2 + turning = abs(lac_log.desiredLateralAccel) > 1.0 + good_speed = CS.vEgo > 5 + max_torque = abs(self.last_actuators.steer) > 0.99 + if undershooting and turning and good_speed and max_torque: + self.events.add(EventName.steerSaturated) + elif lac_log.active and lac_log.saturated and not CS.steeringPressed: dpath_points = lat_plan.dPathPoints if len(dpath_points): # Check if we deviated from the path From 5f794fe49a1e0f2849e6a979c7bd12ca5ddb060a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 4 Jul 2022 19:55:00 +0800 Subject: [PATCH 058/306] settings.cc: remove function network_panel (#25030) remove function network_panel --- selfdrive/ui/qt/offroad/settings.cc | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 547ad168f1..a03af23951 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -279,10 +279,6 @@ void SoftwarePanel::updateLabels() { osVersionLbl->setText(QString::fromStdString(Hardware::get_os_version()).trimmed()); } -QWidget *network_panel(QWidget *parent) { - return new Networking(parent); -} - void SettingsWindow::showEvent(QShowEvent *event) { panel_widget->setCurrentIndex(0); nav_btns->buttons()[0]->setChecked(true); @@ -328,7 +324,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { QList> panels = { {tr("Device"), device}, - {tr("Network"), network_panel(this)}, + {tr("Network"), new Networking(this)}, {tr("Toggles"), new TogglesPanel(this)}, {tr("Software"), new SoftwarePanel(this)}, }; From 735387d5eea7e76d1940a82b0b5dcaddf1eb264a Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 4 Jul 2022 13:57:25 +0200 Subject: [PATCH 059/306] bump opendbc --- opendbc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc b/opendbc index 7fbf7c2a68..9c7248ceb2 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 7fbf7c2a685a90ff01e744cfb410f1a8a3c06278 +Subproject commit 9c7248ceb269928e3741103f978e9e4de2b38156 From d4cc13c88a8a9a9215777709fe2eccade1fd0ccd Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 4 Jul 2022 17:13:30 +0200 Subject: [PATCH 060/306] controlsd: avoid lag on first iteration due to get_short_branch (#25031) * controlsd: avoid lag on first iteration due to get_short_branch * always cache --- selfdrive/controls/controlsd.py | 4 ++++ selfdrive/controls/lib/events.py | 2 +- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 3ee47c620b..9e3af9eb63 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -12,6 +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 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.lane_planner import CAMERA_OFFSET @@ -62,6 +63,9 @@ class Controls: def __init__(self, sm=None, pm=None, can_sock=None, CI=None): config_realtime_process(4, Priority.CTRL_HIGH) + # Ensure the current branch is cached, otherwise the first iteration of controlsd lags + self.branch = get_short_branch("") + # Setup sockets self.pm = pm if self.pm is None: diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index cc63d4995d..95ccb7b7ec 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -222,7 +222,7 @@ def user_soft_disable_alert(alert_text_2: str) -> AlertCallbackType: return func def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: - branch = get_short_branch("") + branch = get_short_branch("") # Ensure get_short_branch is cached to avoid lags on startup if "REPLAY" in os.environ: branch = "replay" From 39007810927faa309d06e6ad9586302341547f64 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 5 Jul 2022 16:55:32 +0200 Subject: [PATCH 061/306] add casync support to agnos updater (#23654) * add casync option to agnos updater * open if necessary * add python implementation * last chunk can be small * check flags * cleaner check * add remote and file stores * remote caibx file * print stats * use python implementation * clean up imports * add progress * fix logging * fix duplicate chunks * add comments * json stats * cleanup tmp * normal image is still sparse * Update system/hardware/tici/agnos.py Co-authored-by: Adeeb Shihadeh * Update system/hardware/tici/agnos.py Co-authored-by: Adeeb Shihadeh * add some types * remove comment * create Chunk type * make readers a class * try agnos 5.2 * add download retries * catch all exceptions * sleep between retry * revert agnos.json changes Co-authored-by: Adeeb Shihadeh --- system/hardware/tici/agnos.py | 95 ++++++++++++---- system/hardware/tici/casync.py | 192 +++++++++++++++++++++++++++++++++ 2 files changed, 265 insertions(+), 22 deletions(-) create mode 100755 system/hardware/tici/casync.py diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py index e664654c65..527422aca7 100755 --- a/system/hardware/tici/agnos.py +++ b/system/hardware/tici/agnos.py @@ -1,13 +1,16 @@ #!/usr/bin/env python3 +import hashlib import json import lzma -import hashlib -import requests +import os import struct import subprocess import time -import os -from typing import Dict, Generator, Union +from typing import Dict, Generator, List, Tuple, Union + +import requests + +import system.hardware.tici.casync as casync SPARSE_CHUNK_FMT = struct.Struct('H2xI4x') @@ -74,6 +77,7 @@ def unsparsify(f: StreamingDecompressor) -> Generator[bytes, None, None]: else: raise Exception("Unhandled sparse chunk type") + # noop wrapper with same API as unsparsify() for non sparse images def noop(f: StreamingDecompressor) -> Generator[bytes, None, None]: while not f.eof: @@ -99,8 +103,8 @@ def get_partition_path(target_slot_number: int, partition: dict) -> str: return path -def verify_partition(target_slot_number: int, partition: Dict[str, Union[str, int]]) -> bool: - full_check = partition['full_check'] +def verify_partition(target_slot_number: int, partition: Dict[str, Union[str, int]], force_full_check: bool = False) -> bool: + full_check = partition['full_check'] or force_full_check path = get_partition_path(target_slot_number, partition) if not isinstance(partition['size'], int): return False @@ -135,21 +139,10 @@ def clear_partition_hash(target_slot_number: int, partition: dict) -> None: os.sync() -def flash_partition(target_slot_number: int, partition: dict, cloudlog): - cloudlog.info(f"Downloading and writing {partition['name']}") - - if verify_partition(target_slot_number, partition): - cloudlog.info(f"Already flashed {partition['name']}") - return - +def extract_compressed_image(target_slot_number: int, partition: dict, cloudlog): + path = get_partition_path(target_slot_number, partition) downloader = StreamingDecompressor(partition['url']) - # Clear hash before flashing in case we get interrupted - full_check = partition['full_check'] - if not full_check: - clear_partition_hash(target_slot_number, partition) - - path = get_partition_path(target_slot_number, partition) with open(path, 'wb+') as out: # Flash partition last_p = 0 @@ -172,9 +165,67 @@ def flash_partition(target_slot_number: int, partition: dict, cloudlog): if out.tell() != partition['size']: raise Exception("Uncompressed size mismatch") - # Write hash after successfull flash os.sync() - if not full_check: + + +def extract_casync_image(target_slot_number: int, partition: dict, cloudlog): + path = get_partition_path(target_slot_number, partition) + seed_path = path[:-1] + ('b' if path[-1] == 'a' else 'a') + + target = casync.parse_caibx(partition['casync_caibx']) + + sources: List[Tuple[str, casync.ChunkReader, casync.ChunkDict]] = [] + + # First source is the current partition. Index file for current version is provided in the manifest + if 'casync_seed_caibx' in partition: + sources += [('seed', casync.FileChunkReader(seed_path), casync.build_chunk_dict(casync.parse_caibx(partition['casync_seed_caibx'])))] + + # Second source is the target partition, this allows for resuming + sources += [('target', casync.FileChunkReader(path), casync.build_chunk_dict(target))] + + # Finally we add the remote source to download any missing chunks + sources += [('remote', casync.RemoteChunkReader(partition['casync_store']), casync.build_chunk_dict(target))] + + last_p = 0 + + def progress(cur): + nonlocal last_p + p = int(cur / partition['size'] * 100) + if p != last_p: + last_p = p + print(f"Installing {partition['name']}: {p}", flush=True) + + stats = casync.extract(target, sources, path, progress) + cloudlog.error(f'casync done {json.dumps(stats)}') + + os.sync() + if not verify_partition(target_slot_number, partition, force_full_check=True): + raise Exception(f"Raw hash mismatch '{partition['hash_raw'].lower()}'") + + +def flash_partition(target_slot_number: int, partition: dict, cloudlog): + cloudlog.info(f"Downloading and writing {partition['name']}") + + if verify_partition(target_slot_number, partition): + cloudlog.info(f"Already flashed {partition['name']}") + return + + # Clear hash before flashing in case we get interrupted + full_check = partition['full_check'] + if not full_check: + clear_partition_hash(target_slot_number, partition) + + path = get_partition_path(target_slot_number, partition) + + if 'casync_caibx' in partition: + extract_casync_image(target_slot_number, partition, cloudlog) + else: + extract_compressed_image(target_slot_number, partition, cloudlog) + + # Write hash after successfull flash + if not full_check: + with open(path, 'wb+') as out: + out.seek(partition['size']) out.write(partition['hash_raw'].lower().encode()) @@ -228,8 +279,8 @@ def verify_agnos_update(manifest_path: str, target_slot_number: int) -> bool: if __name__ == "__main__": - import logging import argparse + import logging parser = argparse.ArgumentParser(description="Flash and verify AGNOS update", formatter_class=argparse.ArgumentDefaultsHelpFormatter) diff --git a/system/hardware/tici/casync.py b/system/hardware/tici/casync.py new file mode 100755 index 0000000000..e77f473636 --- /dev/null +++ b/system/hardware/tici/casync.py @@ -0,0 +1,192 @@ +#!/usr/bin/env python3 +import io +import lzma +import os +import struct +import sys +import time +from abc import ABC, abstractmethod +from collections import defaultdict, namedtuple +from typing import Callable, Dict, List, Optional, Tuple + +import requests +from Crypto.Hash import SHA512 + +CA_FORMAT_INDEX = 0x96824d9c7b129ff9 +CA_FORMAT_TABLE = 0xe75b9e112f17417d +CA_FORMAT_TABLE_TAIL_MARKER = 0xe75b9e112f17417 +FLAGS = 0xb000000000000000 + +CA_HEADER_LEN = 48 +CA_TABLE_HEADER_LEN = 16 +CA_TABLE_ENTRY_LEN = 40 +CA_TABLE_MIN_LEN = CA_TABLE_HEADER_LEN + CA_TABLE_ENTRY_LEN + +CHUNK_DOWNLOAD_TIMEOUT = 10 +CHUNK_DOWNLOAD_RETRIES = 3 + +CAIBX_DOWNLOAD_TIMEOUT = 120 + +Chunk = namedtuple('Chunk', ['sha', 'offset', 'length']) +ChunkDict = Dict[bytes, Chunk] + + +class ChunkReader(ABC): + @abstractmethod + def read(self, chunk: Chunk) -> bytes: + ... + + +class FileChunkReader(ChunkReader): + """Reads chunks from a local file""" + def __init__(self, fn: str) -> None: + + super().__init__() + self.f = open(fn, 'rb') + + def read(self, chunk: Chunk) -> bytes: + self.f.seek(chunk.offset) + return self.f.read(chunk.length) + + +class RemoteChunkReader(ChunkReader): + """Reads lzma compressed chunks from a remote store""" + + def __init__(self, url: str) -> None: + super().__init__() + self.url = url + + def read(self, chunk: Chunk) -> bytes: + sha_hex = chunk.sha.hex() + url = os.path.join(self.url, sha_hex[:4], sha_hex + ".cacnk") + + for i in range(CHUNK_DOWNLOAD_RETRIES): + try: + resp = requests.get(url, timeout=CHUNK_DOWNLOAD_TIMEOUT) + break + except Exception: + if i == CHUNK_DOWNLOAD_RETRIES - 1: + raise + time.sleep(CHUNK_DOWNLOAD_TIMEOUT) + + resp.raise_for_status() + + decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO) + return decompressor.decompress(resp.content) + + +def parse_caibx(caibx_path: str) -> List[Chunk]: + """Parses the chunks from a caibx file. Can handle both local and remote files. + Returns a list of chunks with hash, offset and length""" + if os.path.isfile(caibx_path): + caibx = open(caibx_path, 'rb') + else: + resp = requests.get(caibx_path, timeout=CAIBX_DOWNLOAD_TIMEOUT) + resp.raise_for_status() + caibx = io.BytesIO(resp.content) + + caibx.seek(0, os.SEEK_END) + caibx_len = caibx.tell() + caibx.seek(0, os.SEEK_SET) + + # Parse header + length, magic, flags, min_size, _, max_size = struct.unpack("= min_size + + chunks.append(Chunk(sha, offset, length)) + offset = new_offset + + return chunks + + +def build_chunk_dict(chunks: List[Chunk]) -> ChunkDict: + """Turn a list of chunks into a dict for faster lookups based on hash""" + return {c.sha: c for c in chunks} + + +def extract(target: List[Chunk], + sources: List[Tuple[str, ChunkReader, ChunkDict]], + out_path: str, + progress: Optional[Callable[[int], None]] = None): + stats: Dict[str, int] = defaultdict(int) + + with open(out_path, 'wb') as out: + for cur_chunk in target: + + # Find source for desired chunk + for name, chunk_reader, store_chunks in sources: + if cur_chunk.sha in store_chunks: + bts = chunk_reader.read(store_chunks[cur_chunk.sha]) + + # Check length + if len(bts) != cur_chunk.length: + continue + + # Check hash + if SHA512.new(bts, truncate="256").digest() != cur_chunk.sha: + continue + + # Write to output + out.seek(cur_chunk.offset) + out.write(bts) + + stats[name] += cur_chunk.length + + if progress is not None: + progress(sum(stats.values())) + + break + else: + raise RuntimeError("Desired chunk not found in provided stores") + + return stats + + +def print_stats(stats: Dict[str, int]): + total_bytes = sum(stats.values()) + print(f"Total size: {total_bytes / 1024 / 1024:.2f} MB") + for name, total in stats.items(): + print(f" {name}: {total / 1024 / 1024:.2f} MB ({total / total_bytes * 100:.1f}%)") + + +def extract_simple(caibx_path, out_path, store_path): + # (name, callback, chunks) + target = parse_caibx(caibx_path) + sources = [ + # (store_path, RemoteChunkReader(store_path), build_chunk_dict(target)), + (store_path, FileChunkReader(store_path), build_chunk_dict(target)), + ] + + return extract(target, sources, out_path) + + +if __name__ == "__main__": + caibx = sys.argv[1] + out = sys.argv[2] + store = sys.argv[3] + + stats = extract_simple(caibx, out, store) + print_stats(stats) From 06a8ac627c0b8cf00b3bd4ea7186f5c876f71561 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 5 Jul 2022 18:06:08 +0200 Subject: [PATCH 062/306] casync: build_chunk_dict optimize for resuming (#25038) --- system/hardware/tici/casync.py | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/system/hardware/tici/casync.py b/system/hardware/tici/casync.py index e77f473636..b857c04795 100755 --- a/system/hardware/tici/casync.py +++ b/system/hardware/tici/casync.py @@ -123,8 +123,13 @@ def parse_caibx(caibx_path: str) -> List[Chunk]: def build_chunk_dict(chunks: List[Chunk]) -> ChunkDict: - """Turn a list of chunks into a dict for faster lookups based on hash""" - return {c.sha: c for c in chunks} + """Turn a list of chunks into a dict for faster lookups based on hash. + Keep first chunk since it's more likely to be already downloaded.""" + r = {} + for c in chunks: + if c.sha not in r: + r[c.sha] = c + return r def extract(target: List[Chunk], From 0bf1462ad0a459f8a2cc863f58089540789922f1 Mon Sep 17 00:00:00 2001 From: martinl Date: Tue, 5 Jul 2022 20:33:20 +0300 Subject: [PATCH 063/306] Update path for github workflow hardware unit tests (#25035) * Update hardware path for github workflow unit tests * Update release/files_common Co-authored-by: Adeeb Shihadeh --- .github/workflows/selfdrive_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 0ff0092b02..35a08d4fe9 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -302,7 +302,7 @@ jobs: selfdrive/locationd/test/_test_locationd_lib.py && \ $UNIT_TEST selfdrive/athena && \ $UNIT_TEST selfdrive/thermald && \ - $UNIT_TEST selfdrive/hardware/tici && \ + $UNIT_TEST system/hardware/tici && \ $UNIT_TEST selfdrive/modeld && \ $UNIT_TEST tools/lib/tests && \ ./selfdrive/ui/tests/create_test_translations.sh && \ From d4f4809992c5c73e36ec1041445e6a11b2c68448 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Jul 2022 14:28:54 -0700 Subject: [PATCH 064/306] always show avg power --- tools/zookeeper/power_monitor.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/tools/zookeeper/power_monitor.py b/tools/zookeeper/power_monitor.py index f88741813e..fa1f442bbc 100755 --- a/tools/zookeeper/power_monitor.py +++ b/tools/zookeeper/power_monitor.py @@ -27,8 +27,10 @@ if __name__ == "__main__": while duration is None or time.monotonic() - start_time < duration: fltr.update(z.read_power()) if rk.frame % rate == 0: - print(f"{fltr.x:.2f} W") measurements.append(fltr.x) + t = datetime.timedelta(seconds=time.monotonic() - start_time) + avg = sum(measurements) / len(measurements) + print(f"Now: {fltr.x:.2f} W, Avg: {avg:.2f} W over {t}") rk.keep_time() except KeyboardInterrupt: pass From 88a30004e0bf96601e5b8fc4c084219c52a46e15 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Jul 2022 16:40:47 -0700 Subject: [PATCH 065/306] Chrysler: prep for Ram port (#25040) * Chrysler: prep for Ram port * bump opendbc * opendbc master * bump panda --- opendbc | 2 +- panda | 2 +- release/files_common | 4 +--- selfdrive/car/chrysler/carstate.py | 20 ++++++++++---------- selfdrive/car/chrysler/chryslercan.py | 6 +++--- selfdrive/car/chrysler/values.py | 14 +++++++------- 6 files changed, 23 insertions(+), 25 deletions(-) diff --git a/opendbc b/opendbc index 9c7248ceb2..b2895650c7 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 9c7248ceb269928e3741103f978e9e4de2b38156 +Subproject commit b2895650c744e24d48cee2f13563dcd5b030a271 diff --git a/panda b/panda index 2652453892..6c0d0b43c2 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 265245389208e1e6ada86b169e879c0a2e30426c +Subproject commit 6c0d0b43c239b89baa83b4a1885d0ce21ab2335e diff --git a/release/files_common b/release/files_common index acf74e2137..e32277dfd8 100644 --- a/release/files_common +++ b/release/files_common @@ -35,7 +35,6 @@ common/filter_simple.py common/stat_live.py common/spinner.py common/text_window.py -common/SConscript common/kalman/.gitignore common/kalman/* @@ -217,7 +216,6 @@ selfdrive/locationd/generated/gps.h selfdrive/locationd/laikad.py selfdrive/locationd/laikad_helpers.py -selfdrive/locationd/locationd.cc selfdrive/locationd/locationd.h selfdrive/locationd/locationd.cc selfdrive/locationd/paramsd.py @@ -475,7 +473,7 @@ opendbc/can/parser_pyx.pyx opendbc/comma_body.dbc -opendbc/chrysler_pacifica_2017_hybrid.dbc +opendbc/chrysler_pacifica_2017_hybrid_generated.dbc opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc opendbc/gm_global_a_powertrain_generated.dbc diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index 444557191a..aa46ea0d94 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -64,14 +64,14 @@ class CarState(CarStateBase): steer_state = cp.vl["EPS_2"]["LKAS_STATE"] ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed) - ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_FLASH"]) + ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"]) if self.CP.enableBsm: - ret.leftBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]["BLIND_SPOT_LEFT"] == 1 - ret.rightBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]["BLIND_SPOT_RIGHT"] == 1 + ret.leftBlindspot = cp.vl["BSM_1"]["LEFT_STATUS"] == 1 + ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1 self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"] - self.lkas_car_model = cp_cam.vl["LKAS_HUD"]["CAR_MODEL"] + self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"] self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"] self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"] @@ -100,7 +100,7 @@ class CarState(CarStateBase): ("ACC_AVAILABLE", "DAS_3"), ("ACC_ACTIVE", "DAS_3"), ("ACC_FAULTED", "DAS_3"), - ("HIGH_BEAM_FLASH", "STEERING_LEVERS"), + ("HIGH_BEAM_PRESSED", "STEERING_LEVERS"), ("ACC_SPEED_CONFIG_KPH", "DAS_4"), ("CRUISE_STATE", "DAS_4"), ("COLUMN_TORQUE", "EPS_2"), @@ -132,10 +132,10 @@ class CarState(CarStateBase): if CP.enableBsm: signals += [ - ("BLIND_SPOT_RIGHT", "BLIND_SPOT_WARNINGS"), - ("BLIND_SPOT_LEFT", "BLIND_SPOT_WARNINGS"), + ("RIGHT_STATUS", "BSM_1"), + ("LEFT_STATUS", "BSM_1"), ] - checks.append(("BLIND_SPOT_WARNINGS", 2)) + checks.append(("BSM_1", 2)) return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) @@ -144,13 +144,13 @@ class CarState(CarStateBase): signals = [ # sig_name, sig_address ("COUNTER", "LKAS_COMMAND"), - ("CAR_MODEL", "LKAS_HUD"), + ("CAR_MODEL", "DAS_6"), ("LKAS_STATUS_OK", "LKAS_HEARTBIT") ] checks = [ ("LKAS_COMMAND", 100), ("LKAS_HEARTBIT", 10), - ("LKAS_HUD", 4), + ("DAS_6", 4), ] return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py index 53b79cab73..adcd411d31 100644 --- a/selfdrive/car/chrysler/chryslercan.py +++ b/selfdrive/car/chrysler/chryslercan.py @@ -35,14 +35,14 @@ def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_mo "LKAS_ALERTS": alerts, # byte 3, last 4 bits } - return packer.make_can_msg("LKAS_HUD", 0, values) # 0x2a6 + return packer.make_can_msg("DAS_6", 0, values) # 0x2a6 def create_lkas_command(packer, apply_steer, moving_fast, frame): # LKAS_COMMAND 0x292 (658) Lane-keeping signal to turn the wheel. values = { - "LKAS_STEERING_TORQUE": apply_steer, - "LKAS_HIGH_TORQUE": int(moving_fast), + "STEERING_TORQUE": apply_steer, + "LKAS_CONTROL_BIT": int(moving_fast), "COUNTER": frame % 0x10, } return packer.make_can_msg("LKAS_COMMAND", 0, values) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index d624bd2727..5537b383d3 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -101,13 +101,13 @@ FINGERPRINTS = { DBC = { - CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'), - CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'), - CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'), - CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'), - CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'), - CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'), - CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'), + CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), + CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), + CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), + CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), + CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), + CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), + CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), } STEER_THRESHOLD = 120 From eaa8b08510057c089520f4ba410218be261c9158 Mon Sep 17 00:00:00 2001 From: martinl Date: Wed, 6 Jul 2022 02:42:53 +0300 Subject: [PATCH 066/306] Subaru: XV is supported (#25034) * Subaru: add XV to supported models * Update docs --- docs/CARS.md | 6 ++++-- selfdrive/car/subaru/values.py | 2 ++ 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 25de6a2549..0cf384df18 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -71,7 +71,7 @@ How We Rate The Cars |Toyota|RAV4 2019-21|All|||||| |Toyota|RAV4 Hybrid 2019-21|All|||||| -# Silver - 67 cars +# Silver - 68 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| @@ -120,6 +120,7 @@ How We Rate The Cars |Subaru|Crosstrek 2020-21|EyeSight|||||| |Subaru|Forester 2019-21|All|||||| |Subaru|Impreza 2020-21|EyeSight|||||| +|Subaru|XV 2020-21|EyeSight|||||| |Toyota|Alphard 2019-20|All|||||| |Toyota|Alphard Hybrid 2021|All|||||| |Toyota|Camry 2018-20|All||[4](#footnotes)|||| @@ -143,7 +144,7 @@ How We Rate The Cars |Volkswagen|Passat 2015-19[6](#footnotes)|Driver Assistance|||||| |Volkswagen|Polo 2020|Driver Assistance|||||| -# Bronze - 78 cars +# Bronze - 79 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| @@ -199,6 +200,7 @@ How We Rate The Cars |Mazda|CX-9 2021|All|||||| |Subaru|Crosstrek 2018-19|EyeSight|||||| |Subaru|Impreza 2017-19|EyeSight|||||| +|Subaru|XV 2018-19|EyeSight|||||| |Škoda|Kamiq 2021[5](#footnotes)|Driver Assistance|||||| |Škoda|Karoq 2019|Driver Assistance|||||| |Škoda|Kodiaq 2018-19|Driver Assistance|||||| diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 45358eb3a4..ea923b1b50 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -45,10 +45,12 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { CAR.IMPREZA: [ SubaruCarInfo("Subaru Impreza 2017-19"), SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), + SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), ], CAR.IMPREZA_2020: [ SubaruCarInfo("Subaru Impreza 2020-21"), SubaruCarInfo("Subaru Crosstrek 2020-21"), + SubaruCarInfo("Subaru XV 2020-21"), ], CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"), CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"), From f21b56f25af5ee0930dc8f991aac4e9c438b3cda Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 5 Jul 2022 20:04:48 -0700 Subject: [PATCH 067/306] regen migration: use Panda safety parameters (#25043) no magic numbers --- selfdrive/test/process_replay/regen.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index d2f239c249..793e548705 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -15,6 +15,8 @@ from cereal.visionipc import VisionIpcServer, VisionStreamType from common.params import Params from common.realtime import Ratekeeper, DT_MDL, DT_DMON, sec_since_boot from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, tici_f_frame_size, tici_d_frame_size +from panda.python import Panda +from selfdrive.car.toyota.values import EPS_SCALE from selfdrive.manager.process import ensure_running from selfdrive.manager.process_config import managed_processes from selfdrive.test.process_replay.process_replay import FAKEDATA, setup_env, check_enabled @@ -30,8 +32,8 @@ def replay_panda_states(s, msgs): # TODO: new safety params from flags, remove after getting new routes for Toyota safety_param_migration = { - "TOYOTA PRIUS 2017": 578, - "TOYOTA RAV4 2017": 329 + "TOYOTA PRIUS 2017": EPS_SCALE["TOYOTA PRIUS 2017"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL, + "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE, } # Migrate safety param base on carState From 972e24ee263d7c86b865632f4bb110bbde1b16ac Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Wed, 6 Jul 2022 00:06:25 -0500 Subject: [PATCH 068/306] Add new LEXUS_RX_TSS2 engine f/w (#25041) `@ibby1137#8978` 2022 Lexus RX350L AWD DongleID|route abc09032f402f271|2022-07-05--17-34-41 --- selfdrive/car/toyota/values.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 43d923338e..283c137c91 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1761,13 +1761,14 @@ FW_VERSIONS = { b'\x01896630EB0000\x00\x00\x00\x00', b'\x01896630EC9000\x00\x00\x00\x00', b'\x01896630ED0000\x00\x00\x00\x00', + b'\x01896630ED0100\x00\x00\x00\x00', b'\x01896630ED6000\x00\x00\x00\x00', b'\x018966348W5100\x00\x00\x00\x00', b'\x018966348W9000\x00\x00\x00\x00', b'\x01896634D12000\x00\x00\x00\x00', b'\x01896634D12100\x00\x00\x00\x00', b'\x01896634D43000\x00\x00\x00\x00', - b'\x01896630ED0100\x00\x00\x00\x00', + b'\x01896634D44000\x00\x00\x00\x00', ], (Ecu.esp, 0x7b0, None): [ b'\x01F15260E031\x00\x00\x00\x00\x00\x00', From 73a6348be7f20fd2c4e303ca7ff7490b71bff59f Mon Sep 17 00:00:00 2001 From: haram-KONA <88036668+haram-KONA@users.noreply.github.com> Date: Wed, 6 Jul 2022 14:08:36 +0900 Subject: [PATCH 069/306] car docs: add video for Hyundai Kona Hybrid 2020 (#25029) * Update values.py Added the following video link "https://www.youtube.com/watch?v=0dwpAHiZgFo" * Update values.py * Update selfdrive/car/hyundai/values.py * Update selfdrive/car/hyundai/values.py Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 0717ed1fbe..f6efedb248 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -105,7 +105,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", harness=Harness.hyundai_h), CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness=Harness.hyundai_b), CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness=Harness.hyundai_g), - CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", harness=Harness.hyundai_i), + CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i), CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d), CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", harness=Harness.hyundai_l), CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l), From 38427e6fbbe1eb09c8a335f8c9aa90460d6bbfde Mon Sep 17 00:00:00 2001 From: BirdZhang <0312birdzhang@gmail.com> Date: Wed, 6 Jul 2022 13:11:21 +0800 Subject: [PATCH 070/306] Toyota: add missing esp FW version for 2021 Toyota Corolla (#25026) 2021 Toyota Levin hybrid (aka Corolla) --- selfdrive/car/toyota/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 283c137c91..86283bc48f 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -816,6 +816,7 @@ FW_VERSIONS = { b'F152676303\x00\x00\x00\x00\x00\x00', b'F152676304\x00\x00\x00\x00\x00\x00', b'F152612D00\x00\x00\x00\x00\x00\x00', + b'F152612842\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F3301100\x00\x00\x00\x00', From f797567ef8c574027eec8da72a2c76cfb2fdafe1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 5 Jul 2022 22:19:20 -0700 Subject: [PATCH 071/306] long planner: run when using stock longitudinal (#25017) * Squashed commit of the following: commit e27a5b4e2bfeab4e6a47440b1d4eb180ee4acf49 Author: Shane Smiskol Date: Fri Jul 1 14:10:06 2022 -0700 remove this test remove this test commit c3c10af82222ea4641d94c53a3a07b486cca8452 Author: Shane Smiskol Date: Fri Jul 1 14:08:15 2022 -0700 only planner changes commit 50e0f1d8704c15acfce8987faf3515c99e8af4f4 Merge: e088fde67 fcc5b3d70 Author: Shane Smiskol Date: Fri Jul 1 14:05:36 2022 -0700 Merge remote-tracking branch 'upstream/master' into enable-planner2 commit e088fde67edcc32ccfeea23b4ae9e44845240429 Author: Shane Smiskol Date: Thu Jun 30 13:58:38 2022 -0700 no walrus commit b7b425e530e949b9cc427833562473cc241d1367 Merge: f8634266b c49f997be Author: Shane Smiskol Date: Thu Jun 30 13:54:30 2022 -0700 Merge remote-tracking branch 'upstream/master' into enable-planner commit f8634266b49c3f692b255e6cfac66cccc438ae20 Author: Shane Smiskol Date: Wed Jun 29 16:07:35 2022 -0700 stricter test, speeds[-1] is 0.14 when starting here commit c9e446ad2183feba9d03ee39f9801091ab791c08 Merge: e6c4106ea 879a7c320 Author: Shane Smiskol Date: Wed Jun 29 16:01:32 2022 -0700 Merge remote-tracking branch 'upstream/master' into enable-planner commit e6c4106ea185c68a6c7b3d59d5bde664df8bdc9c Author: Shane Smiskol Date: Sat Jun 25 03:28:41 2022 -0700 fix test commit 0520c7f21613b57b804e08a8e8d10950ac059074 Author: Shane Smiskol Date: Sat Jun 25 03:26:16 2022 -0700 add test for resuming commit 04db5f80bff4a002f5241765a625d7cf57b74364 Merge: e23b37d3f d8bfe2f00 Author: Shane Smiskol Date: Wed Jun 22 20:15:50 2022 -0700 Merge remote-tracking branch 'upstream/master' into enable-planner commit e23b37d3fe8dd3dd07b46a32a4f0564fabade1aa Author: Shane Smiskol Date: Tue Jun 21 12:46:04 2022 -0700 0.1 should be pretty safe commit e7dc3960da3d713753f28732f50dbd25811fad28 Author: Shane Smiskol Date: Tue Jun 21 12:39:30 2022 -0700 try 0.2 commit ff0597ec92a0d2c52915316961ec123b0183c5cf Author: Shane Smiskol Date: Tue Jun 21 11:34:00 2022 -0700 Always run planner if not opLong commit 13997c55271f79fd3ca62d6db45ec3790b09aa60 Merge: d2f51ee55 95d8517a8 Author: Shane Smiskol Date: Tue Jun 21 11:29:22 2022 -0700 Merge remote-tracking branch 'upstream/master' into enable-planner commit d2f51ee55fd3bde38275371e76714d7741bc6f6b Author: Shane Smiskol Date: Tue Jun 21 11:27:45 2022 -0700 same for non-HDA2 commit 6a63bd60f09a0abd9185049cd173100d3ef6fefa Author: Shane Smiskol Date: Mon Jun 20 23:37:07 2022 -0700 mazda: ensure no resume if cancelling commit 5771cdecab7999765d9f5203c75a67f1555cf975 Author: Shane Smiskol Date: Mon Jun 20 23:27:58 2022 -0700 maintain original button msg rate commit 6c1fe0606fd0a0819ffeaac92526e43b3110f2f4 Author: Shane Smiskol Date: Wed Jun 15 23:45:26 2022 -0700 rename to resume commit 00b1df652f1679137c769f9db61eed7dd14e1542 Author: Shane Smiskol Date: Wed Jun 15 21:57:54 2022 -0700 remove comments commit 325ea9bbd5e0dd946961ede0cdcc446ad5e5bbdb Author: Shane Smiskol Date: Wed Jun 15 21:56:20 2022 -0700 vw commit 2c9061042b36fe1d6b029a4216655be69a980849 Author: Shane Smiskol Date: Wed Jun 15 21:54:37 2022 -0700 do rest but vw commit 3dc51f663dfdd4ea1fd72d239bcd5db8c7da4b47 Author: Shane Smiskol Date: Wed Jun 15 16:34:48 2022 -0700 only spam resume when future is > vEgoStarting commit 5f32cd1fcb402bee425d866a9dc76b6feea3d241 Author: Shane Smiskol Date: Wed Jun 15 16:09:43 2022 -0700 always log leads, we hide them in ui * reset when not CS.enabled remove comment * update refs --- selfdrive/controls/lib/longitudinal_planner.py | 4 ++-- selfdrive/controls/radard.py | 16 ++++++---------- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 9 insertions(+), 13 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index d4a6aaef8f..cf51136770 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -66,11 +66,11 @@ class Planner: v_cruise_kph = min(v_cruise_kph, V_CRUISE_MAX) v_cruise = v_cruise_kph * CV.KPH_TO_MS - long_control_state = sm['controlsState'].longControlState + long_control_off = sm['controlsState'].longControlState == LongCtrlState.off force_slow_decel = sm['controlsState'].forceDecel # Reset current state when not engaged, or user is controlling the speed - reset_state = long_control_state == LongCtrlState.off + reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['controlsState'].enabled # No change cost when user is controlling the speed, or when standstill prev_accel_constraint = not (reset_state or sm['carState'].standstill) diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index b2c9914457..3d958139d6 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -102,7 +102,7 @@ class RadarD(): self.ready = False - def update(self, sm, rr, enable_lead): + def update(self, sm, rr): self.current_time = 1e-9*max(sm.logMonoTime.values()) if sm.updated['carState']: @@ -169,11 +169,10 @@ class RadarD(): radarState.radarErrors = list(rr.errors) radarState.carStateMonoTime = sm.logMonoTime['carState'] - if enable_lead: - leads_v3 = sm['modelV2'].leadsV3 - if len(leads_v3) > 1: - radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], low_speed_override=True) - radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], low_speed_override=False) + leads_v3 = sm['modelV2'].leadsV3 + if len(leads_v3) > 1: + radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], low_speed_override=True) + radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], low_speed_override=False) return dat @@ -203,9 +202,6 @@ def radard_thread(sm=None, pm=None, can_sock=None): rk = Ratekeeper(1.0 / CP.radarTimeStep, print_delay_threshold=None) RD = RadarD(CP.radarTimeStep, RI.delay) - # TODO: always log leads once we can hide them conditionally - enable_lead = CP.openpilotLongitudinalControl or not CP.radarOffCan - while 1: can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True) rr = RI.update(can_strings) @@ -215,7 +211,7 @@ def radard_thread(sm=None, pm=None, can_sock=None): sm.update(0) - dat = RD.update(sm, rr, enable_lead) + dat = RD.update(sm, rr) dat.radarState.cumLagMs = -rk.remaining*1000. pm.send('radarState', dat) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 90444b1fa7..999081b4df 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -806984d4206056fb132625c5dad6c0ca1835a2d6 \ No newline at end of file +a57bbbffbee434e59e08b98b667dc13b6b505f08 \ No newline at end of file From 59c28611a4c385c487d5d0c8a219fe20eaeadeaf Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Jul 2022 23:01:57 -0700 Subject: [PATCH 072/306] bump opendbc --- opendbc | 2 +- selfdrive/car/chrysler/carstate.py | 8 ++++---- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/opendbc b/opendbc index b2895650c7..1e9693ce09 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit b2895650c744e24d48cee2f13563dcd5b030a271 +Subproject commit 1e9693ce0916b896568dcd5558a670e67843c299 diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index aa46ea0d94..61fe1f7ec6 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -51,9 +51,9 @@ class CarState(CarStateBase): ret.cruiseState.available = cp.vl["DAS_3"]["ACC_AVAILABLE"] == 1 # ACC is white ret.cruiseState.enabled = cp.vl["DAS_3"]["ACC_ACTIVE"] == 1 # ACC is green - ret.cruiseState.speed = cp.vl["DAS_4"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS + ret.cruiseState.speed = cp.vl["DAS_4"]["ACC_SET_SPEED_KPH"] * CV.KPH_TO_MS # CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too - ret.cruiseState.nonAdaptive = cp.vl["DAS_4"]["CRUISE_STATE"] in (1, 2) + ret.cruiseState.nonAdaptive = cp.vl["DAS_4"]["ACC_STATE"] in (1, 2) ret.accFaulted = cp.vl["DAS_3"]["ACC_FAULTED"] != 0 ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"] @@ -101,8 +101,8 @@ class CarState(CarStateBase): ("ACC_ACTIVE", "DAS_3"), ("ACC_FAULTED", "DAS_3"), ("HIGH_BEAM_PRESSED", "STEERING_LEVERS"), - ("ACC_SPEED_CONFIG_KPH", "DAS_4"), - ("CRUISE_STATE", "DAS_4"), + ("ACC_SET_SPEED_KPH", "DAS_4"), + ("ACC_STATE", "DAS_4"), ("COLUMN_TORQUE", "EPS_2"), ("EPS_TORQUE_MOTOR", "EPS_2"), ("LKAS_STATE", "EPS_2"), From 50434d612ee7becc09aef762a6c8fb8d8111af6d Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 6 Jul 2022 12:08:51 +0200 Subject: [PATCH 073/306] casync: reuse requests session in RemoteChunkReader (#25045) --- system/hardware/tici/casync.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/system/hardware/tici/casync.py b/system/hardware/tici/casync.py index b857c04795..d0d0da3c6a 100755 --- a/system/hardware/tici/casync.py +++ b/system/hardware/tici/casync.py @@ -55,6 +55,7 @@ class RemoteChunkReader(ChunkReader): def __init__(self, url: str) -> None: super().__init__() self.url = url + self.session = requests.Session() def read(self, chunk: Chunk) -> bytes: sha_hex = chunk.sha.hex() @@ -62,7 +63,7 @@ class RemoteChunkReader(ChunkReader): for i in range(CHUNK_DOWNLOAD_RETRIES): try: - resp = requests.get(url, timeout=CHUNK_DOWNLOAD_TIMEOUT) + resp = self.session.get(url, timeout=CHUNK_DOWNLOAD_TIMEOUT) break except Exception: if i == CHUNK_DOWNLOAD_RETRIES - 1: From 4080f729bea6092813331fb6d92c80e2f4c4f928 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 6 Jul 2022 13:04:25 +0200 Subject: [PATCH 074/306] casync: compute seed caibx url on the fly (#25046) * compute seed hash on the fly * more logging * partition name in url * fix comment --- system/hardware/tici/agnos.py | 41 ++++++++++++++++++++++++----------- 1 file changed, 28 insertions(+), 13 deletions(-) diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py index 527422aca7..bd8ce2bf02 100755 --- a/system/hardware/tici/agnos.py +++ b/system/hardware/tici/agnos.py @@ -13,6 +13,7 @@ import requests import system.hardware.tici.casync as casync SPARSE_CHUNK_FMT = struct.Struct('H2xI4x') +CAIBX_URL = "https://commadist.azureedge.net/agnosupdate/" class StreamingDecompressor: @@ -103,28 +104,37 @@ def get_partition_path(target_slot_number: int, partition: dict) -> str: return path +def get_raw_hash(path: str, partition_size: int) -> str: + raw_hash = hashlib.sha256() + pos, chunk_size = 0, 1024 * 1024 + + with open(path, 'rb+') as out: + while pos < partition_size: + n = min(chunk_size, partition_size - pos) + raw_hash.update(out.read(n)) + pos += n + + return raw_hash.hexdigest().lower() + + def verify_partition(target_slot_number: int, partition: Dict[str, Union[str, int]], force_full_check: bool = False) -> bool: full_check = partition['full_check'] or force_full_check path = get_partition_path(target_slot_number, partition) + if not isinstance(partition['size'], int): return False + partition_size: int = partition['size'] if not isinstance(partition['hash_raw'], str): return False - partition_hash: str = partition['hash_raw'] - with open(path, 'rb+') as out: - if full_check: - raw_hash = hashlib.sha256() - pos, chunk_size = 0, 1024 * 1024 - while pos < partition_size: - n = min(chunk_size, partition_size - pos) - raw_hash.update(out.read(n)) - pos += n + partition_hash: str = partition['hash_raw'] - return raw_hash.hexdigest().lower() == partition_hash.lower() - else: + if full_check: + return get_raw_hash(path, partition_size) == partition_hash.lower() + else: + with open(path, 'rb+') as out: out.seek(partition_size) return out.read(64) == partition_hash.lower().encode() @@ -177,8 +187,13 @@ def extract_casync_image(target_slot_number: int, partition: dict, cloudlog): sources: List[Tuple[str, casync.ChunkReader, casync.ChunkDict]] = [] # First source is the current partition. Index file for current version is provided in the manifest - if 'casync_seed_caibx' in partition: - sources += [('seed', casync.FileChunkReader(seed_path), casync.build_chunk_dict(casync.parse_caibx(partition['casync_seed_caibx'])))] + raw_hash = get_raw_hash(seed_path, partition['size']) + caibx_url = f"{CAIBX_URL}{partition['name']}-{raw_hash}.caibx" + try: + cloudlog.info(f"casync fetching {caibx_url}") + sources += [('seed', casync.FileChunkReader(seed_path), casync.build_chunk_dict(casync.parse_caibx(caibx_url)))] + except requests.RequestException: + cloudlog.error(f"casync failed to load {caibx_url}") # Second source is the target partition, this allows for resuming sources += [('target', casync.FileChunkReader(path), casync.build_chunk_dict(target))] From 6065871ad504f1b590d8de053b25ce1cf01f29ba Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 6 Jul 2022 14:03:31 +0200 Subject: [PATCH 075/306] add casync to release files --- release/files_common | 1 + 1 file changed, 1 insertion(+) diff --git a/release/files_common b/release/files_common index e32277dfd8..b46266fa91 100644 --- a/release/files_common +++ b/release/files_common @@ -196,6 +196,7 @@ system/hardware/tici/hardware.h system/hardware/tici/hardware.py system/hardware/tici/pins.py system/hardware/tici/agnos.py +system/hardware/tici/casync.py system/hardware/tici/agnos.json system/hardware/tici/amplifier.py system/hardware/tici/updater From e336f254b1744f87119059189711b326ce8b7884 Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Wed, 6 Jul 2022 15:50:28 +0200 Subject: [PATCH 076/306] bump laika --- laika_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/laika_repo b/laika_repo index 6e87f536db..828612e1b8 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 6e87f536dbe8cf80040f724c89798e66ca17cf9d +Subproject commit 828612e1b8848ccf70072d5513c0b7977f1707da From b88d7c89fae448068aeaca65706d99aa145c8a74 Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Wed, 6 Jul 2022 19:01:19 +0200 Subject: [PATCH 077/306] laikad: Filter unwanted pseudoranges (#25051) Filter unwanted pseudoranges --- selfdrive/locationd/laikad.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 0df48dd893..40519da7bc 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -103,6 +103,9 @@ class Laikad: self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block) new_meas = read_raw_ublox(report) + # Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites + new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7] + processed_measurements = process_measurements(new_meas, self.astro_dog) est_pos = self.get_est_pos(t, processed_measurements) From 3e5e27f043bca856ff3f4aaa83355d964ca42fa5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 6 Jul 2022 18:51:51 -0700 Subject: [PATCH 078/306] Add missing 2019 RAV4 Hybrid engine FW version (#25057) add missing engine fw --- selfdrive/car/toyota/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 86283bc48f..9324e6baf5 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1317,6 +1317,7 @@ FW_VERSIONS = { b'\x018966342X6000\x00\x00\x00\x00', b'\x01896634A25000\x00\x00\x00\x00', b'\x018966342W5000\x00\x00\x00\x00', + b'\x018966342W7000\x00\x00\x00\x00', b'\x028966342W4001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00', b'\x02896634A13000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02896634A13001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', From ea241bf3dc1d6dec2610bec9fceb1b8659014436 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 6 Jul 2022 19:42:58 -0700 Subject: [PATCH 079/306] FW fingerprinting: log all FW versions (#25042) * get_fw_versions returns all fw versions with request's brand * keep track of everything received * debug * need to regen or write a hack in build_fw_dict * to be safe, still replace old responses within same brands (hyundai responds to two queries, can fix later) to be safe, still replace old responses within same brands (hyundai responds to two queries, can fix later) * update test_fw_query_on_routes * clean up * better name * slightly cleaner * fix test_startup unit test del * fix imports * fix test_fw_fingerprint fix test_fw_fingerprint fix * fingerprint on all FW_VERSIONS, not just brands with requests * support old routes in test_fw_query_on_routes * regen and update refs * similar function style to before * better comment * space switch name * try to exact match first * useless else * fix debug script * simpler dictionary * bump cereal to master --- cereal | 2 +- selfdrive/car/fw_versions.py | 45 ++++++++++++------- selfdrive/car/tests/test_fw_fingerprint.py | 10 ++--- selfdrive/controls/tests/test_startup.py | 23 +++++----- selfdrive/debug/test_fw_query_on_routes.py | 43 +++++++++++------- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/regen.py | 16 ++++++- .../test/process_replay/test_processes.py | 26 +++++------ 8 files changed, 101 insertions(+), 66 deletions(-) diff --git a/cereal b/cereal index df08568318..cda60ec965 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit df08568318da97ed6f87747caee0a5b2c30086c4 +Subproject commit cda60ec9652c05de4ccfcad1fae7936e708434a3 diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 758485c393..b79f61d94d 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -194,12 +194,13 @@ def chunks(l, n=128): yield l[i:i + n] -def build_fw_dict(fw_versions): +def build_fw_dict(fw_versions, filter_brand=None): fw_versions_dict = {} for fw in fw_versions: - addr = fw.address - sub_addr = fw.subAddress if fw.subAddress != 0 else None - fw_versions_dict[(addr, sub_addr)] = fw.fwVersion + if filter_brand is None or fw.brand == filter_brand: + addr = fw.address + sub_addr = fw.subAddress if fw.subAddress != 0 else None + fw_versions_dict[(addr, sub_addr)] = fw.fwVersion return fw_versions_dict @@ -284,18 +285,27 @@ def match_fw_to_car_exact(fw_versions_dict): def match_fw_to_car(fw_versions, allow_fuzzy=True): - fw_versions_dict = build_fw_dict(fw_versions) - matches = match_fw_to_car_exact(fw_versions_dict) + versions = get_interface_attr('FW_VERSIONS', ignore_none=True) + + # Try exact matching first + exact_matches = [True] + if allow_fuzzy: + exact_matches.append(False) + + for exact_match in exact_matches: + # For each brand, attempt to fingerprint using FW returned from its queries + for brand in versions.keys(): + fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand) - exact_match = True - if allow_fuzzy and len(matches) == 0: - matches = match_fw_to_car_fuzzy(fw_versions_dict) + if exact_match: + matches = match_fw_to_car_exact(fw_versions_dict) + else: + matches = match_fw_to_car_fuzzy(fw_versions_dict) - # Fuzzy match found - if len(matches) == 1: - exact_match = False + if len(matches) == 1: + return exact_match, matches - return exact_match, matches + return True, [] def get_present_ecus(logcan, sendcan): @@ -372,20 +382,21 @@ def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progr if addrs: query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug) t = 2 * timeout if i == 0 else timeout - fw_versions.update({addr: (version, r.request, r.rx_offset) for addr, version in query.get_data(t).items()}) + fw_versions.update({(r.brand, addr): (version, r) for addr, version in query.get_data(t).items()}) except Exception: cloudlog.warning(f"FW query exception: {traceback.format_exc()}") # Build capnp list to put into CarParams car_fw = [] - for addr, (version, request, rx_offset) in fw_versions.items(): + for (brand, addr), (version, request) in fw_versions.items(): f = car.CarParams.CarFw.new_message() f.ecu = ecu_types[addr] f.fwVersion = version f.address = addr[0] - f.responseAddress = uds.get_rx_addr_for_tx_addr(addr[0], rx_offset) - f.request = request + f.responseAddress = uds.get_rx_addr_for_tx_addr(addr[0], request.rx_offset) + f.request = request.request + f.brand = brand if addr[1] is not None: f.subAddress = addr[1] diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index ed7e420e1a..49fa66d36d 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -12,6 +12,7 @@ CarFw = car.CarParams.CarFw Ecu = car.CarParams.Ecu ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} +VERSIONS = get_interface_attr("FW_VERSIONS", ignore_none=True) class TestFwFingerprint(unittest.TestCase): @@ -20,14 +21,14 @@ class TestFwFingerprint(unittest.TestCase): self.assertEqual(len(candidates), 1, f"got more than one candidate: {candidates}") self.assertEqual(candidates[0], expected) - @parameterized.expand([(k, v) for k, v in FW_VERSIONS.items()]) - def test_fw_fingerprint(self, car_model, ecus): + @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e]) + def test_fw_fingerprint(self, brand, car_model, ecus): CP = car.CarParams.new_message() for _ in range(200): fw = [] for ecu, fw_versions in ecus.items(): ecu_name, addr, sub_addr = ecu - fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), + fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand, "address": addr, "subAddress": 0 if sub_addr is None else sub_addr}) CP.carFw = fw _, matches = match_fw_to_car(CP.carFw) @@ -60,10 +61,9 @@ class TestFwFingerprint(unittest.TestCase): def test_fw_request_ecu_whitelist(self): passed = True brands = set(r.brand for r in REQUESTS) - versions = get_interface_attr('FW_VERSIONS') for brand in brands: whitelisted_ecus = [ecu for r in REQUESTS for ecu in r.whitelist_ecus if r.brand == brand] - brand_ecus = set([fw[0] for car_fw in versions[brand].values() for fw in car_fw]) + brand_ecus = set([fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw]) # each ecu in brand's fw versions needs to be whitelisted at least once ecus_not_whitelisted = set(brand_ecus) - set(whitelisted_ecus) diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py index 9d13453045..a94311c8c7 100755 --- a/selfdrive/controls/tests/test_startup.py +++ b/selfdrive/controls/tests/test_startup.py @@ -42,27 +42,27 @@ class TestStartup(unittest.TestCase): # TODO: test EventName.startup for release branches # officially supported car - (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS), - (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS), + (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"), + (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"), # dashcamOnly car - (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS), - (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS), + (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"), + (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"), # unrecognized car with no fw - (EventName.startupNoFw, None, None), - (EventName.startupNoFw, None, None), + (EventName.startupNoFw, None, None, ""), + (EventName.startupNoFw, None, None, ""), # unrecognized car - (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1]), - (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1]), + (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"), + (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"), # fuzzy match - (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY), - (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY), + (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"), + (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"), ]) @with_processes(['controlsd']) - def test_startup_alert(self, expected_event, car_model, fw_versions): + def test_startup_alert(self, expected_event, car_model, fw_versions, brand): # TODO: this should be done without any real sockets controls_sock = messaging.sub_sock("controlsState") @@ -82,6 +82,7 @@ class TestStartup(unittest.TestCase): f.ecu = ecu f.address = addr f.fwVersion = version + f.brand = brand if subaddress is not None: f.subAddress = subaddress diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index 011dd6c9a3..789baeca4b 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -8,24 +8,15 @@ import traceback from tqdm import tqdm from tools.lib.logreader import LogReader from tools.lib.route import Route +from selfdrive.car.interfaces import get_interface_attr from selfdrive.car.car_helpers import interface_names from selfdrive.car.fw_versions import match_fw_to_car_exact, match_fw_to_car_fuzzy, build_fw_dict -from selfdrive.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS -from selfdrive.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS -from selfdrive.car.hyundai.values import FW_VERSIONS as HYUNDAI_FW_VERSIONS -from selfdrive.car.volkswagen.values import FW_VERSIONS as VW_FW_VERSIONS -from selfdrive.car.mazda.values import FW_VERSIONS as MAZDA_FW_VERSIONS -from selfdrive.car.subaru.values import FW_VERSIONS as SUBARU_FW_VERSIONS NO_API = "NO_API" in os.environ -SUPPORTED_CARS = set(interface_names['toyota']) -SUPPORTED_CARS |= set(interface_names['honda']) -SUPPORTED_CARS |= set(interface_names['hyundai']) -SUPPORTED_CARS |= set(interface_names['volkswagen']) -SUPPORTED_CARS |= set(interface_names['mazda']) -SUPPORTED_CARS |= set(interface_names['subaru']) -SUPPORTED_CARS |= set(interface_names['nissan']) +VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True) +SUPPORTED_BRANDS = VERSIONS.keys() +SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_names[brand]] try: from xx.pipeline.c.CarState import migration @@ -97,9 +88,24 @@ if __name__ == "__main__": print("not in supported cars") break - fw_versions_dict = build_fw_dict(car_fw) - exact_matches = match_fw_to_car_exact(fw_versions_dict) - fuzzy_matches = match_fw_to_car_fuzzy(fw_versions_dict) + # Older routes only have carFw from their brand + old_route = not any([len(fw.brand) for fw in car_fw]) + brands = SUPPORTED_BRANDS if not old_route else [None] + + # Exact match + exact_matches, fuzzy_matches = [], [] + for brand in brands: + fw_versions_dict = build_fw_dict(car_fw, filter_brand=brand) + exact_matches = match_fw_to_car_exact(fw_versions_dict) + if len(exact_matches) == 1: + break + + # Fuzzy match + for brand in brands: + fw_versions_dict = build_fw_dict(car_fw, filter_brand=brand) + fuzzy_matches = match_fw_to_car_fuzzy(fw_versions_dict) + if len(fuzzy_matches) == 1: + break if (len(exact_matches) == 1) and (list(exact_matches)[0] == live_fingerprint): good_exact += 1 @@ -126,12 +132,15 @@ if __name__ == "__main__": print("Mismatches") found = False - for car_fws in [TOYOTA_FW_VERSIONS, HONDA_FW_VERSIONS, HYUNDAI_FW_VERSIONS, VW_FW_VERSIONS, MAZDA_FW_VERSIONS, SUBARU_FW_VERSIONS]: + for brand in SUPPORTED_BRANDS: + car_fws = VERSIONS[brand] if live_fingerprint in car_fws: found = True expected = car_fws[live_fingerprint] for (_, expected_addr, expected_sub_addr), v in expected.items(): for version in car_fw: + if version.brand != brand and len(version.brand): + continue sub_addr = None if version.subAddress == 0 else version.subAddress addr = version.address diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 999081b4df..0eeae1e3e3 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a57bbbffbee434e59e08b98b667dc13b6b505f08 \ No newline at end of file +b904e52e9de4ff7b2bd7f6af8b19abaf4957e6cc \ No newline at end of file diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index 793e548705..1a2d436f1a 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -179,8 +179,22 @@ def replay_cameras(lr, frs, disable_tqdm=False): return vs, p +def migrate_carparams(lr): + all_msgs = [] + for msg in lr: + if msg.which() == 'carParams': + CP = messaging.new_message('carParams') + CP.carParams = msg.carParams.as_builder() + for car_fw in CP.carParams.carFw: + car_fw.brand = CP.carParams.carName + msg = CP.as_reader() + all_msgs.append(msg) + + return all_msgs + + def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False): - lr = list(lr) + lr = migrate_carparams(list(lr)) if frs is None: frs = dict() diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 4e7ba4a6dd..9cbf4439ac 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -35,19 +35,19 @@ original_segments = [ ] segments = [ - ("BODY", "bd6a637565e91581|2022-04-04--22-05-08--0"), - ("HYUNDAI", "fakedata|2022-01-20--17-49-04--0"), - ("TOYOTA", "fakedata|2022-04-29--15-57-12--0"), - ("TOYOTA2", "fakedata|2022-04-29--16-08-01--0"), - ("TOYOTA3", "fakedata|2022-04-29--16-17-39--0"), - ("HONDA", "fakedata|2022-01-20--17-56-40--0"), - ("HONDA2", "fakedata|2022-04-29--16-31-55--0"), - ("CHRYSLER", "fakedata|2022-01-20--18-00-11--0"), - ("SUBARU", "fakedata|2022-01-20--18-01-57--0"), - ("GM", "fakedata|2022-01-20--18-03-41--0"), - ("NISSAN", "fakedata|2022-01-20--18-05-29--0"), - ("VOLKSWAGEN", "fakedata|2022-01-20--18-07-15--0"), - ("MAZDA", "fakedata|2022-01-20--18-09-32--0"), + ("BODY", "regen660D86654BA|2022-07-06--14-27-15--0"), + ("HYUNDAI", "regen657E25856BB|2022-07-06--14-26-51--0"), + ("TOYOTA", "regenBA97410FBEC|2022-07-06--14-26-49--0"), + ("TOYOTA2", "regenDEDB1D9C991|2022-07-06--14-54-08--0"), + ("TOYOTA3", "regenDDC1FE60734|2022-07-06--14-32-06--0"), + ("HONDA", "regen17B09D158B8|2022-07-06--14-31-46--0"), + ("HONDA2", "regen041739C3E9A|2022-07-06--15-08-02--0"), + ("CHRYSLER", "regenBB2F9C1425C|2022-07-06--14-31-41--0"), + ("SUBARU", "regen732B69F33B1|2022-07-06--14-36-18--0"), + ("GM", "regen01D09D915B5|2022-07-06--14-36-20--0"), + ("NISSAN", "regenEA6FB2773F5|2022-07-06--14-58-23--0"), + ("VOLKSWAGEN", "regen007098CA0EF|2022-07-06--15-01-26--0"), + ("MAZDA", "regen61BA413D53B|2022-07-06--14-39-42--0"), ] # dashcamOnly makes don't need to be tested until a full port is done From 479b66c992fb2898418d866a1c61d993a9217d3d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 6 Jul 2022 19:57:44 -0700 Subject: [PATCH 080/306] VW FPv2: reduce number of ECU queries (#24939) * only send valid/needed queries * just do volkswagen * clean up * add parameter name clean up * add test for whitelist * rename * Update selfdrive/car/fw_versions.py Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com> * fix test * log response addresses * bump cereal * handle response pending with IsoTpParallelQuery * remove response pending stuff * temporarily disregard cache for easier testing * revert this Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com> --- selfdrive/car/fw_versions.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index b79f61d94d..03dcece10c 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -148,12 +148,14 @@ REQUESTS: List[Request] = [ "volkswagen", [VOLKSWAGEN_VERSION_REQUEST_MULTI], [VOLKSWAGEN_VERSION_RESPONSE], + whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar], rx_offset=VOLKSWAGEN_RX_OFFSET, ), Request( "volkswagen", [VOLKSWAGEN_VERSION_REQUEST_MULTI], [VOLKSWAGEN_VERSION_RESPONSE], + whitelist_ecus=[Ecu.engine, Ecu.transmission], ), # Mazda Request( From 9b0acacf5e387593ce94dbad88000b5473511e22 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 6 Jul 2022 23:42:07 -0700 Subject: [PATCH 081/306] Ram 1500 (#24878) * RamInit * bump submodules * lil cleanup * clean up carstate formatting and platform grouping make tuple * give it a gold torque star (looks around 2.4 from rough data) * Dasm Fault * bump panda * more cleanup * cleanup car state * more cleanup * some fixes * remove more stuff * fix angle signal scaling and fix lkas control bit * bump panda * update those * same limits as pacifica * cleanup hud alert building * better fault logic * fix rate * set ahb * bring that back * update refs Co-authored-by: Jonathan Co-authored-by: Shane Smiskol Co-authored-by: Comma Device --- RELEASES.md | 1 + docs/CARS.md | 3 +- panda | 2 +- release/files_common | 1 + selfdrive/car/chrysler/carcontroller.py | 73 +++++------- selfdrive/car/chrysler/carstate.py | 135 +++++++++++++++------- selfdrive/car/chrysler/chryslercan.py | 79 +++++++------ selfdrive/car/chrysler/interface.py | 22 +++- selfdrive/car/chrysler/radar_interface.py | 9 +- selfdrive/car/chrysler/values.py | 36 +++--- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/override.yaml | 3 +- selfdrive/test/process_replay/ref_commit | 2 +- 13 files changed, 226 insertions(+), 141 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 5b71fc3375..fedff5dbff 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -19,6 +19,7 @@ Version 0.8.15 (2022-07-XX) * Honda Civic 2022 support * Hyundai Tucson 2021 support thanks to bluesforte! * Lexus NX Hybrid 2020 support thanks to AlexandreSato! +* Ram 1500 2019-21 support thanks to realfast! Version 0.8.14 (2022-06-01) ======================== diff --git a/docs/CARS.md b/docs/CARS.md index 0cf384df18..a1e89efe12 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -144,7 +144,7 @@ How We Rate The Cars |Volkswagen|Passat 2015-19[6](#footnotes)|Driver Assistance|||||| |Volkswagen|Polo 2020|Driver Assistance|||||| -# Bronze - 79 cars +# Bronze - 80 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| @@ -198,6 +198,7 @@ How We Rate The Cars |Lexus|RX Hybrid 2016-19|All|[3](#footnotes)||||| |Mazda|CX-5 2022|All|||||| |Mazda|CX-9 2021|All|||||| +|Ram|1500 2019-21|Adaptive Cruise|||||| |Subaru|Crosstrek 2018-19|EyeSight|||||| |Subaru|Impreza 2017-19|EyeSight|||||| |Subaru|XV 2018-19|EyeSight|||||| diff --git a/panda b/panda index 6c0d0b43c2..fae3ee2e81 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 6c0d0b43c239b89baa83b4a1885d0ce21ab2335e +Subproject commit fae3ee2e8161d34a7c1939503e583db9b85e5402 diff --git a/release/files_common b/release/files_common index b46266fa91..260e37e29a 100644 --- a/release/files_common +++ b/release/files_common @@ -474,6 +474,7 @@ opendbc/can/parser_pyx.pyx opendbc/comma_body.dbc +opendbc/chrysler_ram_dt_generated.dbc opendbc/chrysler_pacifica_2017_hybrid_generated.dbc opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 49525646ca..606cb51176 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -1,8 +1,7 @@ -from cereal import car from opendbc.can.packer import CANPacker from selfdrive.car import apply_toyota_steer_torque_limits from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons -from selfdrive.car.chrysler.values import CAR, CarControllerParams +from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams class CarController: @@ -10,61 +9,51 @@ class CarController: self.CP = CP self.apply_steer_last = 0 self.frame = 0 - self.prev_lkas_frame = -1 - self.hud_count = 0 - self.car_fingerprint = CP.carFingerprint - self.gone_fast_yet = False self.steer_rate_limited = False - self.packer = CANPacker(dbc_name) - - def update(self, CC, CS): - # this seems needed to avoid steering faults and to force the sync with the EPS counter - if self.prev_lkas_frame == CS.lkas_counter: - return car.CarControl.Actuators.new_message(), [] - - actuators = CC.actuators - - # steer torque - new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX)) - apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, - CS.out.steeringTorqueEps, CarControllerParams) - self.steer_rate_limited = new_steer != apply_steer - - moving_fast = CS.out.vEgo > self.CP.minSteerSpeed # for status message - if CS.out.vEgo > (self.CP.minSteerSpeed - 0.5): # for command high bit - self.gone_fast_yet = True - elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019): - if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0): - self.gone_fast_yet = False # < 14.5m/s stock turns off this bit, but fine down to 13.5 - lkas_active = moving_fast and CC.enabled - - if not lkas_active: - apply_steer = 0 + self.hud_count = 0 + self.last_lkas_falling_edge = 0 + self.lkas_active_prev = False - self.apply_steer_last = apply_steer + self.packer = CANPacker(dbc_name) + def update(self, CC, CS, low_speed_alert): can_sends = [] + # EPS faults if LKAS re-enables too quickly + lkas_active = CC.latActive and not low_speed_alert and (self.frame - self.last_lkas_falling_edge > 200) + # *** control msgs *** if CC.cruiseControl.cancel: - can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, cancel=True)) + bus = 2 if self.CP.carFingerprint in RAM_CARS else 0 + can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, bus, cancel=True)) - # LKAS_HEARTBIT is forwarded by Panda so no need to send it here. - # frame is 100Hz (0.01s period) - if self.frame % 25 == 0: # 0.25s period + # HUD alerts + if self.frame % 25 == 0: if CS.lkas_car_model != -1: - can_sends.append(create_lkas_hud(self.packer, CS.out.gearShifter, lkas_active, - CC.hudControl.visualAlert, self.hud_count, CS.lkas_car_model)) + can_sends.append(create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert, self.hud_count, CS.lkas_car_model, CS.auto_high_beam)) self.hud_count += 1 - can_sends.append(create_lkas_command(self.packer, int(apply_steer), self.gone_fast_yet, CS.lkas_counter)) + # steering + if self.frame % 2 == 0: + # steer torque + new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX)) + apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, CarControllerParams) + if not lkas_active: + apply_steer = 0 + self.steer_rate_limited = new_steer != apply_steer + self.apply_steer_last = apply_steer + + idx = self.frame // 2 + can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_active, idx)) self.frame += 1 - self.prev_lkas_frame = CS.lkas_counter + if not lkas_active and self.lkas_active_prev: + self.last_lkas_falling_edge = self.frame + self.lkas_active_prev = lkas_active - new_actuators = actuators.copy() - new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX + new_actuators = CC.actuators.copy() + new_actuators.steer = self.apply_steer_last / CarControllerParams.STEER_MAX return new_actuators, can_sends diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index 61fe1f7ec6..71b7e34623 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -3,21 +3,29 @@ from common.conversions import Conversions as CV from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD +from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS class CarState(CarStateBase): def __init__(self, CP): super().__init__(CP) + self.CP = CP can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) - self.shifter_values = can_define.dv["GEAR"]["PRNDL"] + + self.auto_high_beam = 0 + self.button_counter = 0 + self.lkas_car_model = -1 + + if CP.carFingerprint in RAM_CARS: + self.shifter_values = can_define.dv["Transmission_Status"]["Gear_State"] + else: + self.shifter_values = can_define.dv["GEAR"]["PRNDL"] def update(self, cp, cp_cam): ret = car.CarState.new_message() - self.frame = int(cp.vl["EPS_2"]["COUNTER"]) - + # lock info ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"], cp.vl["BCM_1"]["DOOR_OPEN_FR"], cp.vl["BCM_1"]["DOOR_OPEN_RL"], @@ -32,8 +40,15 @@ class CarState(CarStateBase): ret.gas = cp.vl["ECM_5"]["Accelerator_Position"] ret.gasPressed = ret.gas > 1e-5 - ret.espDisabled = (cp.vl["TRACTION_BUTTON"]["TRACTION_OFF"] == 1) - + # car speed + if self.CP.carFingerprint in RAM_CARS: + ret.vEgoRaw = cp.vl["ESP_8"]["Vehicle_Speed"] * CV.KPH_TO_MS + ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["Transmission_Status"]["Gear_State"], None)) + else: + ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2. + ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None)) + ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + ret.standstill = not ret.vEgoRaw > 0.001 ret.wheelSpeeds = self.get_wheel_speeds( cp.vl["ESP_6"]["WHEEL_SPEED_FL"], cp.vl["ESP_6"]["WHEEL_SPEED_FR"], @@ -41,55 +56,73 @@ class CarState(CarStateBase): cp.vl["ESP_6"]["WHEEL_SPEED_RR"], unit=1, ) - ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2. - ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) - ret.standstill = not ret.vEgoRaw > 0.001 + # button presses ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1 ret.rightBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2 - ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None)) - - ret.cruiseState.available = cp.vl["DAS_3"]["ACC_AVAILABLE"] == 1 # ACC is white - ret.cruiseState.enabled = cp.vl["DAS_3"]["ACC_ACTIVE"] == 1 # ACC is green - ret.cruiseState.speed = cp.vl["DAS_4"]["ACC_SET_SPEED_KPH"] * CV.KPH_TO_MS - # CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too - ret.cruiseState.nonAdaptive = cp.vl["DAS_4"]["ACC_STATE"] in (1, 2) - ret.accFaulted = cp.vl["DAS_3"]["ACC_FAULTED"] != 0 + ret.genericToggle = cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"] == 1 + # steering wheel ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"] ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"] ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"] ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"] ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD - steer_state = cp.vl["EPS_2"]["LKAS_STATE"] - ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed) - ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"]) + # cruise state + cp_cruise = cp_cam if self.CP.carFingerprint in RAM_CARS else cp + + ret.cruiseState.available = cp_cruise.vl["DAS_3"]["ACC_AVAILABLE"] == 1 + ret.cruiseState.enabled = cp_cruise.vl["DAS_3"]["ACC_ACTIVE"] == 1 + ret.cruiseState.speed = cp_cruise.vl["DAS_4"]["ACC_SET_SPEED_KPH"] * CV.KPH_TO_MS + ret.cruiseState.nonAdaptive = cp_cruise.vl["DAS_4"]["ACC_STATE"] in (1, 2) # 1 NormalCCOn and 2 NormalCCSet + ret.cruiseState.standstill = cp_cruise.vl["DAS_3"]["ACC_STANDSTILL"] == 1 + ret.accFaulted = cp_cruise.vl["DAS_3"]["ACC_FAULTED"] != 0 + + if self.CP.carFingerprint in RAM_CARS: + self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON'] # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message + ret.steerFaultTemporary = cp.vl["EPS_3"]["DASM_FAULT"] == 1 + else: + steer_state = cp.vl["EPS_2"]["LKAS_STATE"] + ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed) + # blindspot sensors if self.CP.enableBsm: ret.leftBlindspot = cp.vl["BSM_1"]["LEFT_STATUS"] == 1 ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1 - self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"] self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"] - self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"] self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"] return ret + @staticmethod + def get_cruise_signals(): + signals = [ + ("ACC_AVAILABLE", "DAS_3"), + ("ACC_ACTIVE", "DAS_3"), + ("ACC_FAULTED", "DAS_3"), + ("ACC_STANDSTILL", "DAS_3"), + ("COUNTER", "DAS_3"), + ("ACC_SET_SPEED_KPH", "DAS_4"), + ("ACC_STATE", "DAS_4"), + ] + checks = [ + ("DAS_3", 50), + ("DAS_4", 50), + ] + return signals, checks + @staticmethod def get_can_parser(CP): signals = [ # sig_name, sig_address - ("PRNDL", "GEAR"), ("DOOR_OPEN_FL", "BCM_1"), ("DOOR_OPEN_FR", "BCM_1"), ("DOOR_OPEN_RL", "BCM_1"), ("DOOR_OPEN_RR", "BCM_1"), ("Brake_Pedal_State", "ESP_1"), ("Accelerator_Position", "ECM_5"), - ("SPEED_LEFT", "SPEED_1"), - ("SPEED_RIGHT", "SPEED_1"), ("WHEEL_SPEED_FL", "ESP_6"), ("WHEEL_SPEED_RR", "ESP_6"), ("WHEEL_SPEED_RL", "ESP_6"), @@ -97,18 +130,12 @@ class CarState(CarStateBase): ("STEER_ANGLE", "STEERING"), ("STEERING_RATE", "STEERING"), ("TURN_SIGNALS", "STEERING_LEVERS"), - ("ACC_AVAILABLE", "DAS_3"), - ("ACC_ACTIVE", "DAS_3"), - ("ACC_FAULTED", "DAS_3"), ("HIGH_BEAM_PRESSED", "STEERING_LEVERS"), - ("ACC_SET_SPEED_KPH", "DAS_4"), - ("ACC_STATE", "DAS_4"), + ("SEATBELT_DRIVER_UNLATCHED", "ORC_1"), + ("COUNTER", "EPS_2",), ("COLUMN_TORQUE", "EPS_2"), ("EPS_TORQUE_MOTOR", "EPS_2"), ("LKAS_STATE", "EPS_2"), - ("COUNTER", "EPS_2",), - ("TRACTION_OFF", "TRACTION_BUTTON"), - ("SEATBELT_DRIVER_UNLATCHED", "ORC_1"), ("COUNTER", "CRUISE_BUTTONS"), ] @@ -116,18 +143,13 @@ class CarState(CarStateBase): # sig_address, frequency ("ESP_1", 50), ("EPS_2", 100), - ("SPEED_1", 100), ("ESP_6", 50), ("STEERING", 100), - ("DAS_3", 50), - ("GEAR", 50), ("ECM_5", 50), ("CRUISE_BUTTONS", 50), - ("DAS_4", 15), ("STEERING_LEVERS", 10), ("ORC_1", 2), ("BCM_1", 1), - ("TRACTION_BUTTON", 1), ] if CP.enableBsm: @@ -137,20 +159,47 @@ class CarState(CarStateBase): ] checks.append(("BSM_1", 2)) + if CP.carFingerprint in RAM_CARS: + signals += [ + ("DASM_FAULT", "EPS_3"), + ("Vehicle_Speed", "ESP_8"), + ("Gear_State", "Transmission_Status"), + ] + checks += [ + ("ESP_8", 50), + ("EPS_3", 50), + ("Transmission_Status", 50), + ] + else: + signals += [ + ("PRNDL", "GEAR"), + ("SPEED_LEFT", "SPEED_1"), + ("SPEED_RIGHT", "SPEED_1"), + ] + checks += [ + ("GEAR", 50), + ("SPEED_1", 100), + ] + signals += CarState.get_cruise_signals()[0] + checks += CarState.get_cruise_signals()[1] + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) @staticmethod def get_cam_can_parser(CP): signals = [ - # sig_name, sig_address - ("COUNTER", "LKAS_COMMAND"), + # sig_name, sig_address, default ("CAR_MODEL", "DAS_6"), - ("LKAS_STATUS_OK", "LKAS_HEARTBIT") ] checks = [ - ("LKAS_COMMAND", 100), - ("LKAS_HEARTBIT", 10), ("DAS_6", 4), ] + if CP.carFingerprint in RAM_CARS: + signals += [ + ("AUTO_HIGH_BEAM_ON", "DAS_6"), + ] + signals += CarState.get_cruise_signals()[0] + checks += CarState.get_cruise_signals()[1] + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py index adcd411d31..e17e5d5b2a 100644 --- a/selfdrive/car/chrysler/chryslercan.py +++ b/selfdrive/car/chrysler/chryslercan.py @@ -1,56 +1,69 @@ from cereal import car -from selfdrive.car import make_can_msg - +from selfdrive.car.chrysler.values import RAM_CARS GearShifter = car.CarState.GearShifter VisualAlert = car.CarControl.HUDControl.VisualAlert -def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_model): - # LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed. +def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam): + # LKAS_HUD - Controls what lane-keeping icon is displayed + + # == Color == + # 0 hidden? + # 1 white + # 2 green + # 3 ldw + + # == Lines == + # 03 white Lines + # 04 grey lines + # 09 left lane close + # 0A right lane close + # 0B left Lane very close + # 0C right Lane very close + # 0D left cross cross + # 0E right lane cross - if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw): - msg = b'\x00\x00\x00\x03\x00\x00\x00\x00' - return make_can_msg(0x2a6, msg, 0) + # == Alerts == + # 7 Normal + # 6 lane departure place hands on wheel - color = 1 # default values are for park or neutral in 2017 are 0 0, but trying 1 1 for 2019 - lines = 1 - alerts = 0 + color = 2 if lkas_active else 1 + lines = 3 if lkas_active else 0 + alerts = 7 if lkas_active else 0 if hud_count < (1 * 4): # first 3 seconds, 4Hz alerts = 1 - # CAR.PACIFICA_2018_HYBRID and CAR.PACIFICA_2019_HYBRID - # had color = 1 and lines = 1 but trying 2017 hybrid style for now. - if gear in (GearShifter.drive, GearShifter.reverse, GearShifter.low): - if lkas_active: - color = 2 # control active, display green. - lines = 6 - else: - color = 1 # control off, display white. - lines = 1 + + if hud_alert in (VisualAlert.ldw, VisualAlert.steerRequired): + color = 4 + lines = 0 + alerts = 6 values = { - "LKAS_ICON_COLOR": color, # byte 0, last 2 bits - "CAR_MODEL": lkas_car_model, # byte 1 - "LKAS_LANE_LINES": lines, # byte 2, last 4 bits - "LKAS_ALERTS": alerts, # byte 3, last 4 bits - } + "LKAS_ICON_COLOR": color, + "CAR_MODEL": car_model, + "LKAS_LANE_LINES": lines, + "LKAS_ALERTS": alerts, + } + + if CP.carFingerprint in RAM_CARS: + values['AUTO_HIGH_BEAM_ON'] = auto_high_beam - return packer.make_can_msg("DAS_6", 0, values) # 0x2a6 + return packer.make_can_msg("DAS_6", 0, values) -def create_lkas_command(packer, apply_steer, moving_fast, frame): - # LKAS_COMMAND 0x292 (658) Lane-keeping signal to turn the wheel. +def create_lkas_command(packer, CP, apply_steer, lat_active, frame): + # LKAS_COMMAND Lane-keeping signal to turn the wheel + enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1 values = { "STEERING_TORQUE": apply_steer, - "LKAS_CONTROL_BIT": int(moving_fast), - "COUNTER": frame % 0x10, + "LKAS_CONTROL_BIT": enabled_val if lat_active else 0, } - return packer.make_can_msg("LKAS_COMMAND", 0, values) + return packer.make_can_msg("LKAS_COMMAND", 0, values, frame % 0x10) -def create_cruise_buttons(packer, frame, cancel=False): +def create_cruise_buttons(packer, frame, bus, cancel=False): values = { "ACC_Cancel": cancel, - "COUNTER": frame % 0x10, } - return packer.make_can_msg("CRUISE_BUTTONS", 0, values) + return packer.make_can_msg("CRUISE_BUTTONS", bus, values, frame % 0x10) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 8ebcb6b126..af202cdc46 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -1,7 +1,8 @@ #!/usr/bin/env python3 from cereal import car -from selfdrive.car.chrysler.values import CAR +from panda import Panda from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config +from selfdrive.car.chrysler.values import CAR, RAM_CARS from selfdrive.car.interfaces import CarInterfaceBase @@ -10,7 +11,9 @@ class CarInterface(CarInterfaceBase): def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "chrysler" - ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)] + + param = Panda.FLAG_CHRYSLER_RAM_DT if candidate in RAM_CARS else None + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler, param)] ret.steerActuatorDelay = 0.1 ret.steerLimitTimer = 0.4 @@ -39,6 +42,15 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]] ret.lateralTuning.pid.kf = 0.00006 + # Ram + elif candidate == CAR.RAM_1500: + ret.wheelbase = 3.88 + ret.steerRatio = 16.3 + ret.mass = 2493. + STD_CARGO_KG + ret.maxLateralAccel = 2.4 + ret.minSteerSpeed = 14.5 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + else: raise ValueError(f"Unsupported car: {candidate}") @@ -64,9 +76,9 @@ class CarInterface(CarInterfaceBase): events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low]) # Low speed steer alert hysteresis logic - if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.): + if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5): self.low_speed_alert = True - elif ret.vEgo > (self.CP.minSteerSpeed + 2.): + elif ret.vEgo > (self.CP.minSteerSpeed + 1.): self.low_speed_alert = False if self.low_speed_alert: events.add(car.CarEvent.EventName.belowSteerSpeed) @@ -76,4 +88,4 @@ class CarInterface(CarInterfaceBase): return ret def apply(self, c): - return self.CC.update(c, self.CS) + return self.CC.update(c, self.CS, self.low_speed_alert) diff --git a/selfdrive/car/chrysler/radar_interface.py b/selfdrive/car/chrysler/radar_interface.py index 8882dc2d91..348e3c3632 100755 --- a/selfdrive/car/chrysler/radar_interface.py +++ b/selfdrive/car/chrysler/radar_interface.py @@ -10,6 +10,10 @@ LAST_MSG = max(RADAR_MSGS_C + RADAR_MSGS_D) NUMBER_MSGS = len(RADAR_MSGS_C) + len(RADAR_MSGS_D) def _create_radar_can_parser(car_fingerprint): + dbc = DBC[car_fingerprint]['radar'] + if dbc is None: + return None + msg_n = len(RADAR_MSGS_C) # list of [(signal name, message name or number), (...)] # [('RADAR_STATE', 1024), @@ -46,6 +50,9 @@ class RadarInterface(RadarInterfaceBase): self.trigger_msg = LAST_MSG def update(self, can_strings): + if self.rcp is None: + return super().update(None) + vls = self.rcp.update_strings(can_strings) self.updated_messages.update(vls) @@ -81,4 +88,4 @@ class RadarInterface(RadarInterfaceBase): ret.points = [x for x in self.pts.values() if x.dRel != 0] self.updated_messages.clear() - return ret + return ret \ No newline at end of file diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 5537b383d3..40210e68e6 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -2,19 +2,12 @@ from dataclasses import dataclass from enum import Enum from typing import Dict, List, Optional, Union +from cereal import car from selfdrive.car import dbc_dict from selfdrive.car.docs_definitions import CarInfo, Harness -from cereal import car Ecu = car.CarParams.Ecu -class CarControllerParams: - STEER_MAX = 261 # 262 faults - STEER_DELTA_UP = 3 # 3 is stock. 100 is fine. 200 is too much it seems - STEER_DELTA_DOWN = 3 # no faults on the way down it seems - STEER_ERROR_MAX = 80 - - class CAR: # Chrysler PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017" @@ -24,16 +17,28 @@ class CAR: PACIFICA_2020 = "CHRYSLER PACIFICA 2020" # Jeep - JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018" # includes 2017 Trailhawk - JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk + JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018" # includes 2017 Trailhawk + JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk + + # Ram + RAM_1500 = "RAM 1500 5TH GEN" + +class CarControllerParams: + STEER_MAX = 261 # higher than this faults the EPS on Chrysler/Jeep. Ram DT allows more + STEER_DELTA_UP = 3 + STEER_DELTA_DOWN = 3 + STEER_ERROR_MAX = 80 + +STEER_THRESHOLD = 120 + +RAM_CARS = {CAR.RAM_1500, } @dataclass class ChryslerCarInfo(CarInfo): package: str = "Adaptive Cruise" harness: Enum = Harness.fca - CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"), CAR.PACIFICA_2018_HYBRID: None, # same platforms @@ -42,6 +47,7 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2019-20"), CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-20", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), + CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-21"), } # Unique CAN messages: @@ -97,6 +103,11 @@ FINGERPRINTS = { # Jeep Grand Cherokee 2019, including most 2020 models 55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 }], + CAR.RAM_1500: [ + {35: 8, 37: 8, 39: 8, 41: 8, 43: 8, 47: 8, 49: 8, 53: 8, 55: 8, 113: 8, 119: 2, 121: 8, 123: 7, 125: 6, 127: 8, 129: 8, 131: 8, 133: 8, 135: 8, 137: 8, 139: 8, 141: 8, 145: 8, 147: 8, 149: 7, 153: 8, 155: 8, 157: 8, 163: 8, 164: 8, 166: 8, 167: 8, 169: 8, 171: 8, 173: 5, 177: 3, 179: 8, 181: 8, 213: 3, 221: 8, 232: 8, 250: 8, 278: 8, 289: 5, 293: 3, 295: 8, 296: 8, 297: 4, 298: 8, 299: 8, 305: 8, 307: 8, 311: 8, 315: 8, 317: 8, 319: 8, 323: 8, 333: 8, 334: 8, 341: 8, 343: 8, 345: 8, 347: 8, 409: 6, 421: 8, 448: 6, 456: 4, 464: 8, 489: 8, 491: 8, 502: 8, 503: 8, 505: 8, 507: 5, 516: 7, 517: 7, 524: 8, 526: 6, 557: 8, 560: 8, 584: 8, 601: 8, 605: 8, 607: 8, 609: 8, 611: 8, 613: 8, 623: 8, 631: 8, 633: 8, 634: 8, 635: 8, 637: 8, 641: 8, 643: 8, 645: 2, 649: 8, 650: 8, 651: 8, 656: 4, 657: 8, 659: 5, 663: 8, 664: 8, 673: 8, 676: 8, 679: 8, 685: 8, 687: 8, 689: 5, 706: 8, 709: 8, 710: 8, 711: 8, 720: 6, 752: 2, 754: 8, 773: 8, 788: 3, 792: 8, 808: 8, 818: 8, 819: 8, 822: 8, 823: 8, 825: 2, 838: 2, 840: 8, 848: 8, 856: 4, 860: 6, 862: 8, 875: 2, 897: 8, 906: 8, 910: 8, 926: 3, 929: 8, 930: 8, 931: 8, 932: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 961: 8, 962: 8, 969: 4, 971: 8, 972: 8, 973: 8, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8}, + {35: 8, 37: 8, 39: 8, 43: 8, 47: 8, 49: 8, 53: 8, 55: 8, 113: 8, 119: 2, 121: 8, 123: 7, 125: 6, 127: 8, 129: 8, 131: 8, 133: 8, 135: 8, 137: 8, 139: 8, 141: 8, 145: 8, 147: 8, 149: 7, 153: 8, 155: 8, 157: 8, 163: 8, 164: 8, 166: 8, 167: 8, 169: 8, 171: 8, 173: 5, 177: 3, 179: 8, 181: 8, 213: 3, 221: 8, 232: 8, 250: 8, 276: 8, 277: 8, 278: 8, 289: 5, 293: 3, 295: 8, 296: 8, 297: 4, 299: 8, 301: 8, 302: 8, 305: 8, 307: 8, 311: 8, 317: 8, 319: 8, 323: 8, 327: 8, 333: 8, 334: 8, 341: 8, 343: 8, 345: 8, 347: 8, 421: 8, 448: 6, 456: 4, 457: 8, 464: 8, 489: 8, 491: 8, 502: 8, 503: 8, 507: 5, 516: 7, 517: 7, 524: 8, 526: 6, 557: 8, 560: 8, 584: 8, 601: 8, 605: 8, 607: 8, 609: 8, 613: 8, 623: 8, 631: 8, 633: 8, 634: 8, 635: 8, 637: 8, 641: 8, 643: 8, 645: 2, 649: 8, 650: 8, 651: 8, 656: 4, 657: 8, 663: 8, 673: 8, 676: 8, 679: 8, 685: 8, 687: 8, 689: 5, 706: 8, 709: 8, 710: 8, 711: 8, 720: 6, 738: 8, 752: 2, 754: 8, 773: 8, 792: 8, 808: 8, 812: 8, 813: 8, 814: 8, 818: 8, 819: 8, 821: 8, 822: 8, 823: 8, 825: 2, 838: 2, 840: 8, 847: 1, 848: 8, 856: 4, 860: 6, 862: 8, 874: 2, 876: 8, 897: 8, 906: 8, 910: 8, 926: 3, 929: 8, 930: 8, 931: 8, 932: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 961: 8, 962: 8, 969: 4, 971: 8, 972: 8, 973: 8, 975: 8, 976: 8, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1030: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8}, + {35: 8, 37: 8, 39: 8, 43: 8, 47: 8, 49: 8, 53: 8, 55: 8, 113: 8, 119: 2, 121: 8, 123: 7, 125: 6, 127: 8, 129: 8, 131: 8, 133: 8, 135: 8, 137: 8, 139: 8, 141: 8, 145: 8, 147: 8, 149: 7, 153: 8, 155: 8, 157: 8, 163: 8, 164: 8, 166: 8, 167: 8, 169: 8, 171: 8, 173: 5, 177: 3, 179: 8, 181: 8, 213: 3, 221: 8, 232: 8, 250: 8, 289: 5, 293: 3, 295: 8, 296: 8, 297: 4, 299: 8, 301: 8, 302: 8, 305: 8, 307: 8, 311: 8, 317: 8, 319: 8, 323: 8, 334: 8, 337: 8, 343: 8, 347: 8, 409: 6, 421: 8, 448: 6, 456: 4, 464: 8, 489: 8, 491: 8, 502: 8, 503: 8, 507: 5, 516: 7, 517: 7, 524: 8, 526: 6, 557: 8, 560: 8, 584: 8, 601: 8, 605: 8, 607: 8, 609: 8, 613: 8, 623: 8, 631: 8, 633: 8, 634: 8, 635: 8, 637: 8, 641: 8, 643: 8, 645: 2, 649: 8, 650: 8, 651: 8, 656: 4, 657: 8, 659: 5, 663: 8, 664: 8, 673: 8, 676: 8, 679: 8, 685: 8, 687: 8, 689: 5, 706: 8, 709: 8, 710: 8, 711: 8, 720: 6, 752: 2, 754: 8, 773: 8, 788: 3, 792: 8, 808: 8, 812: 8, 813: 8, 814: 8, 818: 8, 819: 8, 821: 8, 822: 8, 825: 2, 838: 2, 840: 8, 847: 1, 848: 8, 856: 4, 860: 6, 862: 8, 876: 8, 897: 8, 906: 8, 910: 8, 926: 3, 929: 8, 930: 8, 931: 8, 932: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 961: 8, 962: 8, 969: 4, 971: 8, 972: 8, 973: 8, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1030: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8}, + ], } @@ -108,6 +119,5 @@ DBC = { CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), + CAR.RAM_1500: dbc_dict('chrysler_ram_dt_generated', None), } - -STEER_THRESHOLD = 120 diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 19b1a05c23..96eb5f67b9 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -38,6 +38,7 @@ routes = [ TestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.PACIFICA_2018_HYBRID), TestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.PACIFICA_2019_HYBRID), TestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.PACIFICA_2020), + TestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500), #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION), diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index a2200926c0..be81af2606 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -19,8 +19,9 @@ FORD FOCUS 4TH GEN: [.nan, 1.5, .nan] # No steering wheel COMMA BODY: [.nan, 1000, .nan] -# Totally new car +# Totally new cars KIA EV6 2022: [3.0, 2.5, 0.0] +RAM 1500 5TH GEN: [2.0, 2.0, 0.05] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 0eeae1e3e3..b0136da88e 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -b904e52e9de4ff7b2bd7f6af8b19abaf4957e6cc \ No newline at end of file +ebe7f1285ec60f522179606d483a198535c0e83a \ No newline at end of file From fd2de54172b4a76f2ab8ac5d8f8eca5c41739351 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 7 Jul 2022 00:24:03 -0700 Subject: [PATCH 082/306] Stock longitudinal: spam resume button when lead starts moving (#24873) * always log leads, we hide them in ui * only spam resume when future is > vEgoStarting * do rest but vw * vw * remove comments * rename to resume * maintain original button msg rate * mazda: ensure no resume if cancelling * same for non-HDA2 * Always run planner if not opLong * try 0.2 * 0.1 should be pretty safe * add test for resuming * fix test * stricter test, speeds[-1] is 0.14 when starting here * no walrus * fixup mazda cc * remove extra import --- selfdrive/car/honda/carcontroller.py | 2 +- selfdrive/car/hyundai/carcontroller.py | 4 ++-- selfdrive/car/mazda/carcontroller.py | 11 ++++------- selfdrive/car/volkswagen/carcontroller.py | 5 ++--- selfdrive/controls/controlsd.py | 4 ++++ selfdrive/test/longitudinal_maneuvers/maneuver.py | 5 +++++ selfdrive/test/longitudinal_maneuvers/plant.py | 3 +++ .../test/longitudinal_maneuvers/test_longitudinal.py | 12 ++++++++++++ 8 files changed, 33 insertions(+), 13 deletions(-) diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 14049c9997..d47caaa9ad 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -195,7 +195,7 @@ class CarController: # If using stock ACC, spam cancel command to kill gas when OP disengages. if pcm_cancel_cmd: can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, self.CP.carFingerprint)) - elif CS.out.cruiseState.standstill: + elif CC.cruiseControl.resume: can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, self.CP.carFingerprint)) else: diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 4fbb5ce0e1..f3066bda03 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -78,7 +78,7 @@ class CarController: self.last_button_frame = self.frame # cruise standstill resume - elif CC.enabled and CS.out.cruiseState.standstill: + elif CC.cruiseControl.resume: can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, False, True)) self.last_button_frame = self.frame else: @@ -96,7 +96,7 @@ class CarController: if not self.CP.openpilotLongitudinalControl: if CC.cruiseControl.cancel: can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL)) - elif CS.out.cruiseState.standstill: + elif CC.cruiseControl.resume: # send resume at a max freq of 10Hz if (self.frame - self.last_button_frame) * DT_CTRL > 0.1: # send 25 messages at a time to increases the likelihood of resume being accepted diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py index 0e43a11ceb..a83cef508a 100644 --- a/selfdrive/car/mazda/carcontroller.py +++ b/selfdrive/car/mazda/carcontroller.py @@ -29,13 +29,6 @@ class CarController: CS.out.steeringTorque, CarControllerParams) self.steer_rate_limited = new_steer != apply_steer - if CC.enabled: - if CS.out.standstill and self.frame % 5 == 0: - # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds - # Send Resume button at 20hz if we're engaged at standstill to support full stop and go! - # TODO: improve the resume trigger logic by looking at actual radar data - can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME)) - if CC.cruiseControl.cancel: # If brake is pressed, let us wait >70ms before trying to disable crz to avoid # a race condition with the stock system, where the second cancel from openpilot @@ -48,6 +41,10 @@ class CarController: can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL)) else: self.brake_counter = 0 + if CC.cruiseControl.resume and self.frame % 5 == 0: + # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds + # Send Resume button when planner wants car to move + can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME)) self.apply_steer_last = apply_steer diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index 4614463c6e..1643fbe9b6 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -96,9 +96,8 @@ class CarController: # Cancel ACC if it's engaged with OP disengaged. self.graButtonStatesToSend = BUTTON_STATES.copy() self.graButtonStatesToSend["cancel"] = True - elif CC.enabled and CS.out.cruiseState.standstill: - # Blip the Resume button if we're engaged at standstill. - # FIXME: This is a naive implementation, improve with visiond or radar input. + elif CC.cruiseControl.resume: + # Send Resume button when planner wants car to move self.graButtonStatesToSend = BUTTON_STATES.copy() self.graButtonStatesToSend["resumeCruise"] = True diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 9e3af9eb63..6f0c9c2ae6 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -658,6 +658,10 @@ class Controls: if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]: CC.cruiseControl.cancel = True + speeds = self.sm['longitudinalPlan'].speeds + if len(speeds): + CC.cruiseControl.resume = self.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1 + hudControl = CC.hudControl hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS) hudControl.speedVisible = self.enabled diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py index 9b4d016430..0d605a5fc7 100644 --- a/selfdrive/test/longitudinal_maneuvers/maneuver.py +++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py @@ -16,6 +16,7 @@ class Maneuver(): self.only_lead2 = kwargs.get("only_lead2", False) self.only_radar = kwargs.get("only_radar", False) + self.ensure_start = kwargs.get("ensure_start", False) self.duration = duration self.title = title @@ -52,5 +53,9 @@ class Maneuver(): print("Crashed!!!!") valid = False + if self.ensure_start and log['v_rel'] > 0 and log['speeds'][-1] <= 0.1: + print('Planner not starting!') + valid = False + print("maneuver end", valid) return valid, np.array(logs) diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index 13025a9f03..3bd50ebcfa 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -28,6 +28,7 @@ class Plant(): self.distance = 0. self.speed = speed self.acceleration = 0.0 + self.speeds = [] # lead car self.distance_lead = distance_lead @@ -98,6 +99,7 @@ class Plant(): self.planner.update(sm) self.speed = self.planner.v_desired_filter.x self.acceleration = self.planner.a_desired + self.speeds = self.planner.v_desired_trajectory.tolist() fcw = self.planner.fcw self.distance_lead = self.distance_lead + v_lead * self.ts @@ -129,6 +131,7 @@ class Plant(): "distance": self.distance, "speed": self.speed, "acceleration": self.acceleration, + "speeds": self.speeds, "distance_lead": self.distance_lead, "fcw": fcw, } diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py index 698877dd3a..ec698d88fa 100755 --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -3,6 +3,7 @@ import os import unittest from common.params import Params +from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver @@ -106,6 +107,17 @@ maneuvers = [ breakpoints=[1., 1.01, 11.], cruise_values=[float("nan"), 15., 15.], ), + # controls relies on planner commanding to move for stock-ACC resume spamming + Maneuver( + "resume from a stop", + duration=20., + initial_speed=0., + lead_relevancy=True, + initial_distance_lead=STOP_DISTANCE, + speed_lead_values=[0., 0., 2.], + breakpoints=[1., 10., 15.], + ensure_start=True, + ), ] From 30cb9ac962395a86464fdfc079b5f0030c7b9b9d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 7 Jul 2022 00:28:21 -0700 Subject: [PATCH 083/306] FW query debug script: print version brand (#25058) * test_fw_query_on_routes: print brand * dynamic paddign --- selfdrive/debug/test_fw_query_on_routes.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index 789baeca4b..8c8c631c38 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -126,9 +126,10 @@ if __name__ == "__main__": print("New style (exact):", exact_matches) print("New style (fuzzy):", fuzzy_matches) - for version in car_fw: + padding = max([len(fw.brand) for fw in car_fw]) + for version in sorted(car_fw, key=lambda fw: fw.brand): subaddr = None if version.subAddress == 0 else hex(version.subAddress) - print(f" (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],") + print(f" Brand: {version.brand:{padding}} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],") print("Mismatches") found = False From edf170103ed0d244e0483794feee6c3b4023ccc2 Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Thu, 7 Jul 2022 11:14:31 +0200 Subject: [PATCH 084/306] Process replay: Fix subtest diff (#25054) Fix subtest diff --- selfdrive/test/process_replay/test_processes.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 9cbf4439ac..04bf51e2e9 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -71,7 +71,7 @@ def run_test_process(data): assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}" upload_file(cur_log_fn, os.path.basename(cur_log_fn)) os.remove(cur_log_fn) - return (segment, cfg.proc_name, res) + return (segment, cfg.proc_name, cfg.subtest_name, res) def get_log_data(segment): @@ -212,9 +212,9 @@ if __name__ == "__main__": results: Any = defaultdict(dict) p2 = pool.map(run_test_process, pool_args) - for (segment, proc, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)): + for (segment, proc, subtest_name, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)): if isinstance(result, list): - results[segment][proc] = result + results[segment][proc + subtest_name] = result diff1, diff2, failed = format_diff(results, ref_commit) if not upload: From a3a9a0685c63ea57dc936e496cd5e6be5a71512e Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 7 Jul 2022 12:02:31 +0200 Subject: [PATCH 085/306] onroad.cc: fix mutcd sign width for metric speed limit --- selfdrive/ui/qt/onroad.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 604d3c09a9..ca39a89ae4 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -296,7 +296,7 @@ void NvgWindow::drawHud(QPainter &p) { // US/Canada (MUTCD style) sign if (has_us_speed_limit) { const int border_width = 6; - const int sign_width = (speedLimitStr.size() >= 3) ? 199 : 148; + const int sign_width = rect_width - 24; const int sign_height = 186; // White outer square From eaf7eb42784732136e52cd031035e9c5ab520e6e Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Thu, 7 Jul 2022 13:06:51 +0200 Subject: [PATCH 086/306] Laikad: Use clocks for faster fetching orbits (#25060) * Use clocks msg to for first fetch of orbits. Which is sent earlier than ublox msgs * refactor last_fetch_orbits * Add comment. Add test * increase timeout * Add clocks to process replay --- selfdrive/locationd/laikad.py | 39 ++++++++++++------- selfdrive/locationd/test/test_laikad.py | 26 ++++++++++++- .../test/process_replay/process_replay.py | 4 +- 3 files changed, 53 insertions(+), 16 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 40519da7bc..e262407e02 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -5,6 +5,7 @@ import os import time from collections import defaultdict from concurrent.futures import Future, ProcessPoolExecutor +from datetime import datetime from enum import IntEnum from typing import List, Optional @@ -13,7 +14,7 @@ import numpy as np from cereal import log, messaging from common.params import Params, put_nonblocking from laika import AstroDog -from laika.constants import SECS_IN_MIN +from laika.constants import SECS_IN_HR, SECS_IN_MIN from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_ephem from laika.gps_time import GPSTime from laika.helpers import ConstellationId @@ -30,7 +31,8 @@ CACHE_VERSION = 0.1 class Laikad: - def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_orbits=True, auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV), + def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_orbits=True, auto_update=False, + valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV), save_ephemeris=False): """ valid_const: GNSS constellation which can be used @@ -47,6 +49,7 @@ class Laikad: self.orbit_fetch_future: Optional[Future] = None self.last_fetch_orbits_t = None + self.got_first_ublox_msg = False self.last_cached_t = None self.save_ephemeris = save_ephemeris self.load_cache() @@ -72,8 +75,9 @@ class Laikad: except json.decoder.JSONDecodeError: cloudlog.exception("Error parsing cache") timestamp = self.last_fetch_orbits_t.as_datetime() if self.last_fetch_orbits_t is not None else 'Nan' - cloudlog.debug(f"Loaded nav and orbits cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['orbits'].keys())} {list(cache['nav'].keys())} " + - f"Total: {sum([len(v) for v in cache['orbits']])} and {sum([len(v) for v in cache['nav']])}") + cloudlog.debug( + f"Loaded nav and orbits cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['orbits'].keys())} {list(cache['nav'].keys())} " + + f"Total: {sum([len(v) for v in cache['orbits']])} and {sum([len(v) for v in cache['nav']])}") def cache_ephemeris(self, t: GPSTime): if self.save_ephemeris and (self.last_cached_t is None or t - self.last_cached_t > SECS_IN_MIN): @@ -98,9 +102,10 @@ class Laikad: t = ublox_mono_time * 1e-9 report = ublox_msg.measurementReport if report.gpsWeek > 0: + self.got_first_ublox_msg = True latest_msg_t = GPSTime(report.gpsWeek, report.rcvTow) if self.auto_fetch_orbits: - self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block) + self.fetch_orbits(latest_msg_t, block) new_meas = read_raw_ublox(report) # Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites @@ -174,24 +179,26 @@ class Laikad: self.gnss_kf.init_state(x_initial, covs_diag=p_initial_diag) def fetch_orbits(self, t: GPSTime, block): - if t not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or t - self.last_fetch_orbits_t > SECS_IN_MIN): + # Download new orbits if 1 hour of orbits data left + if t + SECS_IN_HR not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or abs(t - self.last_fetch_orbits_t) > SECS_IN_MIN): astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types - ret = None - if block: + if block: # Used for testing purposes ret = get_orbit_data(t, *astro_dog_vars) elif self.orbit_fetch_future is None: self.orbit_fetch_executor = ProcessPoolExecutor(max_workers=1) self.orbit_fetch_future = self.orbit_fetch_executor.submit(get_orbit_data, t, *astro_dog_vars) elif self.orbit_fetch_future.done(): - self.last_fetch_orbits_t = t ret = self.orbit_fetch_future.result() self.orbit_fetch_executor = self.orbit_fetch_future = None if ret is not None: - self.astro_dog.orbits, self.astro_dog.orbit_fetched_times = ret - self.cache_ephemeris(t=t) + if ret[0] is None: + self.last_fetch_orbits_t = ret[2] + else: + self.astro_dog.orbits, self.astro_dog.orbit_fetched_times, self.last_fetch_orbits_t = ret + self.cache_ephemeris(t=t) def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types): @@ -201,9 +208,10 @@ def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types): try: astro_dog.get_orbit_data(t, only_predictions=True) cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s") - return astro_dog.orbits, astro_dog.orbit_fetched_times + return astro_dog.orbits, astro_dog.orbit_fetched_times, t except (RuntimeError, ValueError, IOError) as e: cloudlog.warning(f"No orbit data found or parsing failure: {e}") + return None, None, t def create_measurement_msg(meas: GNSSMeasurement): @@ -284,7 +292,7 @@ class EphemerisSourceType(IntEnum): def main(sm=None, pm=None): if sm is None: - sm = messaging.SubMaster(['ubloxGnss']) + sm = messaging.SubMaster(['ubloxGnss', 'clocks']) if pm is None: pm = messaging.PubMaster(['gnssMeasurements']) @@ -299,6 +307,11 @@ def main(sm=None, pm=None): msg = laikad.process_ublox_msg(ublox_msg, sm.logMonoTime['ubloxGnss'], block=replay) if msg is not None: pm.send('gnssMeasurements', msg) + if not laikad.got_first_ublox_msg and sm.updated['clocks']: + clocks_msg = sm['clocks'] + t = GPSTime.from_datetime(datetime.utcfromtimestamp(clocks_msg.wallTimeNanos * 1E-9)) + if laikad.auto_fetch_orbits: + laikad.fetch_orbits(t, block=replay) if __name__ == "__main__": diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index 26c1d28820..3a7c073b55 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -67,7 +67,7 @@ class TestLaikad(unittest.TestCase): gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1)) laikad = Laikad() laikad.fetch_orbits(gpstime, block=False) - laikad.orbit_fetch_future.result(5) + laikad.orbit_fetch_future.result(30) # Get results and save orbits to laikad: laikad.fetch_orbits(gpstime, block=False) @@ -75,7 +75,7 @@ class TestLaikad(unittest.TestCase): self.assertIsNotNone(ephem) laikad.fetch_orbits(gpstime+2*SECS_IN_DAY, block=False) - laikad.orbit_fetch_future.result(5) + laikad.orbit_fetch_future.result(30) # Get results and save orbits to laikad: laikad.fetch_orbits(gpstime + 2 * SECS_IN_DAY, block=False) @@ -83,6 +83,28 @@ class TestLaikad(unittest.TestCase): self.assertIsNotNone(ephem) self.assertNotEqual(ephem, ephem2) + def test_fetch_orbits_with_wrong_clocks(self): + laikad = Laikad() + + def check_has_orbits(): + self.assertGreater(len(laikad.astro_dog.orbits), 0) + ephem = laikad.astro_dog.orbits['G01'][0] + self.assertIsNotNone(ephem) + real_current_time = GPSTime.from_datetime(datetime(2021, month=3, day=1)) + wrong_future_clock_time = real_current_time + SECS_IN_DAY + + laikad.fetch_orbits(wrong_future_clock_time, block=True) + check_has_orbits() + self.assertEqual(laikad.last_fetch_orbits_t, wrong_future_clock_time) + + # Test fetching orbits with earlier time + assert real_current_time < laikad.last_fetch_orbits_t + + laikad.astro_dog.orbits = {} + laikad.fetch_orbits(real_current_time, block=True) + check_has_orbits() + self.assertEqual(laikad.last_fetch_orbits_t, real_current_time) + def test_ephemeris_source_in_msg(self): data_mock = defaultdict(str) data_mock['sv_id'] = 1 diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 9c45281b0c..c667aa3887 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -239,7 +239,7 @@ def ublox_rcv_callback(msg): def laika_rcv_callback(msg, CP, cfg, fsm): - if msg.ubloxGnss.which() == "measurementReport": + if msg.which() == 'ubloxGnss' and msg.ubloxGnss.which() == "measurementReport": return ["gnssMeasurements"], True else: return [], True @@ -352,6 +352,7 @@ CONFIGS = [ subtest_name="Offline", pub_sub={ "ubloxGnss": ["gnssMeasurements"], + "clocks": [] }, ignore=["logMonoTime"], init_callback=get_car_params, @@ -364,6 +365,7 @@ CONFIGS = [ proc_name="laikad", pub_sub={ "ubloxGnss": ["gnssMeasurements"], + "clocks": [] }, ignore=["logMonoTime"], init_callback=get_car_params, From 356190f6712b68218237147deddf90fbe6268b6e Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 7 Jul 2022 16:13:05 +0200 Subject: [PATCH 087/306] fix MacOS buid: replay frameworks (#25061) * replay: fix macos build * here too * keep original frameworks --- tools/replay/SConscript | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/tools/replay/SConscript b/tools/replay/SConscript index 4a85f46d61..d3967708fa 100644 --- a/tools/replay/SConscript +++ b/tools/replay/SConscript @@ -2,8 +2,14 @@ import os Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'transformations') +base_frameworks = qt_env['FRAMEWORKS'] base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq', - 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] + 'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] + +if arch == "Darwin": + base_frameworks.append('OpenCL') +else: + base_libs.append('OpenCL') qt_libs = ['qt_util'] + base_libs if arch in ['x86_64', 'Darwin'] or GetOption('extras'): @@ -11,9 +17,9 @@ if arch in ['x86_64', 'Darwin'] or GetOption('extras'): replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"] - replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=qt_libs) + replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=qt_libs, FRAMEWORKS=base_frameworks) replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs - qt_env.Program("replay", ["main.cc"], LIBS=replay_libs) + qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks) if GetOption('test'): qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs]) From 7e187426c7f02b8d63bce394f08219307e5900ca Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 7 Jul 2022 18:00:07 +0200 Subject: [PATCH 088/306] athena: skip duplicate upload requests (#25062) * athena: skip duplicate upload requests * cleanup * keep simple * just ignore --- selfdrive/athena/athenad.py | 5 +++++ selfdrive/athena/tests/test_athenad.py | 23 +++++++++++++++++++---- 2 files changed, 24 insertions(+), 4 deletions(-) diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index b0e138c495..6ccd6c3de1 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -364,6 +364,11 @@ def uploadFilesToUrls(files_data): failed.append(fn) continue + # Skip item if already in queue + url = file['url'].split('?')[0] + if any(url == item['url'].split('?')[0] for item in listUploadQueue()): + continue + item = UploadItem( path=path, url=file['url'], diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index 382b549c1b..7f511eecf6 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -124,7 +124,7 @@ class TestAthenadMethods(unittest.TestCase): fn = os.path.join(athenad.ROOT, 'qlog.bz2') Path(fn).touch() if fn.endswith('.bz2'): - self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4]) + self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4]) @with_http_server @@ -142,9 +142,6 @@ class TestAthenadMethods(unittest.TestCase): @with_http_server def test_uploadFileToUrl(self, host): - not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {}) - self.assertEqual(not_exists_resp, {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']}) - fn = os.path.join(athenad.ROOT, 'qlog.bz2') Path(fn).touch() @@ -155,6 +152,24 @@ class TestAthenadMethods(unittest.TestCase): self.assertIsNotNone(resp['items'][0].get('id')) self.assertEqual(athenad.upload_queue.qsize(), 1) + @with_http_server + def test_uploadFileToUrl_duplicate(self, host): + fn = os.path.join(athenad.ROOT, 'qlog.bz2') + Path(fn).touch() + + url1 = f"{host}/qlog.bz2?sig=sig1" + dispatcher["uploadFileToUrl"]("qlog.bz2", url1, {}) + + # Upload same file again, but with different signature + url2 = f"{host}/qlog.bz2?sig=sig2" + resp = dispatcher["uploadFileToUrl"]("qlog.bz2", url2, {}) + self.assertEqual(resp, {'enqueued': 0, 'items': []}) + + @with_http_server + def test_uploadFileToUrl_does_not_exist(self, host): + not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {}) + self.assertEqual(not_exists_resp, {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']}) + @with_http_server def test_upload_handler(self, host): fn = os.path.join(athenad.ROOT, 'qlog.bz2') From ea80ee0845b619cc20309228611c01ed4c717fd1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 7 Jul 2022 09:40:04 -0700 Subject: [PATCH 089/306] Chrysler: resume from cruise standstill (#25009) * Chrysler: resume from cruise standstill * bump panda * resume isn't set yet --- panda | 2 +- selfdrive/car/chrysler/carcontroller.py | 6 ++++-- selfdrive/car/chrysler/chryslercan.py | 3 ++- 3 files changed, 7 insertions(+), 4 deletions(-) diff --git a/panda b/panda index fae3ee2e81..53466f0934 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit fae3ee2e8161d34a7c1939503e583db9b85e5402 +Subproject commit 53466f09344c8ff6cdce3b19df76b5bca79e1327 diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 606cb51176..e0eb979e6a 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -25,9 +25,11 @@ class CarController: # *** control msgs *** + das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0 if CC.cruiseControl.cancel: - bus = 2 if self.CP.carFingerprint in RAM_CARS else 0 - can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, bus, cancel=True)) + can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True)) + elif CC.enabled and CS.out.cruiseState.standstill: + can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True)) # HUD alerts if self.frame % 25 == 0: diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py index e17e5d5b2a..632c0d2bcf 100644 --- a/selfdrive/car/chrysler/chryslercan.py +++ b/selfdrive/car/chrysler/chryslercan.py @@ -62,8 +62,9 @@ def create_lkas_command(packer, CP, apply_steer, lat_active, frame): return packer.make_can_msg("LKAS_COMMAND", 0, values, frame % 0x10) -def create_cruise_buttons(packer, frame, bus, cancel=False): +def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False): values = { "ACC_Cancel": cancel, + "ACC_Resume": resume, } return packer.make_can_msg("CRUISE_BUTTONS", bus, values, frame % 0x10) From 8d98d8c6578830e28ea8f39fce3844a7e493c019 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 7 Jul 2022 10:28:55 -0700 Subject: [PATCH 090/306] process replay: add Ram route (#25063) --- selfdrive/car/chrysler/interface.py | 4 +++- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/test_processes.py | 2 ++ 3 files changed, 6 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index af202cdc46..920000b271 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -2,7 +2,7 @@ from cereal import car from panda import Panda from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config -from selfdrive.car.chrysler.values import CAR, RAM_CARS +from selfdrive.car.chrysler.values import CAR, DBC, RAM_CARS from selfdrive.car.interfaces import CarInterfaceBase @@ -12,6 +12,8 @@ class CarInterface(CarInterfaceBase): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "chrysler" + ret.radarOffCan = DBC[candidate]['radar'] is None + param = Panda.FLAG_CHRYSLER_RAM_DT if candidate in RAM_CARS else None ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler, param)] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index b0136da88e..0521fd8295 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -ebe7f1285ec60f522179606d483a198535c0e83a \ No newline at end of file +cf46781e405a01c96307d30d1266d46e0fa92255 \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 04bf51e2e9..96d1014004 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -24,6 +24,7 @@ original_segments = [ ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.CIVIC (NIDEC) ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.ACCORD (BOSCH) ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.PACIFICA + ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--2"), # CHRYSLER.RAM_1500 ("SUBARU", "4d70bc5e608678be|2021-01-15--17-02-04--5"), # SUBARU.IMPREZA ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.VOLT ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.XTRAIL @@ -43,6 +44,7 @@ segments = [ ("HONDA", "regen17B09D158B8|2022-07-06--14-31-46--0"), ("HONDA2", "regen041739C3E9A|2022-07-06--15-08-02--0"), ("CHRYSLER", "regenBB2F9C1425C|2022-07-06--14-31-41--0"), + ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--2"), ("SUBARU", "regen732B69F33B1|2022-07-06--14-36-18--0"), ("GM", "regen01D09D915B5|2022-07-06--14-36-20--0"), ("NISSAN", "regenEA6FB2773F5|2022-07-06--14-58-23--0"), From 568cc0f892d650bd5906b59e1ab169158a7a6bf7 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 8 Jul 2022 01:54:56 +0800 Subject: [PATCH 091/306] loggerd: remove 'enable' from struct LogCameraInfo (#25052) remove enalbe --- selfdrive/loggerd/encoderd.cc | 6 ++---- selfdrive/loggerd/loggerd.cc | 6 ++---- selfdrive/loggerd/loggerd.h | 5 ----- 3 files changed, 4 insertions(+), 13 deletions(-) diff --git a/selfdrive/loggerd/encoderd.cc b/selfdrive/loggerd/encoderd.cc index 87cf4a492f..9bd8e2f1d4 100644 --- a/selfdrive/loggerd/encoderd.cc +++ b/selfdrive/loggerd/encoderd.cc @@ -124,10 +124,8 @@ void encoderd_thread() { std::vector encoder_threads; for (const auto &cam : cameras_logged) { - if (cam.enable) { - encoder_threads.push_back(std::thread(encoder_thread, &s, cam)); - s.max_waiting++; - } + encoder_threads.push_back(std::thread(encoder_thread, &s, cam)); + s.max_waiting++; } for (auto &t : encoder_threads) t.join(); } diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc index a75ab2c92b..e0892e68b4 100644 --- a/selfdrive/loggerd/loggerd.cc +++ b/selfdrive/loggerd/loggerd.cc @@ -204,10 +204,8 @@ void loggerd_thread() { // init encoders s.last_camera_seen_tms = millis_since_boot(); for (const auto &cam : cameras_logged) { - if (cam.enable) { - s.max_waiting++; - if (cam.has_qcamera) { s.max_waiting++; } - } + s.max_waiting++; + if (cam.has_qcamera) { s.max_waiting++; } } uint64_t msg_count = 0, bytes_count = 0; diff --git a/selfdrive/loggerd/loggerd.h b/selfdrive/loggerd/loggerd.h index 2c4990086a..6eafbe08d0 100644 --- a/selfdrive/loggerd/loggerd.h +++ b/selfdrive/loggerd/loggerd.h @@ -50,7 +50,6 @@ struct LogCameraInfo { int bitrate; bool is_h265; bool has_qcamera; - bool enable; bool record; }; @@ -63,7 +62,6 @@ const LogCameraInfo cameras_logged[] = { .bitrate = MAIN_BITRATE, .is_h265 = true, .has_qcamera = true, - .enable = true, .record = true, .frame_width = 1928, .frame_height = 1208, @@ -76,7 +74,6 @@ const LogCameraInfo cameras_logged[] = { .bitrate = DCAM_BITRATE, .is_h265 = true, .has_qcamera = false, - .enable = true, .record = Params().getBool("RecordFront"), .frame_width = 1928, .frame_height = 1208, @@ -89,7 +86,6 @@ const LogCameraInfo cameras_logged[] = { .bitrate = MAIN_BITRATE, .is_h265 = true, .has_qcamera = false, - .enable = true, .record = true, .frame_width = 1928, .frame_height = 1208, @@ -100,7 +96,6 @@ const LogCameraInfo qcam_info = { .fps = MAIN_FPS, .bitrate = 256000, .is_h265 = false, - .enable = true, .record = true, .frame_width = 526, .frame_height = 330, From 836e2a4d98b587b7ae083bb710190ed1dfa9dccf Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 7 Jul 2022 13:20:42 -0700 Subject: [PATCH 092/306] Chrysler: fix steer fault detection (#25068) --- selfdrive/car/chrysler/carstate.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index 71b7e34623..47b28f9e05 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -83,8 +83,7 @@ class CarState(CarStateBase): self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON'] # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message ret.steerFaultTemporary = cp.vl["EPS_3"]["DASM_FAULT"] == 1 else: - steer_state = cp.vl["EPS_2"]["LKAS_STATE"] - ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed) + ret.steerFaultPermanent = cp.vl["EPS_2"]["LKAS_STATE"] == 4 # blindspot sensors if self.CP.enableBsm: From bd2ea158977f5c26658bed8ac683b72c2c592d06 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 7 Jul 2022 14:19:30 -0700 Subject: [PATCH 093/306] Add Chinese (traditional) translations (#25064) * Add Chinese translations * wrap these * add to languages.json * fix tests * use tmp dir for tests (doesn't change translation files in git repo) * defaultdict not used * update main_zh.ts (test outdated QM file) * test outdated QM file (prev commit tests missing) * update qm file * add sidebar translations * no need for function --- selfdrive/ui/qt/sidebar.h | 14 +- selfdrive/ui/tests/test_translations.py | 46 +- selfdrive/ui/translations/languages.json | 3 +- selfdrive/ui/translations/main_zh.qm | Bin 0 -> 17617 bytes selfdrive/ui/translations/main_zh.ts | 1212 ++++++++++++++++++++++ selfdrive/ui/update_translations.py | 4 +- 6 files changed, 1254 insertions(+), 25 deletions(-) create mode 100644 selfdrive/ui/translations/main_zh.qm create mode 100644 selfdrive/ui/translations/main_zh.ts diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h index 98ae6564d6..4c6d8f47e5 100644 --- a/selfdrive/ui/qt/sidebar.h +++ b/selfdrive/ui/qt/sidebar.h @@ -34,13 +34,13 @@ protected: QPixmap home_img, settings_img; const QMap network_type = { - {cereal::DeviceState::NetworkType::NONE, "--"}, - {cereal::DeviceState::NetworkType::WIFI, "Wi-Fi"}, - {cereal::DeviceState::NetworkType::ETHERNET, "ETH"}, - {cereal::DeviceState::NetworkType::CELL2_G, "2G"}, - {cereal::DeviceState::NetworkType::CELL3_G, "3G"}, - {cereal::DeviceState::NetworkType::CELL4_G, "LTE"}, - {cereal::DeviceState::NetworkType::CELL5_G, "5G"} + {cereal::DeviceState::NetworkType::NONE, tr("--")}, + {cereal::DeviceState::NetworkType::WIFI, tr("Wi-Fi")}, + {cereal::DeviceState::NetworkType::ETHERNET, tr("ETH")}, + {cereal::DeviceState::NetworkType::CELL2_G, tr("2G")}, + {cereal::DeviceState::NetworkType::CELL3_G, tr("3G")}, + {cereal::DeviceState::NetworkType::CELL4_G, tr("LTE")}, + {cereal::DeviceState::NetworkType::CELL5_G, tr("5G")} }; const QRect settings_btn = QRect(50, 35, 200, 117); diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index ccea748e24..2dedf3d785 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -1,10 +1,13 @@ #!/usr/bin/env python3 import json import os +import shutil import unittest from selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations +TMP_TRANSLATIONS_DIR = os.path.join(TRANSLATIONS_DIR, "tmp") + class TestTranslations(unittest.TestCase): @classmethod @@ -12,11 +15,25 @@ class TestTranslations(unittest.TestCase): with open(LANGUAGES_FILE, "r") as f: cls.translation_files = json.load(f) + # Set up temp directory + shutil.copytree(TRANSLATIONS_DIR, TMP_TRANSLATIONS_DIR, dirs_exist_ok=True) + + @classmethod + def tearDownClass(cls): + shutil.rmtree(TMP_TRANSLATIONS_DIR, ignore_errors=True) + + @staticmethod + def _read_translation_file(path, file, file_ext): + tr_file = os.path.join(path, f"{file}.{file_ext}") + with open(tr_file, "rb") as f: + # fix relative path depth + return f.read().replace(b"filename=\"../../", b"filename=\"../") + def test_missing_translation_files(self): for name, file in self.translation_files.items(): with self.subTest(name=name, file=file): if not len(file): - self.skipTest(f"{name} translation has no file") + self.skipTest(f"{name} translation has no defined file") self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")), f"{name} has no XML translation file, run selfdrive/ui/update_translations.py") @@ -24,26 +41,25 @@ class TestTranslations(unittest.TestCase): f"{name} has no compiled QM translation file, run selfdrive/ui/update_translations.py --release") def test_translations_updated(self): - suffix = "_test" - update_translations(suffix=suffix) + update_translations(release=True, translations_dir=TMP_TRANSLATIONS_DIR) for name, file in self.translation_files.items(): with self.subTest(name=name, file=file): - cur_tr_file = os.path.join(TRANSLATIONS_DIR, f"{file}.ts") - new_tr_file = os.path.join(TRANSLATIONS_DIR, f"{file}{suffix}.ts") - if not len(file): - self.skipTest(f"{name} translation has no file") - elif not os.path.exists(cur_tr_file): - self.skipTest(f"{name} missing translation file") # caught by test_missing_translation_files + self.skipTest(f"{name} translation has no defined file") + + for file_ext in ["ts", "qm"]: + with self.subTest(file_ext=file_ext): + + # caught by test_missing_translation_files + if not os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.{file_ext}")): + self.skipTest(f"{name} missing translation file") - with open(cur_tr_file, "r") as f: - cur_translations = f.read() - with open(new_tr_file, "r") as f: - new_translations = f.read() + cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file, file_ext) + new_translations = self._read_translation_file(TMP_TRANSLATIONS_DIR, file, file_ext) - self.assertEqual(cur_translations, new_translations, - f"{name} translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files") + self.assertEqual(cur_translations, new_translations, + f"{file} ({name}) {file_ext.upper()} translation file out of date. Run selfdrive/ui/update_translations.py --release to update the translation files") if __name__ == "__main__": diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json index f2f9400d64..e62de24a1e 100644 --- a/selfdrive/ui/translations/languages.json +++ b/selfdrive/ui/translations/languages.json @@ -1,3 +1,4 @@ { - "English": "" + "English": "", + "中文（简体）": "main_zh" } diff --git a/selfdrive/ui/translations/main_zh.qm b/selfdrive/ui/translations/main_zh.qm new file mode 100644 index 0000000000000000000000000000000000000000..627f6afc204dba0b2c2a87f13cad266e9edcbd4f GIT binary patch literal 17617 zcmcIrdwf*&mH#D~S0E(QdWwQd+CxtF>-d7i}%ge$VgD+_^Kkf$bk# zKK4##&N;vHJHPWg@4NH|{z=b$aR0uO)21BV@X(LW)H7y!kg?+PjLj@&tR#r%HF);n zxg5`X@$6yDfZxk+Va!;|Sk-Pkm*DwJJi7tYr97v)88bh_nC$(o+s#MpHUS<^e;V{G1R)?Dgkta5GWvpDD3ONw86@G{W5yX4A081em6CDVsKgZ=!rB-H_W3rkDBSpj~l z9xZwNiFU}(Qu42l1HSsQl4COmpkvRKoPx|)QM%-l)FDW9mZ9<8?=Uw0%Z3ey{{{Sf zXb837>&j(@{?~72?8?K2y9^&Pwjgad(DD@Y>{{hnu~2zVdEIdT!=K>Xo;Q5;O+WZ6 zF?{RPKE|eQHhj1DVaU^Oc+!S*v3+cK{;kva{-u zGnNnC3i;hlze3ag#Jf{>X&nssu&!rC=?;nO9Sifj|_|EN&O_*-{_D^49Y|azL zAD@Sui?o4nWT)@E_*svmmD# z%zS9_9oUy-{&w^Ytlw(>!1-0kZKwHvUcCZxdei*zdyq@Xx6Gd|d7H5-&RZI09m75N zg5{PH@Lln|MSA~J=>2_`-Km54eaP~aZ-U-gbG z885@eJZiPihW##zgD4Q03fy8&{nE8Ci$0KESxJMjmc&ox(+ z{j3dgx@5X-!ZTR+y1lk(kK_C4Cv4R>^+P{`w&e{t=NtcQyXA(pj4l4iwxS;Uzy5C9 z%6*_W#chj-#LsHmy?^Nf{(9TvdvVYHL9#vjAmlaY9ox@O<2m~_+vyYF%W!A8>CiP; z&rx1`<*&fUjpa9<--&zrZ26-L@%vS$%D>--=i>VEW7A=q%}EPF?nvL06I}@2O^z@dfx@wudT@+kWG8u{niP=l+ z{lf=`YHLcvrVf5_1bF=%kT64{|rG&PXAg*ie4k%$vHIl3(53CkJXTfI3w zs3H_Q6wMn8SYJ`gmPx*FC@Qskf)ZEgao%4HoEfpXHV$vb!Ovjx)CDfffX)$8(NHvz z^n}C0jCsW1C?fMW99e(-z$V`z*RO(}-kaUKf*$dlx9#@xjxDJwkd;}CNi2&053w-* zO3p1-muXlnr-Vo(8Q!Hq!N-K$E0X1 z6qb`Ux=hVw!iFR1!J(&Dn|)^Ycx89&G5(y-1otlfX+h?jg&LOT2;eC$_@#8nCkdg1 z5R*f=0)A}&$Bzj!=5xkoETGQ|vuhJ*yC*7zxl|`?II=O?eQ@X2j>NwAQ;VW|+?S6` zRkwV#JuV6T*mfe7`OxQyV&gIv>cjrzK;Sc(Esa5T?@8$~cdheC9$8^bvT<%wFG_Pu zv}an!i9DLKFF-RPB?X@+9P%odg(Gb8iW~dS*D9*b$t@7^Dk>ZwR)k7Qobx6N<$eMJP|4G z(M2G#nTdH>hCdc4ylg+{26-_!XH1JU-F|9~TWBYL66-!5$<-kr4cU=Hf== zRFwQVZdHPt5N@fx5=>2oPDGA|k}`QkLE0FDdz4^FghDujoiV*LgwFGL-#|$v+ABq7dilni8PS>>gq3^ereM~Dx}pZ1yf-Uw$rZ* zZ6Q|aeybRWwCD;q!ct<65Rg1cSWJAP;4qBCPI4cazyamFfi4dQasG~0 zmA1)+v-WUjJNl&h%EB+JkcKfYO0ig$gYwIL+}Dq$<_u}!!criq%ilIV>FnGZuFu|| zuBx?fc_+F)gd7)=%YvQTj(cXs-;3yP??jPgd_(p(x>I^I9g}@U1Mia_jM&!iSTp`! 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(vehicle must be off) + 预览面向驾驶员的摄像头，以帮助优化设备安装位置以获得最佳驾驶员监控体验。 （车辆必须关闭） + + + + Reset Calibration + 重置校准 + + + + RESET + 重置 + + + + Are you sure you want to reset calibration? + 您确定要重置校准吗？ + + + + Review Training Guide + 查看培训指南 + + + + REVIEW + 审查 + + + + Review the rules, features, and limitations of openpilot + 查看 openpilot 的规则、功能和限制 + + + + Are you sure you want to review the training guide? + 您确定要查看培训指南吗？ + + + + Regulatory + 监管 + + + + VIEW + 看法 + + + Change Language + 改变语言 + + + CHANGE + 改变 + + + Select a language + 选择语言 + + + + Reboot + 重启 + + + + Power Off + 关机 + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot 要求设备安装在左或右 4° 以内，上 5° 或下 8° 以内。 openpilot 会持续校准，很少需要重置。 + + + + Your device is pointed %1° %2 and %3° %4. + 您的设备指向 %1° %2 和 %3° %4。 + + + + down + 下 + + + + up + 向上 + + + + left + 剩下 + + + + right + 向右 + + + + Are you sure you want to reboot? + 您确定要重新启动吗？ + + + + Disengage to Reboot + 脱离以重新启动 + + + + Are you sure you want to power off? + 您确定要关闭电源吗？ + + + + Disengage to Power Off + 脱离以关闭电源 + + + + DriveStats + + + Drives + 驱动器 + + + + Hours + 小时 + + + + ALL TIME + 整天 + + + + PAST WEEK + 上周 + + + + KM + 千米 + + + + Miles + 迈尔斯 + + + + DriverViewScene + + + camera starting + 相机启动 + + + + InputDialog + + + Cancel + 取消 + + + + Need at least + 需要至少 + + + + characters! + 字符！ + + + + Installer + + + Installing... + 安装... + + + + Receiving objects: + 接收物体： + + + + Resolving deltas: + 解决增量： + + + + Updating files: + 更新文件： + + + + MapPanel + + + Current Destination + 当前目的地 + + + + CLEAR + CLEAR + + + + Recent Destinations + 近期目的地 + + + + Try the Navigation Beta + 试用导航测试版 + + + + Get turn-by-turn directions displayed and more with a comma +prime subscription. Sign up now: https://connect.comma.ai + 使用逗号获取显示的详细路线和更多信息 +主要订阅。 立即注册：https://connect.comma.ai + + + + No home +location set + 没有家 +位置集 + + + + No work +location set + 没有工作 +位置集 + + + + no recent destinations + 没有最近的目的地 + + + + MultiOptionDialog + + Select + 选择 + + + Cancel + 取消 + + + + Networking + + + Advanced + 先进的 + + + + Enter password + 先进的 + + + + + for " + 为了 " + + + + Wrong password + Wrong password + + + + NvgWindow + + + km/h + 公里/小时 + + + + mph + 英里/小时 + + + + + MAX + 最大限度 + + + + + SPEED + 速度 + + + + + LIMIT + 限制 + + + + OffroadHome + + + UPDATE + 更新 + + + + ALERTS + 个警报 + + + + ALERT + 个警报 + + + + PairingPopup + + + Pair your device to your comma account + 将您的设备与您的逗号账户配对 + + + + + <ol type='1' style='margin-left: 15px;'> + <li style='margin-bottom: 50px;'>Go to https://connect.comma.ai on your phone</li> + <li style='margin-bottom: 50px;'>Click "add new device" and scan the QR code on the right</li> + <li style='margin-bottom: 50px;'>Bookmark connect.comma.ai to your home screen to use it like an app</li> + </ol> + + + <ol type='1' style='margin-left: 15px;'> + <li style='margin-bottom: 50px;'>在手机上访问 https://connect.comma.ai</li> + <li style='margin-bottom: 50px;'>点击“添加新设备”，扫描右侧二维码</li> + <li style='margin-bottom: 50px;'>将 connect.comma.ai 收藏到您的主屏幕，以便像应用程序一样使用它</li> + </ol> + + + + + PrimeAdWidget + + + Upgrade Now + 现在升级 + + + + Become a comma prime member at connect.comma.ai + 成为 connect.comma.ai 的逗号主要会员 + + + + PRIME FEATURES: + 主要特点： + + + + Remote access + 远程访问 + + + + 1 year of storage + 1年存储 + + + + Developer perks + 开发者福利 + + + + PrimeUserWidget + + + ✓ SUBSCRIBED + ✓ 订阅 + + + + comma prime + 逗号素数 + + + + CONNECT.COMMA.AI + CONNECT.COMMA.AI + + + + COMMA POINTS + 逗号分 + + + + QObject + + + Reboot + 重启 + + + + Exit + 出口 + + + + dashcam + 行车记录器 + + + + openpilot + 开放式飞行员 + + + + %1 minute%2 ago + %1 分钟%2 前 + + + + %1 hour%2 ago + %1 小时%2 前 + + + + %1 day%2 ago + %1 天%2 前 + + + + Reset + + + Reset failed. Reboot to try again. + 重置失败。 重新启动以重试。 + + + + Are you sure you want to reset your device? + 您确定要重置您的设备吗？ + + + + Resetting device... + 正在重置设备... + + + + System Reset + 系统重置 + + + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + 触发系统重置。 按确认删除所有内容和设置。 按取消恢复启动。 + + + + Cancel + 取消 + + + + Reboot + 重启 + + + + Confirm + 确认 + + + + Unable to mount data partition. Press confirm to reset your device. + 无法挂载数据分区。 按确认重置您的设备。 + + + + RichTextDialog + + + Ok + 好的 + + + + SettingsWindow + + + × + × + + + + Device + 设备 + + + + + Network + 网络 + + + + Toggles + 切换 + + + + Software + 软件 + + + + Navigation + 导航 + + + + Setup + + + WARNING: Low Voltage + 警告：低电压 + + + + Power your device in a car with a harness or proceed at your own risk. + 使用安全带在汽车中为您的设备供电或自行承担风险。 + + + + Power off + 关机 + + + + + + Continue + 继续 + + + + Getting Started + 入门 + + + + Before we get on the road, let’s finish installation and cover some details. + 在我们上路之前，让我们完成安装并介绍一些细节。 + + + + Connect to Wi-Fi + 连接到无线网络 + + + + + Back + 后退 + + + + Continue without Wi-Fi + 在没有 Wi-Fi 的情况下继续 + + + + Waiting for internet + 等待上网 + + + + Choose Software to Install + 选择要安装的软件 + + + + Dashcam + 行车记录器 + + + + Custom Software + 定制的软件 + + + + Enter URL + 输入网址 + + + + for Custom Software + 定制软件 + + + + Downloading... + 正在下载... + + + + Download Failed + 下载失败 + + + + Ensure the entered URL is valid, and the device’s internet connection is good. + 确保输入的 URL 有效，并且设备的互联网连接良好。 + + + + Reboot device + 重启设备 + + + + Start over + 重来 + + + + SetupWidget + + + Finish Setup + 完成设置 + + + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + 将您的设备与 comma connect (connect.comma.ai) 配对并领取您的 comma prime 优惠。 + + + + Pair device + 配对设备 + + + + Sidebar + + + + CONNECT + 连接 + + + + OFFLINE + 离线 + + + + + ONLINE + 在线的 + + + + ERROR + 错误 + + + + + + TEMP + 温度 + + + + HIGH + 高的 + + + + GOOD + 好的 + + + + OK + 好的 + + + + VEHICLE + 车辆 + + + + NO + 不 + + + + PANDA + 熊猫 + + + + GPS + GPS + + + + SEARCH + 搜索 + + + + -- + -- + + + + Wi-Fi + Wi-Fi + + + + ETH + 以太網 + + + + 2G + 2G + + + + 3G + 3G + + + + LTE + LTE + + + + 5G + 5G + + + + SoftwarePanel + + + Git Branch + Git 分支 + + + + Git Commit + Git 提交 + + + + OS Version + 操作系统版本 + + + + Version + 版本 + + + + Last Update Check + 最后更新检查 + + + + The last time openpilot successfully checked for an update. The updater only runs while the car is off. + 上次 openpilot 成功检查更新的时间。 更新程序仅在汽车关闭时运行。 + + + + Check for Update + 检查更新 + + + + CHECKING + 正在检查 + + + + Uninstall + 卸载 + + + + UNINSTALL + 卸载 + + + + Are you sure you want to uninstall? + 您确定要卸载吗？ + + + + failed to fetch update + 未能获取更新 + + + + + CHECK + 查看 + + + + SshControl + + + SSH Keys + SSH 密钥 + + + + Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. + 警告：这将授予对 GitHub 设置中所有公钥的 SSH 访问权限。 切勿输入您自己以外的 GitHub 用户名。 逗号员工永远不会要求您添加他们的 GitHub 用户名。 + + + + + ADD + 添加 + + + + Enter your GitHub username + 输入你的 GitHub 用户名 + + + + LOADING + 正在加载 + + + + REMOVE + 消除 + + + + Username '%1' has no keys on GitHub + 用户名“%1”在 GitHub 上没有密钥 + + + + Request timed out + 请求超时 + + + + Username '%1' doesn't exist on GitHub + GitHub 上不存在用户名“%1” + + + + SshToggle + + + Enable SSH + 启用 SSH + + + + TermsPage + + + Terms & Conditions + 条款和条件 + + + + Decline + 衰退 + + + + Scroll to accept + 滚动接受 + + + + Agree + 同意 + + + + TogglesPanel + + + Enable openpilot + 启用 openpilot + + + + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. + 使用 openpilot 系统进行自适应巡航控制和车道保持驾驶员辅助。 任何时候都需要您注意使用此功能。 更改此设置在汽车断电时生效。 + + + + Enable Lane Departure Warnings + 启用车道偏离警告 + + + + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). + 当您的车辆在以超过 31 英里/小时（50 公里/小时）的速度行驶时在检测到的车道线上漂移而没有激活转向信号时，接收提醒以返回车道。 + + + + Enable Right-Hand Drive + 启用右手驱动 + + + + Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat. + 允许 openpilot 遵守左侧交通惯例并在右侧驾驶座上执行驾驶员监控。 + + + + Use Metric System + 使用公制 + + + + Display speed in km/h instead of mph. + 以公里/小时而不是英里/小时显示速度。 + + + + Record and Upload Driver Camera + 记录和上传司机摄像头 + + + + Upload data from the driver facing camera and help improve the driver monitoring algorithm. + 从面向驾驶员的摄像头上传数据，帮助改进驾驶员监控算法。 + + + + Disengage On Accelerator Pedal + 松开加速踏板 + + + + When enabled, pressing the accelerator pedal will disengage openpilot. + 启用后，踩下油门踏板将解除 openpilot。 + + + + Show ETA in 24h format + 以 24 小时格式显示 ETA + + + + Use 24h format instead of am/pm + 使用 24 小时制代替上午/下午 + + + + 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 将禁用汽车的雷达并接管油门和刹车的控制。 警告：这会禁用 AEB！ + + + + Updater + + + Update Required + 需要更新 + + + + An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. + 需要操作系统更新。 将您的设备连接到 Wi-Fi，以获得最快的更新体验。 下载大小约为 1GB。 + + + + Connect to Wi-Fi + 连接到无线网络 + + + + Install + 安装 + + + + Back + 后退 + + + + Loading... + 正在加载... + + + + Reboot + 重启 + + + + Update failed + 更新失败 + + + + WifiUI + + + + Scanning for networks... + 正在扫描网络... + + + + CONNECTING... + 正在连接... + + + + FORGET + 忘记 + + + + Forget Wi-Fi Network " + 忘记 Wi-Fi 网络" + + + diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index 5d57fa39d2..263eb5e670 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -10,7 +10,7 @@ TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations") LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json") -def update_translations(release=False, suffix=""): +def update_translations(release=False, translations_dir=TRANSLATIONS_DIR): with open(LANGUAGES_FILE, "r") as f: translation_files = json.load(f) @@ -19,7 +19,7 @@ def update_translations(release=False, suffix=""): print(f"{name} has no translation file, skipping...") continue - tr_file = os.path.join(TRANSLATIONS_DIR, f"{file}{suffix}.ts") + tr_file = os.path.join(translations_dir, f"{file}.ts") ret = os.system(f"lupdate -recursive {UI_DIR} -ts {tr_file}") assert ret == 0 From b035b538ec5dc4ae837fe26ab900a34828525647 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 7 Jul 2022 14:54:14 -0700 Subject: [PATCH 094/306] chill ram tune (#25071) --- selfdrive/car/chrysler/interface.py | 5 ++++- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 920000b271..697fb9b83a 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -51,7 +51,10 @@ class CarInterface(CarInterfaceBase): ret.mass = 2493. + STD_CARGO_KG ret.maxLateralAccel = 2.4 ret.minSteerSpeed = 14.5 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + + ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[0.], [0.]] + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1], [0.02]] + ret.lateralTuning.pid.kf = 0.00003 else: raise ValueError(f"Unsupported car: {candidate}") diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 0521fd8295..4908b86182 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -cf46781e405a01c96307d30d1266d46e0fa92255 \ No newline at end of file +bd2ea158977f5c26658bed8ac683b72c2c592d06 \ No newline at end of file From dc3d94d662654a6bb2bf40560c2a17ed2303fa80 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 8 Jul 2022 06:01:02 +0800 Subject: [PATCH 095/306] UI: fix unable to scroll on 'Regulatory' page (#25014) * fix unable to scroll on 'Regulatory' page deleteLater after hide * remove alert * override exec * set MousePressEventDelay to 0 * set to 0.01 * cleanup * check event->pos() --- selfdrive/ui/qt/widgets/controls.cc | 4 +++- selfdrive/ui/qt/widgets/controls.h | 6 +++++- selfdrive/ui/qt/widgets/scrollview.cc | 2 +- 3 files changed, 9 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc index 89c95843fb..a86c05a3c4 100644 --- a/selfdrive/ui/qt/widgets/controls.cc +++ b/selfdrive/ui/qt/widgets/controls.cc @@ -125,7 +125,9 @@ void ElidedLabel::paintEvent(QPaintEvent *event) { ClickableWidget::ClickableWidget(QWidget *parent) : QWidget(parent) { } void ClickableWidget::mouseReleaseEvent(QMouseEvent *event) { - emit clicked(); + if (rect().contains(event->pos())) { + emit clicked(); + } } // Fix stylesheets diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index b6684e28b2..aed99edae8 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -24,7 +24,11 @@ signals: protected: void paintEvent(QPaintEvent *event) override; void resizeEvent(QResizeEvent* event) override; - void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); } + void mouseReleaseEvent(QMouseEvent *event) override { + if (rect().contains(event->pos())) { + emit clicked(); + } + } QString lastText_, elidedText_; }; diff --git a/selfdrive/ui/qt/widgets/scrollview.cc b/selfdrive/ui/qt/widgets/scrollview.cc index 1aa05b4157..bd4309d8d0 100644 --- a/selfdrive/ui/qt/widgets/scrollview.cc +++ b/selfdrive/ui/qt/widgets/scrollview.cc @@ -37,7 +37,7 @@ ScrollView::ScrollView(QWidget *w, QWidget *parent) : QScrollArea(parent) { sp.setScrollMetric(QScrollerProperties::VerticalOvershootPolicy, QVariant::fromValue(QScrollerProperties::OvershootAlwaysOff)); sp.setScrollMetric(QScrollerProperties::HorizontalOvershootPolicy, QVariant::fromValue(QScrollerProperties::OvershootAlwaysOff)); - + sp.setScrollMetric(QScrollerProperties::MousePressEventDelay, 0.01); scroller->grabGesture(this->viewport(), QScroller::LeftMouseButtonGesture); scroller->setScrollerProperties(sp); } From ff3f6de149475ce995c21f8308da0bbc08922c54 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 7 Jul 2022 16:53:34 -0700 Subject: [PATCH 096/306] UI: fix reset calibration description --- selfdrive/ui/qt/widgets/controls.cc | 30 +++++++++++++++-------------- 1 file changed, 16 insertions(+), 14 deletions(-) diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc index a86c05a3c4..3264fd3aac 100644 --- a/selfdrive/ui/qt/widgets/controls.cc +++ b/selfdrive/ui/qt/widgets/controls.cc @@ -45,21 +45,23 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons main_layout->addLayout(hlayout); // description - if (!desc.isEmpty()) { - description = new QLabel(desc); - description->setContentsMargins(40, 20, 40, 20); - description->setStyleSheet("font-size: 40px; color: grey"); - description->setWordWrap(true); - description->setVisible(false); - main_layout->addWidget(description); - - connect(title_label, &QPushButton::clicked, [=]() { - if (!description->isVisible()) { - emit showDescription(); - } + description = new QLabel(desc); + description->setContentsMargins(40, 20, 40, 20); + description->setStyleSheet("font-size: 40px; color: grey"); + description->setWordWrap(true); + description->setVisible(false); + main_layout->addWidget(description); + + connect(title_label, &QPushButton::clicked, [=]() { + if (!description->isVisible()) { + emit showDescription(); + } + + if (!description->text().isEmpty()) { description->setVisible(!description->isVisible()); - }); - } + } + }); + main_layout->addStretch(); } From a4c90765813e1cc3ab7afbe58cf23b392ec8181c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 7 Jul 2022 17:09:36 -0700 Subject: [PATCH 097/306] Hyundai: limit Kona torque (#25074) --- selfdrive/car/hyundai/values.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index f6efedb248..c55a0dc639 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -32,6 +32,12 @@ class CarControllerParams: CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV, CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER): self.STEER_MAX = 255 + + # These cars have significantly more torque than most HKG. Limit to 70% of max. + elif CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV): + self.STEER_MAX = 270 + + # Default for most HKG else: self.STEER_MAX = 384 From bd432eb76bf4c2d99a0f66b3a1df0067adb81a1a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 7 Jul 2022 17:27:59 -0700 Subject: [PATCH 098/306] move kona limit to car controller --- selfdrive/car/hyundai/carcontroller.py | 7 ++++++- selfdrive/car/hyundai/values.py | 4 ---- 2 files changed, 6 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index f3066bda03..73635375ad 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -52,7 +52,12 @@ class CarController: hud_control = CC.hudControl # Steering Torque - new_steer = int(round(actuators.steer * self.params.STEER_MAX)) + + # These cars have significantly more torque than most HKG. Limit to 70% of max. + steer = actuators.steer + if self.CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV): + steer = clip(steer, -0.7, 0.7) + new_steer = int(round(steer * self.params.STEER_MAX)) apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) self.steer_rate_limited = new_steer != apply_steer diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index c55a0dc639..4b3acf3f27 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -33,10 +33,6 @@ class CarControllerParams: CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER): self.STEER_MAX = 255 - # These cars have significantly more torque than most HKG. Limit to 70% of max. - elif CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV): - self.STEER_MAX = 270 - # Default for most HKG else: self.STEER_MAX = 384 From 1382e28aa0b32923a44efa28c5b25d9b02c41d68 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 7 Jul 2022 20:02:07 -0700 Subject: [PATCH 099/306] add pandas and tabulate packages (#25076) * add pandas and tabulate packages * remove that --- Pipfile | 4 +- Pipfile.lock | 1226 ++++++++++++++++++---------------- selfdrive/debug/can_table.py | 2 +- 3 files changed, 647 insertions(+), 585 deletions(-) diff --git a/Pipfile b/Pipfile index b8545b1a21..81669e4807 100644 --- a/Pipfile +++ b/Pipfile @@ -41,6 +41,8 @@ tenacity = "*" mpld3 = "*" carla = {version = "==0.9.13", markers="platform_system != 'Darwin'"} ft4222 = "*" +pandas = "*" +tabulate = "*" [packages] atomicwrites = "*" @@ -86,8 +88,6 @@ urllib3 = "*" utm = "*" websocket_client = "*" hatanaka = "==2.4" -PyQt5 = "==5.15.4" -PyQt5-sip = "==12.9.0" [requires] python_version = "3.8" diff --git a/Pipfile.lock b/Pipfile.lock index cc347a60f4..0612d0ff39 100644 --- a/Pipfile.lock +++ b/Pipfile.lock @@ -1,7 +1,7 @@ { "_meta": { "hash": { - "sha256": "d2629168f477b3a14f68f26e3b63ea9797b20599c066b2aa23a027bcee2ca40a" + "sha256": "c92514c0e6968af008916446514f41b4e004aa7aa4a2951cc1e9e258ac072111" }, "pipfile-spec": 6, "requires": { @@ -79,75 +79,89 @@ }, "certifi": { "hashes": [ - "sha256:9c5705e395cd70084351dd8ad5c41e65655e08ce46f2ec9cf6c2c08390f71eb7", - "sha256:f1d53542ee8cbedbe2118b5686372fb33c297fcd6379b050cca0ef13a597382a" + "sha256:84c85a9078b11105f04f3036a9482ae10e4621616db313fe045dd24743a0820d", + "sha256:fe86415d55e84719d75f8b69414f6438ac3547d2078ab91b67e779ef69378412" ], "markers": "python_version >= '3.6'", - "version": "==2022.5.18.1" + "version": "==2022.6.15" }, "cffi": { "hashes": [ - "sha256:00c878c90cb53ccfaae6b8bc18ad05d2036553e6d9d1d9dbcf323bbe83854ca3", - "sha256:0104fb5ae2391d46a4cb082abdd5c69ea4eab79d8d44eaaf79f1b1fd806ee4c2", 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"sha256:b30aefac647e86af6d82bfc944c556f8f1a9c90427b2fb4e3bfbf338cb82becf" ], "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3, 3.4'", - "version": "==20.14.1" + "version": "==20.15.1" }, "zipp": { "hashes": [ diff --git a/selfdrive/debug/can_table.py b/selfdrive/debug/can_table.py index e8cd084a32..11d070e708 100755 --- a/selfdrive/debug/can_table.py +++ b/selfdrive/debug/can_table.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 import argparse -import pandas as pd # pylint: disable=import-error +import pandas as pd import cereal.messaging as messaging From d8089fb94e9ad1ab54bc3baf1acbb430b305f612 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 7 Jul 2022 23:07:21 -0700 Subject: [PATCH 100/306] Add video for 2020 Lexus ES Hybrid --- selfdrive/car/toyota/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 9324e6baf5..8149bfd063 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -152,7 +152,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]), CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]), CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-21"), - CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-22"), + CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-22", video_link="https://youtu.be/BZ29osRVJeg?t=12"), CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"), CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19", footnotes=[Footnote.DSU]), CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19", footnotes=[Footnote.DSU]), From ed47032a6d51d1aeaf4cd553ae9b350e04672558 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Fri, 8 Jul 2022 16:03:57 +0900 Subject: [PATCH 101/306] Add Korean translations (#25073) * Add Korean translations Signed-off-by: crwusiz * line error fix Signed-off-by: crwusiz * space error retry Signed-off-by: crwusiz * " fix Signed-off-by: crwusiz * translation --release * main_ko.qm remove * main_ko.qm remake * Update ko and fix zh * fix Linguist warnings * commit noun Co-authored-by: Shane Smiskol --- selfdrive/ui/translations/languages.json | 3 +- selfdrive/ui/translations/main_ko.qm | Bin 0 -> 19159 bytes selfdrive/ui/translations/main_ko.ts | 1212 ++++++++++++++++++++++ 3 files changed, 1214 insertions(+), 1 deletion(-) create mode 100644 selfdrive/ui/translations/main_ko.qm create mode 100644 selfdrive/ui/translations/main_ko.ts diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json index e62de24a1e..b8c3a50fd7 100644 --- a/selfdrive/ui/translations/languages.json +++ b/selfdrive/ui/translations/languages.json @@ -1,4 +1,5 @@ { "English": "", - "中文（简体）": "main_zh" + "中文（简体）": "main_zh", + "한국어": "main_ko" } diff 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+ + AdvancedNetworking + + + Back + 뒤로 + + + + Enable Tethering + 테더링 사용 + + + + Tethering Password + 테더링 비밀번호 + + + + + EDIT + 편집 + + + + Enter new tethering password + 새 테더링 비밀번호 입력 + + + + IP Address + IP 주소 + + + + Enable Roaming + 로밍 사용 + + + + APN Setting + APN 설정 + + + + Enter APN + APN 입력 + + + + leave blank for automatic configuration + 자동 구성을 위해 비워둠 + + + + ConfirmationDialog + + + + Ok + 확인 + + + + Cancel + 취소 + + + + DeclinePage + + + You must accept the Terms and Conditions in order to use openpilot. + 당신은 반드시 약관에 동의해야만 openpilot을 사용할 수 있습니다. + + + + Back + 뒤로 + + + + Decline, uninstall %1 + 거절，삭제 %1 + + + + DevicePanel + + + Dongle ID + Dongle ID + + + + N/A + N/A + + + + Serial + Serial + + + + Driver Camera + 운전자 카메라 + + + + PREVIEW + 미리보기 + + + + Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off) + 운전자 카메라를 미리 보면서 최적의 운전자 모니터링 경험을 위해 기기 장착 위치를 최적화할수 있습니다. (차량은 반드시 닫아야 합니다) + + + + Reset Calibration + 캘리브레이션 재설정 + + + + RESET + 재설정 + + + + Are you sure you want to reset calibration? + 캘리브레이션을 재설정하시겠습니까？ + + + + Review Training Guide + 트레이닝 가이드 다시보기 + + + + REVIEW + 다시보기 + + + + Review the rules, features, and limitations of openpilot + openpilot의 규칙, 기능, 제한 다시보기 + + + + Are you sure you want to review the training guide? + 트레이닝 가이드를 다시보시겠습니까？ + + + + Regulatory + 규제 + + + + VIEW + 보기 + + + Change Language + 언어변경 + + + CHANGE + 변경 + + + Select a language + 언어선택 + + + + Reboot + 재부팅 + + + + Power Off + 전원 종료 + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot은 장치를 왼쪽 또는 오른쪽 4° 이내, 위쪽 5° 또는 아래쪽 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다. + + + + Your device is pointed %1° %2 and %3° %4. + 사용자의 기기가 %1° %2 및 %3° %4를 가리키고 있습니다. + + + + down + 아래 + + + + up + 위 + + + + left + 왼쪽 + + + + right + 오른쪽 + + + + Are you sure you want to reboot? + 재부팅 하시겠습니까？ + + + + Disengage to Reboot + 재부팅 하려면 해제하세요 + + + + Are you sure you want to power off? + 전원을 종료하시겠습니까？ + + + + Disengage to Power Off + 전원을 종료하려면 해제하세요 + + + + DriveStats + + + Drives + 주행수 + + + + Hours + 시간 + + + + ALL TIME + 전체 시간 + + + + PAST WEEK + 지난주 + + + + KM + Km + + + + Miles + Miles + + + + DriverViewScene + + + camera starting + 카메라 시작중 + + + + InputDialog + + + Cancel + 취소 + + + + Need at least + 최소 필요 + + + + characters! + 문자！ + + + + Installer + + + Installing... + 설치중... + + + + Receiving objects: + 수신중： + + + + Resolving deltas: + 델타병합： + + + + Updating files: + 파일갱신： + + + + MapPanel + + + Current Destination + 현재 목적지 + + + + CLEAR + CLEAR + + + + Recent Destinations + 최근 목적지 + + + + Try the Navigation Beta + 네비게이션(베타)을 사용해보세요 + + + + Get turn-by-turn directions displayed and more with a comma +prime subscription. Sign up now: https://connect.comma.ai + 자세한 경로안내를 확인하시려면 comma prime을 구독하세요. +즉시등록：https://connect.comma.ai + + + + No home +location set + 집 +설정되지않음 + + + + No work +location set + 회사 +설정되지않음 + + + + no recent destinations + 최근 경로 없음 + + + + MultiOptionDialog + + Select + 선택 + + + Cancel + 취소 + + + + Networking + + + Advanced + 고급 + + + + Enter password + 비밀번호를 입력하세요 + + + + + for " + 하기위한 " + + + + Wrong password + 비밀번호가 틀렸습니다 + + + + NvgWindow + + + km/h + km/h + + + + mph + mph + + + + + MAX + MAX + + + + + SPEED + SPEED + + + + + LIMIT + LIMIT + + + + OffroadHome + + + UPDATE + 업데이트 + + + + ALERTS + 알림 + + + + ALERT + 알림 + + + + PairingPopup + + + Pair your device to your comma account + 장치를 콤마 계정과 페어링합니다 + + + + + <ol type='1' style='margin-left: 15px;'> + <li style='margin-bottom: 50px;'>Go to https://connect.comma.ai on your phone</li> + <li style='margin-bottom: 50px;'>Click "add new device" and scan the QR code on the right</li> + <li style='margin-bottom: 50px;'>Bookmark connect.comma.ai to your home screen to use it like an app</li> + </ol> + + + <ol type='1' style='margin-left: 15px;'> + <li style='margin-bottom: 50px;'>https://connect.comma.ai에 접속하세요</li> + <li style='margin-bottom: 50px;'>"새 장치 추가"를 클릭하고 오른쪽 QR 코드를 검색합니다.</li> + <li style='margin-bottom: 50px;'>connect.comma.ai을 앱처럼 사용하려면 홈 화면에 바로가기를 만드십시오.</li> + </ol> + + + + + PrimeAdWidget + + + Upgrade Now + 지금 업그레이드 + + + + Become a comma prime member at connect.comma.ai + connect.comma.ai에서 comma prime에 가입합니다 + + + + PRIME FEATURES: + PRIME 기능： + + + + Remote access + 원격 접속 + + + + 1 year of storage + 1년간 저장 + + + + Developer perks + 개발자 혜택 + + + + PrimeUserWidget + + + ✓ SUBSCRIBED + ✓ 구독함 + + + + comma prime + comma prime + + + + CONNECT.COMMA.AI + CONNECT.COMMA.AI + + + + COMMA POINTS + COMMA POINTS + + + + QObject + + + Reboot + 재부팅 + + + + Exit + 종료 + + + + dashcam + dashcam + + + + openpilot + openpilot + + + + %1 minute%2 ago + %1 분%2 전 + + + + %1 hour%2 ago + %1 시간%2 전 + + + + %1 day%2 ago + %1 일%2 전 + + + + Reset + + + Reset failed. Reboot to try again. + 초기화 실패. 재부팅후 다시 시도하세요. + + + + Are you sure you want to reset your device? + 장치를 초기화 하시겠습니까? + + + + Resetting device... + 장치 초기화중... + + + + System Reset + 장치 초기화 + + + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + 장치를 초기화 합니다. 확인버튼을 누르면 모든 내용과 설정이 초기화됩니다. 취소를 누르면 다시 부팅합니다. + + + + Cancel + 취소 + + + + Reboot + 재부팅 + + + + Confirm + 확인 + + + + Unable to mount data partition. Press confirm to reset your device. + 데이터 파티션을 마운트할 수 없습니다. 확인 버튼을 눌러 장치를 리셋합니다. + + + + RichTextDialog + + + Ok + 확인 + + + + SettingsWindow + + + × + × + + + + Device + 장치 + + + + + Network + 네트워크 + + + + Toggles + 토글 + + + + Software + 소프트웨어 + + + + Navigation + 네비게이션 + + + + Setup + + + WARNING: Low Voltage + 경고: 전압이 낮습니다 + + + + Power your device in a car with a harness or proceed at your own risk. + 하네스 보드에 차량의 전원을 연결하세요. + + + + Power off + 전원 종료 + + + + + + Continue + 계속 + + + + Getting Started + 시작 + + + + Before we get on the road, let’s finish installation and cover some details. + 출발하기 전에 설치를 완료하고 몇 가지 세부 사항을 살펴보겠습니다. + + + + Connect to Wi-Fi + wifi 연결 + + + + + Back + 뒤로 + + + + Continue without Wi-Fi + wifi 없이 계속 + + + + Waiting for internet + 네트워크 접속을 기다립니다 + + + + Choose Software to Install + 설치할 소프트웨어를 선택하세요 + + + + Dashcam + Dashcam + + + + Custom Software + Custom Software + + + + Enter URL + URL 입력 + + + + for Custom Software + for Custom Software + + + + Downloading... + 다운로드중... + + + + Download Failed + 다운로드 실패 + + + + Ensure the entered URL is valid, and the device’s internet connection is good. + 입력된 URL이 유효하고 장치의 인터넷 연결이 잘 되어 있는지 확인합니다. + + + + Reboot device + 재부팅 + + + + Start over + 다시 시작 + + + + SetupWidget + + + Finish Setup + 설치완료 + + + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + 장치를 (connect.comma.ai)에서 페어링하고 comma prime 오퍼를 청구합니다. + + + + Pair device + 페어링 + + + + Sidebar + + + + CONNECT + 연결 + + + + OFFLINE + 오프라인 + + + + + ONLINE + 온라인 + + + + ERROR + 오류 + + + + + + TEMP + 온도 + + + + HIGH + 높음 + + + + GOOD + 경고 + + + + OK + 좋음 + + + + VEHICLE + 차량 + + + + NO + NO + + + + PANDA + PANDA + + + + GPS + GPS + + + + SEARCH + 검색중 + + + + -- + -- + + + + Wi-Fi + Wi-Fi + + + + ETH + 이더넷 + + + + 2G + 2G + + + + 3G + 3G + + + + LTE + LTE + + + + 5G + 5G + + + + SoftwarePanel + + + Git Branch + Git 브렌치 + + + + Git Commit + Git 커밋 + + + + OS Version + OS 버전 + + + + Version + 버전 + + + + Last Update Check + 최신 업데이트 검사 + + + + The last time openpilot successfully checked for an update. The updater only runs while the car is off. + 이전에 openpilot에서 업데이트를 성공적으로 확인한 시간입니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다. + + + + Check for Update + 업데이트 확인 + + + + CHECKING + 검사중 + + + + Uninstall + 삭제 + + + + UNINSTALL + 삭제 + + + + Are you sure you want to uninstall? + 삭제하시겠습니까？ + + + + failed to fetch update + 업데이트를 가져올수없습니다 + + + + + CHECK + 확인 + + + + SshControl + + + SSH Keys + SSH 키 + + + + Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. + 경고：이렇게 하면 GitHub 설정의 모든 공용 키에 대한 SSH 액세스 권한이 부여됩니다. 자신의 사용자 이름이 아닌 GitHub 사용자 이름을 입력하지 마십시오. comma 직원은 GitHub 사용자 이름을 추가하도록 요청하지 않습니다. + + + + + ADD + 추가 + + + + Enter your GitHub username + GitHub 사용자 ID + + + + LOADING + 로딩 + + + + REMOVE + 제거 + + + + Username '%1' has no keys on GitHub + 사용자 이름 '%1' GitHub에 키가 없습니다 + + + + Request timed out + 요청 시간 초과 + + + + Username '%1' doesn't exist on GitHub + 사용자 이름 '%1' GitHub에 없습니다 + + + + SshToggle + + + Enable SSH + SSH 사용 + + + + TermsPage + + + Terms & Conditions + 약관 + + + + Decline + 거절 + + + + Scroll to accept + 스크롤 허용 + + + + Agree + 동의 + + + + TogglesPanel + + + Enable openpilot + openpilot 사용 + + + + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. + 어댑티브 크루즈 컨트롤 및 차선 유지 운전자 보조를 위해 openpilot 시스템을 사용하십시오. 이 기능을 사용하려면 항상 주의를 기울여야 합니다. 이 설정을 변경하면 차량 전원이 꺼질 때 적용됩니다. + + + + Enable Lane Departure Warnings + 차선 이탈 경고 사용 + + + + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). + 차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향 지시등이 활성화되지 않은 상태에서 감지된 차선 위를 주행할 경우 차선이탈 경고를 사용합니다. + + + + Enable Right-Hand Drive + 우측핸들 사용 + + + + Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat. + openpilot이 좌측 교통 규칙을 준수하고 우측 운전석에서 운전자 모니터링을 수행합니다. + + + + Use Metric System + 미터법 사용 + + + + Display speed in km/h instead of mph. + mph가 아닌 km/h로 속도 표시. + + + + Record and Upload Driver Camera + 운전자 카메라 기록 및 업로드 + + + + Upload data from the driver facing camera and help improve the driver monitoring algorithm. + 운전자 카메라에서 데이터를 업로드하고 운전자 모니터링 알고리즘을 개선합니다. + + + + Disengage On Accelerator Pedal + 가속페달 조작시 해제 + + + + When enabled, pressing the accelerator pedal will disengage openpilot. + 활성화된 경우 가속 페달을 누르면 openpilot이 해제됩니다. + + + + Show ETA in 24h format + 24시간 형식으로 ETA 표시 + + + + Use 24h format instead of am/pm + 오전/오후 대신 24시간 형식 사용 + + + + 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 + + + Update Required + 업데이트 필요 + + + + An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. + OS 업데이트가 필요합니다. 장치를 wifi에 연결하여 가장 빠른 업데이트 경험을 제공합니다. 다운로드 크기는 약 1GB입니다. + + + + Connect to Wi-Fi + wifi 연결 + + + + Install + 설치 + + + + Back + 뒤로 + + + + Loading... + 로딩중... + + + + Reboot + 재부팅 + + + + Update failed + 업데이트 실패 + + + + WifiUI + + + + Scanning for networks... + 네트워크 검색 중... + + + + CONNECTING... + 연결중... + + + + FORGET + 저장안함 + + + + Forget Wi-Fi Network " + wifi 네트워크 저장안함" + + + From c9fa5ef11a6d47a886b30f65b2064b2d6ae05807 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 8 Jul 2022 00:23:46 -0700 Subject: [PATCH 102/306] AGNOS 5.2 (#25011) * AGNOS 5.2 * casync manifest --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 16 +++++++++------- 2 files changed, 10 insertions(+), 8 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index 769613bc79..ac84d6dcbd 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="5.1" + export AGNOS_VERSION="5.2" fi if [ -z "$PASSIVE" ]; then diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 004a0f9dfb..853d3ab434 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -1,9 +1,9 @@ [ { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-bb71f49294150c4233b89e2a10768a5a3de003203ecd02e3f845821b35cd409f.img.xz", - "hash": "bb71f49294150c4233b89e2a10768a5a3de003203ecd02e3f845821b35cd409f", - "hash_raw": "bb71f49294150c4233b89e2a10768a5a3de003203ecd02e3f845821b35cd409f", + "url": "https://commadist.azureedge.net/agnosupdate/boot-243ddbb9e2256aa7af7fed0daf8cff4017a3c838c759373a634b8539f271bfb8.img.xz", + "hash": "243ddbb9e2256aa7af7fed0daf8cff4017a3c838c759373a634b8539f271bfb8", + "hash_raw": "243ddbb9e2256aa7af7fed0daf8cff4017a3c838c759373a634b8539f271bfb8", "size": 14780416, "sparse": false, "full_check": true, @@ -41,12 +41,14 @@ }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-11fdbc9e8a9cd27f98346d7e1039bc5b3032d0e892ff95fa1258673ff1809bca.img.xz", - "hash": "45b4719a9e580617cf840036b24fb0dcd32491edd9654d8d74c28d91ff362d36", - "hash_raw": "11fdbc9e8a9cd27f98346d7e1039bc5b3032d0e892ff95fa1258673ff1809bca", + "url": "https://commadist.azureedge.net/agnosupdate/system-59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13.img.xz", + "hash": "44da205d17b44b2be7c94854a6bb3efb2928ec9a9889fe62af8b322d2295b74f", + "hash_raw": "59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13", "size": 10737418240, "sparse": true, "full_check": false, - "has_ab": true + "has_ab": true, + "casync_caibx": "https://commadist.azureedge.net/agnosupdate/system-59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13.caibx", + "casync_store": "https://commadist.azureedge.net/agnosupdate/system-59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13" } ] From 5b4e39990ac4d098f874c8f1e378e2ab855c0036 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 8 Jul 2022 00:41:17 -0700 Subject: [PATCH 103/306] Add Japanese translations (#25078) * Add Japanese translations * test japanese * update tr file * test for unfinished translation tags * add compiled QM add compiled QM * mark as finished * remove from tests, needs some design decisions Co-authored-by: PONPC --- selfdrive/ui/tests/test_translations.py | 10 + selfdrive/ui/translations/main_ja.qm | Bin 0 -> 19159 bytes selfdrive/ui/translations/main_ja.ts | 1207 +++++++++++++++++++++++ 3 files changed, 1217 insertions(+) create mode 100644 selfdrive/ui/translations/main_ja.qm create mode 100644 selfdrive/ui/translations/main_ja.ts diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index 2dedf3d785..3230a99543 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -61,6 +61,16 @@ class TestTranslations(unittest.TestCase): self.assertEqual(cur_translations, new_translations, f"{file} ({name}) {file_ext.upper()} translation file out of date. Run selfdrive/ui/update_translations.py --release to update the translation files") + def test_unfinished_translations(self): + for name, file in self.translation_files.items(): + with self.subTest(name=name, file=file): + if not len(file): + raise self.skipTest(f"{name} translation has no defined file") + + cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file, "ts") + self.assertTrue(b"" not in cur_translations, + f"{file} ({name}) translation file has unfinished translations. Finish translations or mark them as completed in Qt Linguist") + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/ui/translations/main_ja.qm b/selfdrive/ui/translations/main_ja.qm new file mode 100644 index 0000000000000000000000000000000000000000..552545cf879ed5c9a4009e63d334dee10c479e33 GIT binary patch literal 19159 zcmcJ0dwf*Ywf{~sGf5^-9!77<;{YO{B-!D0El};`K@v$O$xK49h&Y)!^I#_DjPnRY zFDfnG@=~~=prUrS{gXhf5+H0@9_S);cm;c0f$qOIcxA&zPQ=Yxy+dq4~i80%^7%TjgvCDtJSWy7a zSMc0`=U?%>i?J&vGiJf>l}|HfZD4HvGCc8b{&qaqXfX7gS<6`QA;8rzR{kr-W;q#a z-NIPozc6;qR^Y*VryI|g80&3htmJY$gN#i+hv)6Uhj9sfz9_~lU%i(xc1C*^9oC++ zlG@X8j9Kn}i?M>!S}dR`w~gJ^2P` zn!}2v)xh7*im&)RK6f!*g=bk8Ydd-~WA%)+z58Rv7Qe~bO9vU7AhBzf>;)Yle*^e* z#ah-K*@N|svYtO;{>jIfYtx5}Em_F=3ZKLG|IYdbH)9giNy7c&HFw(JgJ+psmIyd z+mpb%w4mnm^BKEzS-~aWxRkLupDS2=C-!GSZ9(tz^YH!O3icnv_shx(e$!_G-Wv)| z6n=-XDPJmhZ{ZfkY8wmffnPE<_b-LB-#&$L?-#DHCqUQN3$LrjdK;fA{QB=p0e^Sl zQ#(P|LVw}UJMLtxx~A}Vy}&zlUg7IUvA+!!g(tst5%BFRn)<#K@b4GR+;KJ5b8k_y z7x+G3P;{UY^v+*f^u&`r7=K^U(@y}t(NT1G&MlA=OVP^{|Au`VE&3?=Ah=p*X?^d1 zF*eC#x#8g-f}W$6PzS!Qe#0_y>MF*hBFk4TXBoTl2Fu+Y&tSa%ta?cMJbjwwz6UKm{h|M(Yc!2WZ{N!+^rQqa4g)4HDI$vy*5 ztfRzj9r14j{CVrmiz*@ScUgDr10D8m?Ky3+_MASXJ)8Dh@7o1AD0|uZz(3!P_5P>z zv0t5JjK5<2#i!tN;ZxSO$W!P>82T|X^;OnDRY-&Fj8>wfU<_Tv9{;vc}LEyaI34Zak;U;N3k zKViQwE@_^380TO~$u&iwyV_kM|M?TpTUv5QazA6A`+CVY4*=h!*(E=Idlo(qmKIm6 zgZy|)XWdtVb9JE9@z((07nk<0d<*o3N>_aad~5!7>6+`n=gXv0-}6nN>#EW_*~N^p zM@xVIniF#6EPZ`~3O#j&-EjrFxGy?@h&dUyJ7#7@K{IeaD}w@cB9W z*Zz+EoqfQ5_cPxCJqPUfo#=u|LhNIKOuLF9H~6joA;| zr$IhnvmdTm4tn0Vzw1qaf6lUkCvO3~uWZ(#UqT+ADqDLBdSKR+vKxPA0lg2EZ62Ns z{#{)5{QKCSIU{99y1=JNAC*r&gn8@Nl+Snq-_L%lyzUDlkdK?oS2Savul`>7HCL|1 zeqC0+vI*;7e!P6uUf`RyvwX-&^c*X{>*E28zoPt!f5ADMdT;sBZ-HNpmF2&F4bO(o z^4FdRU6#`owg)f8xt~?hF!fc?zp~=|Q`DlhupgIGs#W$jn7-if;^XMWTSzQil9JPEzS_g1dl34TrdL*=%6 zajxezRDS(WU&KBhul)W4z`Nu?<5I0oa1n8%xNMC4eafPiay@3>=w z>lh#4ettiHj=#!(#n160#^4Dqc~Dgol1K4L{ZXGMF&3f{|A+G9J=cW?jiD88MOAN- z#~)VC9IS^qnY6ub&39dy?igDYDV&tOEBT&id2 z0%T6)&+{kwX;U=SI+{K?5tL&WKxA;MS9aZNP*U2eB;=R`o{hH_Nq!u=+>$}cZ}~y~ z0oHevk7nVUqTy5I4N@XSl@#^F<6ymSyeZ0A2kU_t9p&%yg9dr_jvmS3^Tp(Ne7wPv z%_uXFOf>i-_53#|sl4f?u!RRUpLQL~60A89*)uFlgAtDsmi%f=@+1@LkS7uHN?uj* zhXTnMKB&rggxdL|{7vlTPx%>xJXt$d6!4&oGJ2W{t*l7wH4%OGzc9 z#1o!KM4H`5#U1ZPz9X5BHUO zs_3_MzudN&ck(8_o!^4bg~sH~*Q!ZrC>e(q@p|QGLV~1AeR6ClF4PKG;0qD6;!;SF zAYzc^geoQDvZO|3B^rvTiF#8~moo|K>J_Z}AXl{&v&Y4A0e%UJw}tvQi}>isQo*T~ z9P;K%pf4u*5Jb*iNbieMbP#BdN0B397o@=ab#5Ns z_ldF_tSaVSDAO;0S;b)sfDtRtPd8XG%Mp{M5wIhk)L%Au6fi`^q#Lkq)$hMrUuyOg zHQE%0wk8f|B9_KP91{xM9P4}ys}ShZ{5X#7IsO#?6U1l~>guPk2S>oN+_|n8XRf%M zki4EqXiz&x=F?uPPkTg6_@dB@k6;&}h_>y>n{MGa(+!76NkN=o) zIPQx3IN$C(!F#*AZdG8L+3t|L276f$VEa#CWST3d_>25m&G>e^_fO)Z-dDQs)upS9@a65W2YeG~W6>UXnSlU@-|yP>w{QwGyGB5Ii4Ur3|S_ zg*+LY@wiZQ!txBtP>4F7Ayo+_RI>h(yfF$lK!!D`m*x)3!H^f5FO=sX^r7EB&y?RK zspD#pYjw4{TZMB24WF$`O7iy7HqKVsG$}U_+r|;%YGD2Wq{Pr8#wfc>4kRNUEONwj z0ktMNNY_9H4)~&^UYgVD#T3;gP+CMlu3kxd#22}=o$N~~jW$vmrpPYOw}wn2yT_#U z>u&p$NvHzQVQdq@g0RKVeGakIcA4Uc%aU z+-G^1En<)J0;e5si^W?R-mb)(a`WL;f92urbvVN&9)vm8P4{ftKfHy9gEPWj-p_Z! 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z!ABX%NFvC(FSq6l1RVRvR0Vd%MW4UkkzlN%~5mEVM+G*5*KW zE{qdmbp%id6kvUHtHQV)Vxik123WCv2gC$$BDU-?p&ZVTp2@;q?e;=Np-2nW$oS^!bXNF4xnFX}9bW z{m`93n05&5Yk_TV?(>n*8$6qqzAMnJNDeR?*Yv1mTI!K~TEA~T+WFMX0?ji7Mh3wc z6$Q_3t#gGwi@vjbZ(ug2q7E=A9;I9Y4hprlh?Jp>oD+(%XkQs?A$Pv8=?}ZF+}yas zzq*l1nR!>^rs=}li5oKLlcSt9U3bw>uu$ar3z>*c;g?~Uj#6u1&Rx5UQ+MsC)3&ai z_C)kyl1SxanvyS7P?)(mQy1?HfiOq5&)>9rI$OvZwH}}IC89G0ok8bI`REc^LOI5egAV=ePWJk;VIYKs<^ z5IVQL1D(EZ^`gEK^6>C`n3Bp68w8v%tD@~PPpt3P8ZW7&fjgaOTvky>m!ZD~aTSu1 zCMXjL&ktL%A&7PXq0&+p3m~?B3=)Z94`qdsZi77FdK{cZTr@NCq#n^rD8u7-&uLq9Yygj7gC=KYp@Nhn9^U=g{}bPNn!HSQo3L2I9bOhPO)p<;JPYE?yX79V@fCdr^9c_U|FWZ@C-FXMFBW}8z!P1gCzJ&k2hqGosw=aKGGrH#b>q8@n! zr#Ii===DvU=R)`&il))T+Q}mkmmROal7}Pj;+kWp=)czDGQbLNYxLSu|A)eR3Fbv+ z>mbf3`H1{FwW8!+jr=!SJ#C<&g`~JvRTUAK&x77uY_T_%#I-b0v4kxahd>;3qCGl3T9_fcYY@La<;xDL1&Gd7D5kJ2se{(v*E1y|aqn z#)HC2<{PjT1EkAjQ6fbZAxdRljb^P4CS^IJWH~io4NcGb%|3(KW1Nk-rUcRzv>gLq z9{!NDJ4$&=)_vPhDboy;NO^;MiKGv`;SutFD8Mrp=~(_W{$m8CPjeL)w;BfT3pU9dJ1N}&|P^_yX$h^|m zM`}G)+KbaAL7+#!UQFE>f(@eUK8?D_ HImG`LJd!}I literal 0 HcmV?d00001 diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts new file mode 100644 index 0000000000..fbb654bc4c --- /dev/null +++ b/selfdrive/ui/translations/main_ja.ts @@ -0,0 +1,1207 @@ + + + + + AbstractAlert + + + Close + 閉じる + + + + Snooze Update + 更新停止 + + + + Reboot and Update + 再起動してアップデート + + + + AdvancedNetworking + + + Back + もどる + + + + Enable Tethering + テザリングを有効化 + + + + Tethering Password + テザリングパスワード + + + + + EDIT + 編集 + + + + Enter new tethering password + 新しいテザリングパスワードを入力 + + + + IP Address + IPアドレス + + + + Enable Roaming + ローミングを有効化 + + + + APN Setting + APN 設定 + + + + Enter APN + APN 入力 + + + + leave blank for automatic configuration + 空欄で自動設定 + + + + ConfirmationDialog + + + + Ok + OK + + + + Cancel + キャンセル + + + + DeclinePage + + + You must accept the Terms and Conditions in order to use openpilot. + openpilotを利用するためには、利用規約に同意する必要があります。 + + + + Back + 戻る + + + + Decline, uninstall %1 + 拒否してアンインストール %1 + + + + DevicePanel + + + Dongle ID + ドングル ID + + + + N/A + N/A + + + + Serial + シリアル + + + + Driver Camera + ドライバーカメラ + + + + PREVIEW + プレビュー + + + + Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off) + ドライバーカメラのプレビューにより、デバイスの取り付け位置を最適化し、最高のドライバーモニタリング体験を提供します。(車両の電源を切る必要があります) + + + + Reset Calibration + キャリブレーションリセット + + + + RESET + リセット + + + + Are you sure you want to reset calibration? + 本当にキャリブレーションをリセットしますか？ + + + + Review Training Guide + トレーニングガイドを見る + + + + REVIEW + レビュー + + + + Review the rules, features, and limitations of openpilot + openpilot 規約 機能 制約を見る + + + + Are you sure you want to review the training guide? + 本当にトレーニングガイドを見ますか？ + + + + Regulatory + レギュレーション + + + + VIEW + ビュー + + + Change Language + 言語を変更 + + + CHANGE + 変更 + + + Select a language + 言語を選択する + + + + Reboot + 再起動 + + + + Power Off + 電源を切る + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot は、左右に4°、上に5°、下に8°の範囲に設置する必要があります。openpilot は継続的に校正されているので、手動でリセットする必要はほとんどありません。 + + + + Your device is pointed %1° %2 and %3° %4. + デバイスは %1° %2 と %3° %4を示しています。 + + + + down + 下 + + + + up + 上 + + + + left + 左 + + + + right + 右 + + + + Are you sure you want to reboot? + 本当に再起動しますか？ + + + + Disengage to Reboot + 再起動するために離脱します + + + + Are you sure you want to power off? + 本当に電源を切っても良いですか？ + + + + Disengage to Power Off + 電源を切るために離脱します + + + + DriveStats + + + Drives + ドライブ + + + + Hours + 時間 + + + + ALL TIME + 累計 + + + + PAST WEEK + 先週 + + + + KM + km + + + + Miles + マイル + + + + DriverViewScene + + + camera starting + カメラ起動 + + + + InputDialog + + + Cancel + キャンセル + + + + Need at least + 最低限必要なもの + + + + characters! + 記号！ + + + + Installer + + + Installing... + インストール... + + + + Receiving objects: + オブジェクトを受信中： + + + + Resolving deltas: + リゾルブ解決中： + + + + Updating files: + ファイルを更新中： + + + + MapPanel + + + Current Destination + 現在の目的地 + + + + CLEAR + クリア + + + + Recent Destinations + 最近の目的地 + + + + Try the Navigation Beta + ベータ版ナビゲーション + + + + Get turn-by-turn directions displayed and more with a comma +prime subscription. Sign up now: https://connect.comma.ai + より詳細な案内や表示に関する情報を得ることができます。 詳しくはこちら：https://connect.comma.ai + + + + No home +location set + 自宅の登録なし +位置を設定 + + + + No work +location set + 職場の登録なし +位置を設定 + + + + no recent destinations + 最寄りの目的地がありません + + + + MultiOptionDialog + + Select + 選択 + + + + Networking + + + Advanced + 詳細 + + + + Enter password + パスワードを入力 + + + + + for " + のため " + + + + Wrong password + パスワードが間違っています + + + + NvgWindow + + + km/h + km/時 + + + + mph + マイル/時 + + + + + MAX + 最大 + + + + + SPEED + 速度 + + + + + LIMIT + 制限 + + + + OffroadHome + + + UPDATE + 更新 + + + + ALERTS + 警告 + + + + ALERT + 警告 + + + + PairingPopup + + + Pair your device to your comma account + デバイスとアカウントを連携する + + + + + <ol type='1' style='margin-left: 15px;'> + <li style='margin-bottom: 50px;'>Go to https://connect.comma.ai on your phone</li> + <li style='margin-bottom: 50px;'>Click "add new device" and scan the QR code on the right</li> + <li style='margin-bottom: 50px;'>Bookmark connect.comma.ai to your home screen to use it like an app</li> + </ol> + + + <ol type='1' style='margin-left: 15px;'> + <li style='margin-bottom: 50px;'>モバイルでアクセス https://connect.comma.ai</li> + <li style='margin-bottom: 50px;'>“新しいデバイスを追加”をクリックし，QRコードを読み込みます</li> + <li style='margin-bottom: 50px;'>connect.comma.aiをホーム画面にブックマークして、アプリのように使うことができます</li> + </ol> + + + + + PrimeAdWidget + + + Upgrade Now + いますぐアップグレード + + + + Become a comma prime member at connect.comma.ai + connect.comma.ai のプライムメンバーになる + + + + PRIME FEATURES: + 主な機能： + + + + Remote access + リモートアクセス + + + + 1 year of storage + 1年の保存期間 + + + + Developer perks + 開発者特典 + + + + PrimeUserWidget + + + ✓ SUBSCRIBED + ✓ 購読 + + + + comma prime + コンマプライム + + + + CONNECT.COMMA.AI + CONNECT.COMMA.AI + + + + COMMA POINTS + コンマポイント + + + + QObject + + + Reboot + 再起動 + + + + Exit + 退出 + + + + dashcam + ダッシュカム + + + + openpilot + オープンパイロット + + + + %1 minute%2 ago + %1 分%2 前 + + + + %1 hour%2 ago + %1 時間%2 前 + + + + %1 day%2 ago + %1 日%2 前 + + + + Reset + + + Reset failed. Reboot to try again. + 初期化に失敗しました。再起動後に再試行してください。 + + + + Are you sure you want to reset your device? + 本当に初期化しますか？ + + + + Resetting device... + デバイスが初期化されます... + + + + System Reset + システムを初期化 + + + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + システムを初期化させます。 すべてのコンテンツと設定が削除されます。 キャンセルを押すと再起動します。 + + + + Cancel + キャンセル + + + + Reboot + 再起動 + + + + Confirm + 確認 + + + + Unable to mount data partition. Press confirm to reset your device. + dataパーティションをマウントできません。 確認を押すとデバイスが初期化されます。 + + + + RichTextDialog + + + Ok + OK + + + + SettingsWindow + + + × + × + + + + Device + デバイス + + + + + Network + ネットワーク + + + + Toggles + 切り替え + + + + Software + ソフトウェア + + + + Navigation + ナビゲーション + + + + Setup + + + WARNING: Low Voltage + 警告：低電圧 + + + + Power your device in a car with a harness or proceed at your own risk. + 自己責任でハーネスから電源を供給してください。 + + + + Power off + 電源を切る + + + + + + Continue + 続ける + + + + Getting Started + はじめに + + + + Before we get on the road, let’s finish installation and cover some details. + その前に、インストールを完了し、いくつかの詳細を説明します。 + + + + Connect to Wi-Fi + Wi-Fiに接続 + + + + + Back + 戻る + + + + Continue without Wi-Fi + Wi-Fi に未接続で続行 + + + + Waiting for internet + インターネット接続を待機中 + + + + Choose Software to Install + インストールするソフトウェアを選びます + + + + Dashcam + ダッシュカム + + + + Custom Software + カスタムソフトウェア + + + + Enter URL + URLを入力 + + + + for Custom Software + カスタムソフトウェア + + + + Downloading... + ダウンロード中... + + + + Download Failed + ダウンロード失敗 + + + + Ensure the entered URL is valid, and the device’s internet connection is good. + 入力されたURLが有効であること、デバイスがインターネットに接続されていることを確認してください。 + + + + Reboot device + デバイスを再起動 + + + + Start over + 再スタート + + + + SetupWidget + + + Finish Setup + セットアップ完了 + + + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + デバイスを comma connect (connect.comma.ai)でペアリングし comma prime 特典を申請してください。 + + + + Pair device + デバイスをペアリング + + + + Sidebar + + + + CONNECT + 接続 + + + + OFFLINE + オフライン + + + + + ONLINE + オンライン + + + + ERROR + エラー + + + + + + TEMP + 温度 + + + + HIGH + 高温 + + + + GOOD + 最適 + + + + OK + OK + + + + VEHICLE + 車両 + + + + NO + NO + + + + PANDA + パンダ + + + + GPS + GPS + + + + SEARCH + 検索 + + + + -- + -- + + + + Wi-Fi + Wi-Fi + + + + ETH + ETH + + + + 2G + 2G + + + + 3G + 3G + + + + LTE + LTE + + + + 5G + 5G + + + + SoftwarePanel + + + Git Branch + Git ブランチ + + + + Git Commit + Git コミット + + + + OS Version + OS バージョン + + + + Version + バージョン + + + + Last Update Check + 最終更新確認 + + + + The last time openpilot successfully checked for an update. The updater only runs while the car is off. + openpilotが最後にアップデートの確認に成功してからの時間です。アップデート処理は、車の電源が切れているときのみ実行されます。 + + + + Check for Update + 更新確認 + + + + CHECKING + 確認中 + + + + Uninstall + アンインストール + + + + UNINSTALL + アンインストール + + + + Are you sure you want to uninstall? + 本当にアンインストールしますか？ + + + + failed to fetch update + 更新の取得に失敗しました + + + + + CHECK + 確認 + + + + SshControl + + + SSH Keys + SSH 鍵 + + + + Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. + 警告: これは、GitHub の設定にあるすべての公開鍵への SSH アクセスを許可するものです。自分以外のGitHubのユーザー名を入力しないでください。コンマのスタッフがGitHubのユーザー名を追加するようお願いすることはありません。 + + + + + ADD + 追加 + + + + Enter your GitHub username + GitHubのユーザー名を入力してください + + + + LOADING + ローディング + + + + REMOVE + 削除 + + + + Username '%1' has no keys on GitHub + ユーザー名“%1”は GitHub に鍵がありません + + + + Request timed out + リクエストタイムアウト + + + + Username '%1' doesn't exist on GitHub + ユーザー名 '%1' は GitHub に存在しません + + + + SshToggle + + + Enable SSH + SSH を有効化 + + + + TermsPage + + + Terms & Conditions + 利用規約 + + + + Decline + 拒否 + + + + Scroll to accept + スクロールして同意 + + + + Agree + 同意 + + + + TogglesPanel + + + Enable openpilot + openpilot を有効化 + + + + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. + アダプティブクルーズコントロールとレーンキーピングドライバーアシスト（openpilotシステム）。この機能を使用するには、常に注意が必要です。この設定を変更すると、車の電源が切れたときに有効になります。 + + + + Enable Lane Departure Warnings + 車線逸脱警報機能を有効化 + + + + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). + 時速31マイル（50km）を超えるスピードで走行中、方向指示器を作動させずに検出された車線ライン上に車両が触れた場合、車線に戻るアラートを受信します。 + + + + Enable Right-Hand Drive + 右ハンドルを有効化 + + + + Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat. + openpilotが左側通行規則を遵守し、右側の運転席でドライバーの監視を行うことを可能にします。 + + + + Use Metric System + メートル法を有効化 + + + + Display speed in km/h instead of mph. + 速度はmphではなくkm/hで表示されます。 + + + + Record and Upload Driver Camera + ドライバーカメラの録画とアップロード + + + + Upload data from the driver facing camera and help improve the driver monitoring algorithm. + ドライバーカメラからのデータをアップロードし、ドライバー監視のアルゴリズム向上に役立てます。 + + + + Disengage On Accelerator Pedal + アクセルペダルで解除する + + + + When enabled, pressing the accelerator pedal will disengage openpilot. + 有効な場合 openpilot はアクセルペダルを踏むと解除されます。 + + + + Show ETA in 24h format + 24時間表示 + + + + Use 24h format instead of am/pm + AM/PMの代わりに24時間形式を使用します + + + + openpilot Longitudinal Control + openpilot による垂直方向の制御 + + + + 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を無効にします! + + + + Updater + + + Update Required + 更新が必要です + + + + An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. + OSのアップデートが必要です。Wi-Fiに接続することで、最速のアップデートを体験できます。ダウンロードサイズは約1GBです。 + + + + Connect to Wi-Fi + Wi-Fiに接続 + + + + Install + インストール + + + + Back + 戻る + + + + Loading... + 読み込み中... + + + + Reboot + 再起動 + + + + Update failed + 更新失敗 + + + + WifiUI + + + + Scanning for networks... + ネットワークをスキャン中... + + + + CONNECTING... + 接続中... + + + + FORGET + 削除 + + + + Forget Wi-Fi Network " + Wi-Fiを削除する” + + + From dccb184fbd4a2b39008471f94056f61bf7a7381d Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 8 Jul 2022 13:39:23 +0200 Subject: [PATCH 104/306] some more release notes --- RELEASES.md | 18 ++++++++++++------ 1 file changed, 12 insertions(+), 6 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index fedff5dbff..d7f4a37476 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -5,17 +5,23 @@ Version 0.8.15 (2022-07-XX) * Effective feedforward that uses road roll * Simplified tuning, all car-specific parameters can be derived from data * Significantly improved control on TSS-P Prius +* New driving model + * Path planning uses end-to-end output instead of lane lines * New driver monitoring model - * takes a larger input frame - * outputs a driver state for both driver and passenger - * automatically determines which side the driver is on (soon) -* Reduced power usage: device runs cooler and fan spins less -* Minor UI updates + * Takes a larger input frame + * Outputs a driver state for both driver and passenger + * Automatically determines which side the driver is on (soon) +* Navigation improvements + * Speed limits shown while navigating + * Faster position fix by using raw GPS measurements +* UI updates * New font * Refreshed max speed design - * Speed limits shown while navigating * More consistent camera view perspective across cars +* Reduced power usage: device runs cooler and fan spins less * AGNOS 5 + * Support for delta updates to reduce data usage on future OS updates + * Support VSCode remote SSH target * Honda Civic 2022 support * Hyundai Tucson 2021 support thanks to bluesforte! * Lexus NX Hybrid 2020 support thanks to AlexandreSato! From b5399fbd3ce3a03bb900f1e8597f0afbd19fa314 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 8 Jul 2022 13:41:42 +0200 Subject: [PATCH 105/306] add multilang to release notes --- RELEASES.md | 1 + 1 file changed, 1 insertion(+) diff --git a/RELEASES.md b/RELEASES.md index d7f4a37476..80709e1482 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -15,6 +15,7 @@ Version 0.8.15 (2022-07-XX) * Speed limits shown while navigating * Faster position fix by using raw GPS measurements * UI updates + * Multilanguage support for settings and home screen * New font * Refreshed max speed design * More consistent camera view perspective across cars From c5e96201f30c7168e531ba5da98775fcd2d668c5 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 8 Jul 2022 13:56:49 +0200 Subject: [PATCH 106/306] RELEASES.md: new driving model goes first --- RELEASES.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 80709e1482..e0e75f3213 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,12 +1,12 @@ Version 0.8.15 (2022-07-XX) ======================== +* New driving model + * Path planning uses end-to-end output instead of lane lines * New lateral controller based on physical wheel torque model * Much smoother control, consistent across the speed range * Effective feedforward that uses road roll * Simplified tuning, all car-specific parameters can be derived from data * Significantly improved control on TSS-P Prius -* New driving model - * Path planning uses end-to-end output instead of lane lines * New driver monitoring model * Takes a larger input frame * Outputs a driver state for both driver and passenger From b6df0cd2422d63eb58cc6abaa9968954feff2ccb Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 8 Jul 2022 15:44:16 +0200 Subject: [PATCH 107/306] casync: handle hash failure (#25081) * casync: handle hashing failure due to IO errors * fix comment * all exceptions * fix typo * Update system/hardware/tici/agnos.py --- system/hardware/tici/agnos.py | 18 +++++++++++------- 1 file changed, 11 insertions(+), 7 deletions(-) diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py index bd8ce2bf02..750aa630ae 100755 --- a/system/hardware/tici/agnos.py +++ b/system/hardware/tici/agnos.py @@ -186,14 +186,18 @@ def extract_casync_image(target_slot_number: int, partition: dict, cloudlog): sources: List[Tuple[str, casync.ChunkReader, casync.ChunkDict]] = [] - # First source is the current partition. Index file for current version is provided in the manifest - raw_hash = get_raw_hash(seed_path, partition['size']) - caibx_url = f"{CAIBX_URL}{partition['name']}-{raw_hash}.caibx" + # First source is the current partition. try: - cloudlog.info(f"casync fetching {caibx_url}") - sources += [('seed', casync.FileChunkReader(seed_path), casync.build_chunk_dict(casync.parse_caibx(caibx_url)))] - except requests.RequestException: - cloudlog.error(f"casync failed to load {caibx_url}") + raw_hash = get_raw_hash(seed_path, partition['size']) + caibx_url = f"{CAIBX_URL}{partition['name']}-{raw_hash}.caibx" + + try: + cloudlog.info(f"casync fetching {caibx_url}") + sources += [('seed', casync.FileChunkReader(seed_path), casync.build_chunk_dict(casync.parse_caibx(caibx_url)))] + except requests.RequestException: + cloudlog.error(f"casync failed to load {caibx_url}") + except Exception: + cloudlog.exception("casync failed to hash seed partition") # Second source is the target partition, this allows for resuming sources += [('target', casync.FileChunkReader(path), casync.build_chunk_dict(target))] From 7a4c33795a12eefff4c3e5c311f40eae2cf3506b Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 8 Jul 2022 18:20:16 +0200 Subject: [PATCH 108/306] laikad: add residual threshold for pos_fix (#25082) * laikad: add residual threshold for pos_fix * update ref * update test --- selfdrive/locationd/laikad.py | 5 +++-- selfdrive/locationd/test/test_laikad.py | 8 ++++---- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 8 insertions(+), 7 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index e262407e02..67867e82b3 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -28,6 +28,7 @@ from system.swaglog import cloudlog MAX_TIME_GAP = 10 EPHEMERIS_CACHE = 'LaikadEphemeris' CACHE_VERSION = 0.1 +POS_FIX_RESIDUAL_THRESHOLD = 100.0 class Laikad: @@ -89,9 +90,9 @@ class Laikad: def get_est_pos(self, t, processed_measurements): if self.last_pos_fix_t is None or abs(self.last_pos_fix_t - t) >= 2: - min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 4 + min_measurements = 6 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 5 pos_fix, pos_fix_residual = calc_pos_fix_gauss_newton(processed_measurements, self.posfix_functions, min_measurements=min_measurements) - if len(pos_fix) > 0: + if len(pos_fix) > 0 and np.median(np.abs(pos_fix_residual)) < POS_FIX_RESIDUAL_THRESHOLD: self.last_pos_fix = pos_fix[:3] self.last_pos_residual = pos_fix_residual self.last_pos_fix_t = t diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index 3a7c073b55..c10a470d1a 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -138,7 +138,7 @@ class TestLaikad(unittest.TestCase): laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT) correct_msgs = verify_messages(self.logs, laikad) - correct_msgs_expected = 560 + correct_msgs_expected = 555 self.assertEqual(correct_msgs_expected, len(correct_msgs)) self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) @@ -159,7 +159,7 @@ class TestLaikad(unittest.TestCase): # Disable fetch_orbits to test NAV only laikad.fetch_orbits = Mock() correct_msgs = verify_messages(self.logs, laikad) - correct_msgs_expected = 560 + correct_msgs_expected = 559 self.assertEqual(correct_msgs_expected, len(correct_msgs)) self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) @@ -168,8 +168,8 @@ class TestLaikad(unittest.TestCase): downloader_mock.side_effect = IOError laikad = Laikad(auto_update=False) correct_msgs = verify_messages(self.logs, laikad) - self.assertEqual(256, len(correct_msgs)) - self.assertEqual(256, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) + self.assertEqual(16, len(correct_msgs)) + self.assertEqual(16, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) def test_laika_get_orbits(self): laikad = Laikad(auto_update=False) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 4908b86182..7fced5ad62 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -bd2ea158977f5c26658bed8ac683b72c2c592d06 \ No newline at end of file +0da0928230d11dd4c76293b9e77b027eb4a1e291 \ No newline at end of file From a9401319dfa89fea2d2699aaddc758cbc47b6396 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 8 Jul 2022 18:20:36 +0200 Subject: [PATCH 109/306] nav: use laikad position if locationd is not yet available (#25033) * ui: use laikad position when locationd is not ready * cleanup * same threshold as locationd * use first bearing directly * use in navd too --- selfdrive/navd/navd.py | 19 ++++++-- selfdrive/ui/qt/maps/map.cc | 71 ++++++++++++++++++++++------- selfdrive/ui/qt/maps/map.h | 3 +- selfdrive/ui/qt/maps/map_helpers.cc | 5 ++ selfdrive/ui/qt/maps/map_helpers.h | 1 + selfdrive/ui/ui.cc | 2 +- 6 files changed, 79 insertions(+), 22 deletions(-) diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py index f02de43c7b..89a1c9bdfb 100755 --- a/selfdrive/navd/navd.py +++ b/selfdrive/navd/navd.py @@ -4,12 +4,14 @@ import os import threading import requests +import numpy as np import cereal.messaging as messaging from cereal import log from common.api import Api from common.params import Params from common.realtime import Ratekeeper +from common.transformations.coordinates import ecef2geodetic from selfdrive.navd.helpers import (Coordinate, coordinate_from_param, distance_along_geometry, maxspeed_to_ms, minimum_distance, @@ -18,6 +20,7 @@ from system.swaglog import cloudlog REROUTE_DISTANCE = 25 MANEUVER_TRANSITION_THRESHOLD = 10 +VALID_POS_STD = 50.0 class RouteEngine: @@ -72,13 +75,21 @@ class RouteEngine: def update_location(self): location = self.sm['liveLocationKalman'] - self.gps_ok = location.gpsOK + laikad = self.sm['gnssMeasurements'] - self.localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid + locationd_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid + laikad_valid = laikad.positionECEF.valid and np.linalg.norm(laikad.positionECEF.std) < VALID_POS_STD - if self.localizer_valid: + self.localizer_valid = locationd_valid or laikad_valid + self.gps_ok = location.gpsOK or laikad_valid + + if locationd_valid: self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2]) self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1]) + elif laikad_valid: + geodetic = ecef2geodetic(laikad.positionECEF.value) + self.last_position = Coordinate(geodetic[0], geodetic[1]) + self.last_bearing = None def recompute_route(self): if self.last_position is None: @@ -276,7 +287,7 @@ class RouteEngine: def main(sm=None, pm=None): if sm is None: - sm = messaging.SubMaster(['liveLocationKalman', 'managerState']) + sm = messaging.SubMaster(['liveLocationKalman', 'gnssMeasurements', 'managerState']) if pm is None: pm = messaging.PubMaster(['navInstruction', 'navRoute']) diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index 4c6a0a4e65..fd47f4188f 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -1,5 +1,6 @@ #include "selfdrive/ui/qt/maps/map.h" +#include #include #include @@ -7,6 +8,7 @@ #include #include "common/swaglog.h" +#include "common/transformations/coordinates.hpp" #include "selfdrive/ui/qt/maps/map_helpers.h" #include "selfdrive/ui/qt/request_repeater.h" #include "selfdrive/ui/qt/util.h" @@ -22,6 +24,8 @@ const float MAX_PITCH = 50; const float MIN_PITCH = 0; const float MAP_SCALE = 2; +const float VALID_POS_STD = 50.0; // m + const QString ICON_SUFFIX = ".png"; MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05) { @@ -105,18 +109,53 @@ void MapWindow::updateState(const UIState &s) { update(); if (sm.updated("liveLocationKalman")) { - auto location = sm["liveLocationKalman"].getLiveLocationKalman(); - auto pos = location.getPositionGeodetic(); - auto orientation = location.getCalibratedOrientationNED(); - auto velocity = location.getVelocityCalibrated(); - - localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && - pos.getValid() && orientation.getValid() && velocity.getValid(); - - if (localizer_valid) { - last_position = QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]); - last_bearing = RAD2DEG(orientation.getValue()[2]); - velocity_filter.update(velocity.getValue()[0]); + auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman(); + auto locationd_pos = locationd_location.getPositionGeodetic(); + auto locationd_orientation = locationd_location.getCalibratedOrientationNED(); + auto locationd_velocity = locationd_location.getVelocityCalibrated(); + + locationd_valid = (locationd_location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && + locationd_pos.getValid() && locationd_orientation.getValid() && locationd_velocity.getValid(); + + if (locationd_valid) { + last_position = QMapbox::Coordinate(locationd_pos.getValue()[0], locationd_pos.getValue()[1]); + last_bearing = RAD2DEG(locationd_orientation.getValue()[2]); + velocity_filter.update(locationd_velocity.getValue()[0]); + } + } + + if (sm.updated("gnssMeasurements")) { + auto laikad_location = sm["gnssMeasurements"].getGnssMeasurements(); + auto laikad_pos = laikad_location.getPositionECEF(); + auto laikad_pos_ecef = laikad_pos.getValue(); + auto laikad_pos_std = laikad_pos.getStd(); + auto laikad_velocity_ecef = laikad_location.getVelocityECEF().getValue(); + + laikad_valid = laikad_pos.getValid() && Eigen::Vector3d(laikad_pos_std[0], laikad_pos_std[1], laikad_pos_std[2]).norm() < VALID_POS_STD; + + if (laikad_valid && !locationd_valid) { + ECEF ecef = {.x = laikad_pos_ecef[0], .y = laikad_pos_ecef[1], .z = laikad_pos_ecef[2]}; + Geodetic laikad_pos_geodetic = ecef2geodetic(ecef); + last_position = QMapbox::Coordinate(laikad_pos_geodetic.lat, laikad_pos_geodetic.lon); + + // Compute NED velocity + LocalCoord converter(ecef); + ECEF next_ecef = {.x = ecef.x + laikad_velocity_ecef[0], .y = ecef.y + laikad_velocity_ecef[1], .z = ecef.z + laikad_velocity_ecef[2]}; + Eigen::VectorXd ned_vel = converter.ecef2ned(next_ecef).to_vector() - converter.ecef2ned(ecef).to_vector(); + + float velocity = ned_vel.norm(); + velocity_filter.update(velocity); + + // Convert NED velocity to angle + if (velocity > 1.0) { + float new_bearing = fmod(RAD2DEG(atan2(ned_vel[1], ned_vel[0])) + 360.0, 360.0); + if (last_bearing) { + float delta = 0.1 * angle_difference(*last_bearing, new_bearing); // Smooth heading + last_bearing = fmod(*last_bearing + delta + 360.0, 360.0); + } else { + last_bearing = new_bearing; + } + } } } @@ -142,9 +181,7 @@ void MapWindow::updateState(const UIState &s) { initLayers(); - if (!localizer_valid) { - map_instructions->showError("Waiting for GPS"); - } else { + if (locationd_valid || laikad_valid) { map_instructions->noError(); // Update current location marker @@ -154,6 +191,8 @@ void MapWindow::updateState(const UIState &s) { carPosSource["type"] = "geojson"; carPosSource["data"] = QVariant::fromValue(feature1); m_map->updateSource("carPosSource", carPosSource); + } else { + map_instructions->showError("Waiting for GPS"); } if (pan_counter == 0) { @@ -174,7 +213,7 @@ void MapWindow::updateState(const UIState &s) { auto i = sm["navInstruction"].getNavInstruction(); emit ETAChanged(i.getTimeRemaining(), i.getTimeRemainingTypical(), i.getDistanceRemaining()); - if (localizer_valid) { + if (locationd_valid || laikad_valid) { m_map->setPitch(MAX_PITCH); // TODO: smooth pitching based on maneuver distance emit distanceChanged(i.getManeuverDistance()); // TODO: combine with instructionsChanged emit instructionsChanged(i); diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h index 7c39b24c3c..ecba867edb 100644 --- a/selfdrive/ui/qt/maps/map.h +++ b/selfdrive/ui/qt/maps/map.h @@ -104,7 +104,8 @@ private: std::optional last_position; std::optional last_bearing; FirstOrderFilter velocity_filter; - bool localizer_valid = false; + bool laikad_valid = false; + bool locationd_valid = false; MapInstructions* map_instructions; MapETA* map_eta; diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc index 2b2c27418e..66acb7a25d 100644 --- a/selfdrive/ui/qt/maps/map_helpers.cc +++ b/selfdrive/ui/qt/maps/map_helpers.cc @@ -116,3 +116,8 @@ std::optional coordinate_from_param(std::string param) { return {}; } } + +double angle_difference(double angle1, double angle2) { + double diff = fmod(angle2 - angle1 + 180.0, 360.0) - 180.0; + return diff < -180.0 ? diff + 360.0 : diff; +} diff --git a/selfdrive/ui/qt/maps/map_helpers.h b/selfdrive/ui/qt/maps/map_helpers.h index 344246bb05..1c08c541c3 100644 --- a/selfdrive/ui/qt/maps/map_helpers.h +++ b/selfdrive/ui/qt/maps/map_helpers.h @@ -26,3 +26,4 @@ QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp: QMapbox::CoordinatesCollections coordinate_list_to_collection(QList coordinate_list); std::optional coordinate_from_param(std::string param); +double angle_difference(double angle1, double angle2); diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index f6193f97a6..6fe1d838ed 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -227,7 +227,7 @@ UIState::UIState(QObject *parent) : QObject(parent) { sm = std::make_unique>({ "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState", "pandaStates", "carParams", "driverMonitoringState", "sensorEvents", "carState", "liveLocationKalman", - "wideRoadCameraState", "managerState", "navInstruction", "navRoute", + "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "gnssMeasurements", }); Params params; From cf862b6576a8b3f66e26d38080a1c8eec00f0793 Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Fri, 8 Jul 2022 19:03:42 +0200 Subject: [PATCH 110/306] Laikad: Fix getting covariances for pos and velocity (#25084) * Fix getting covariances for pos and velocity * ref commit --- selfdrive/locationd/laikad.py | 13 +++++++------ selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 8 insertions(+), 7 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 67867e82b3..0954cb4c9f 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -120,11 +120,12 @@ class Laikad: self.update_localizer(est_pos, t, corrected_measurements) kf_valid = all(self.kf_valid(t)) - ecef_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist() - ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist() + ecef_pos = self.gnss_kf.x[GStates.ECEF_POS] + ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY] - pos_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_POS].diagonal())).tolist() - vel_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_VELOCITY].diagonal())).tolist() + p = self.gnss_kf.P.diagonal() + pos_std = np.sqrt(p[GStates.ECEF_POS]) + vel_std = np.sqrt(p[GStates.ECEF_VELOCITY]) meas_msgs = [create_measurement_msg(m) for m in corrected_measurements] dat = messaging.new_message("gnssMeasurements") @@ -132,8 +133,8 @@ class Laikad: dat.gnssMeasurements = { "gpsWeek": report.gpsWeek, "gpsTimeOfWeek": report.rcvTow, - "positionECEF": measurement_msg(value=ecef_pos, std=pos_std, valid=kf_valid), - "velocityECEF": measurement_msg(value=ecef_vel, std=vel_std, valid=kf_valid), + "positionECEF": measurement_msg(value=ecef_pos.tolist(), std=pos_std.tolist(), valid=kf_valid), + "velocityECEF": measurement_msg(value=ecef_vel.tolist(), std=vel_std.tolist(), valid=kf_valid), "positionFixECEF": measurement_msg(value=self.last_pos_fix, std=self.last_pos_residual, valid=self.last_pos_fix_t == t), "ubloxMonoTime": ublox_mono_time, "correctedMeasurements": meas_msgs diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 7fced5ad62..0d61dbd735 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -0da0928230d11dd4c76293b9e77b027eb4a1e291 \ No newline at end of file +dab90772097a0dd4706677ba4fe5e84b10232099 \ No newline at end of file From c04942795bbb0a2a31f4c05322e6897e279f4ba9 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Fri, 8 Jul 2022 10:16:34 -0700 Subject: [PATCH 111/306] Update RELEASES.md --- RELEASES.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index e0e75f3213..392e9dc486 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,7 +1,9 @@ Version 0.8.15 (2022-07-XX) ======================== * New driving model - * Path planning uses end-to-end output instead of lane lines + * Path planning uses end-to-end output instead of lane lines at all times + * Reduced ping pong + * Improved lane centering * New lateral controller based on physical wheel torque model * Much smoother control, consistent across the speed range * Effective feedforward that uses road roll From 35c8c0e600746e092bb236dabd05491d8be1078a Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 8 Jul 2022 19:19:57 +0200 Subject: [PATCH 112/306] casync: increase chunk download timeout --- system/hardware/tici/casync.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/hardware/tici/casync.py b/system/hardware/tici/casync.py index d0d0da3c6a..9dff64239e 100755 --- a/system/hardware/tici/casync.py +++ b/system/hardware/tici/casync.py @@ -22,7 +22,7 @@ CA_TABLE_HEADER_LEN = 16 CA_TABLE_ENTRY_LEN = 40 CA_TABLE_MIN_LEN = CA_TABLE_HEADER_LEN + CA_TABLE_ENTRY_LEN -CHUNK_DOWNLOAD_TIMEOUT = 10 +CHUNK_DOWNLOAD_TIMEOUT = 60 CHUNK_DOWNLOAD_RETRIES = 3 CAIBX_DOWNLOAD_TIMEOUT = 120 From 0b6cf0481c07323ee427655a5849c90d9c623e64 Mon Sep 17 00:00:00 2001 From: eFini Date: Sat, 9 Jul 2022 03:12:14 +0800 Subject: [PATCH 113/306] Add Traditional Chinese translations (#25077) * Create main_zh-CHT * Update Co-authored-by: Shane Smiskol --- selfdrive/ui/translations/languages.json | 3 +- .../{main_zh.qm => main_zh-CHS.qm} | Bin .../{main_zh.ts => main_zh-CHS.ts} | 0 selfdrive/ui/translations/main_zh-CHT.qm | Bin 0 -> 17741 bytes selfdrive/ui/translations/main_zh-CHT.ts | 1220 +++++++++++++++++ 5 files changed, 1222 insertions(+), 1 deletion(-) rename selfdrive/ui/translations/{main_zh.qm => main_zh-CHS.qm} (100%) rename selfdrive/ui/translations/{main_zh.ts => main_zh-CHS.ts} (100%) create mode 100644 selfdrive/ui/translations/main_zh-CHT.qm create mode 100644 selfdrive/ui/translations/main_zh-CHT.ts diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json index b8c3a50fd7..48f0948674 100644 --- a/selfdrive/ui/translations/languages.json +++ b/selfdrive/ui/translations/languages.json @@ -1,5 +1,6 @@ { "English": "", - "中文（简体）": "main_zh", + "中文（繁體）": "main_zh-CHT", + "中文（简体）": "main_zh-CHS", "한국어": "main_ko" } diff --git a/selfdrive/ui/translations/main_zh.qm b/selfdrive/ui/translations/main_zh-CHS.qm similarity index 100% rename from selfdrive/ui/translations/main_zh.qm rename to selfdrive/ui/translations/main_zh-CHS.qm diff --git a/selfdrive/ui/translations/main_zh.ts b/selfdrive/ui/translations/main_zh-CHS.ts similarity index 100% rename from selfdrive/ui/translations/main_zh.ts rename to selfdrive/ui/translations/main_zh-CHS.ts diff --git a/selfdrive/ui/translations/main_zh-CHT.qm b/selfdrive/ui/translations/main_zh-CHT.qm new file mode 100644 index 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zpbBr;A>2WW38tGkL{b(_$#T;EVcv<>55I+^qAXomysX1BaS~HEQg_P35(Jbl&^X9( zCL1RadL;+sogw(j9X|MO8q!}{U(Ibz*UB?`X{LJ8PFxz)U)8Zn!&FnFMK)KRq9K+B zrk65V#Wc9F2{#*rmgsS(LnpnLOjz;4PC6v%n6xEB7D~HEKb*fu!J8%NC=+S|`3V%M zG(cvRhJgD2;9KT0OuOJmUMD|My+t~n*n+mr*X?U + + + + AbstractAlert + + + Close + 關閉 + + + + Snooze Update + 暫停更新 + + + + Reboot and Update + 重啟並更新 + + + + AdvancedNetworking + + + Back + 回上頁 + + + + Enable Tethering + 啟用網路分享 + + + + Tethering Password + 網路分享密碼 + + + + + EDIT + 編輯 + + + + Enter new tethering password + 輸入新的網路分享密碼 + + + + IP Address + IP 地址 + + + + Enable Roaming + 啟用漫遊 + + + + APN Setting + APN 設置 + + + + Enter APN + 輸入 APN + + + + leave blank for automatic configuration + 留空白將自動配置 + + + + ConfirmationDialog + + + + Ok + 確定 + + + + Cancel + 取消 + + + + DeclinePage + + + You must accept the Terms and Conditions in order to use openpilot. + 您必須先接受條款和條件才能使用 openpilot。 + + + + Back + 回上頁 + + + + Decline, uninstall %1 + 拒絕並卸載 %1 + + + + DevicePanel + + + Dongle ID + Dongle ID + + + + N/A + 無法使用 + + + + Serial + 序號 + + + + Driver Camera + 駕駛監控 + + + + PREVIEW + 預覽 + + + + Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off) + 預覽駕駛監控鏡頭畫面，方便調整設備安裝的位置，以提供更準確的駕駛監控。(車子必須保持在熄火的狀態) + + + + Reset Calibration + 重置校準 + + + + RESET + 重置 + + + + Are you sure you want to reset calibration? + 您確定要重置校準嗎？ + + + + Review Training Guide + 觀看使用教學 + + + + REVIEW + 觀看 + + + + Review the rules, features, and limitations of openpilot + 觀看 openpilot 的使用規則、功能和限制 + + + + Are you sure you want to review the training guide? + 您確定要觀看使用教學嗎？ + + + + Regulatory + 法規/監管 + + + + VIEW + 觀看 + + + Change Language + 更改語言 + + + CHANGE + 更改 + + + Select a language + 選擇語言 + + + + Reboot + 重新啟動 + + + + Power Off + 關機 + + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。 + + + + Your device is pointed %1° %2 and %3° %4. + 你的設備目前朝%2 %1° 以及朝%4 %3° 。 + + + + down + 下 + + + + up + 上 + + + + left + 左 + + + + right + 右 + + + + Are you sure you want to reboot? + 您確定要重新啟動嗎？ + + + + Disengage to Reboot + 請先取消控車才能重新啟動 + + + + Are you sure you want to power off? + 您確定您要關機嗎？ + + + + Disengage to Power Off + 請先取消控車才能關機 + + + + DriveStats + + + Drives + 旅程 + + + + Hours + 小時 + + + + ALL TIME + 總共 + + + + PAST WEEK + 上周 + + + + KM + 公里 + + + + Miles + 英里 + + + + DriverViewScene + + + camera starting + 開啟相機中 + + + + InputDialog + + + Cancel + 取消 + + + + Need at least + 需要至少 + + + + characters! + 個字元！ + + + + Installer + + + Installing... + 安裝中… + + + + Receiving objects: + 接收對象： + + + + Resolving deltas: + 分析差異： + + + + Updating files: + 更新檔案： + + + + MapPanel + + + Current Destination + 當前目的地 + + + + CLEAR + 清除 + + + + Recent Destinations + 最近目的地 + + + + Try the Navigation Beta + 試用導航功能 + + + + Get turn-by-turn directions displayed and more with a comma +prime subscription. Sign up now: https://connect.comma.ai + 成為 comma 高級會員來使用導航功能 +立即註冊：https://connect.comma.ai + + + Get turn-by-turn directions displayed and more with a comma +prime subscription. Sign up now: https://connect.comma.ai + 成為 comma 高級會員來使用導航功能，立即註冊：https://connect.comma.ai + + + + No home +location set + 未設定 +住家位置 + + + + No work +location set + 未設定 +工作位置 + + + + no recent destinations + 沒有最近的導航記錄 + + + + MultiOptionDialog + + Select + 選擇 + + + Cancel + 取消 + + + + Networking + + + Advanced + 進階 + + + + Enter password + 輸入密碼 + + + + + for " + 給 " + + + + Wrong password + 密碼錯誤 + + + + NvgWindow + + + km/h + km/h + + + + mph + mph + + + + + MAX + 最高 + + + + + SPEED + 速度 + + + + + LIMIT + 速限 + + + + OffroadHome + + + UPDATE + 更新 + + + + ALERTS + 提醒 + + + + ALERT + 提醒 + + + + PairingPopup + + + Pair your device to your comma account + 將設備與您的 comma 帳號配對 + + + + + <ol type='1' style='margin-left: 15px;'> + <li style='margin-bottom: 50px;'>Go to https://connect.comma.ai on your phone</li> + <li style='margin-bottom: 50px;'>Click "add new device" and scan the QR code on the right</li> + <li style='margin-bottom: 50px;'>Bookmark connect.comma.ai to your home screen to use it like an app</li> + </ol> + + + <ol type='1' style='margin-left: 15px;'> + <li style='margin-bottom: 50px;'>用手機連至 https://connect.comma.ai</li> + <li style='margin-bottom: 50px;'>點選 "add new device" 後掃描右邊的二維碼</li> + <li style='margin-bottom: 50px;'>將 connect.comma.ai 加入您的主屏幕，以便像手機 App 一樣使用它</li> + </ol> + + + + + PrimeAdWidget + + + Upgrade Now + 馬上升級 + + + + Become a comma prime member at connect.comma.ai + 成為 connect.comma.ai 的高級會員 + + + + PRIME FEATURES: + 高級會員特點： + + + + Remote access + 遠程訪問 + + + + 1 year of storage + 一年的雲端行車記錄 + + + + Developer perks + 開發者福利 + + + + PrimeUserWidget + + + ✓ SUBSCRIBED + ✓ 已訂閱 + + + + comma prime + comma 高級會員 + + + + CONNECT.COMMA.AI + CONNECT.COMMA.AI + + + + COMMA POINTS + COMMA 積分 + + + + QObject + + + Reboot + 重新啟動 + + + + Exit + 離開 + + + + dashcam + 行車記錄器 + + + + openpilot + openpilot + + + + %1 minute%2 ago + we don't need %2 + %1 分鐘前 + + + + %1 hour%2 ago + we don't need %2 + %1 小時前 + + + + %1 day%2 ago + we don't need %2 + %1 天前 + + + + Reset + + + Reset failed. Reboot to try again. + 重置失敗。請重新啟動後再試。 + + + + Are you sure you want to reset your device? + 您確定要重置你的設備嗎？ + + + + Resetting device... + 重置設備中… + + + + System Reset + 系統重置 + + + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + 系統重置已觸發。請按確認刪除所有內容和設置。按取消恢復啟動。 + + + + Cancel + 取消 + + + + Reboot + 重新啟動 + + + + Confirm + 確認 + + + + Unable to mount data partition. Press confirm to reset your device. + 無法掛載數據分區。請按確認重置您的設備。 + + + + RichTextDialog + + + Ok + 確定 + + + + SettingsWindow + + + × + × + + + + Device + 設備 + + + + + Network + 網路 + + + + Toggles + 設定 + + + + Software + 軟體 + + + + Navigation + 導航 + + + + Setup + + + WARNING: Low Voltage + 警告：電壓過低 + + + + Power your device in a car with a harness or proceed at your own risk. + 請使用車上 harness 提供的電源，若繼續的話您需要自擔風險。 + + + + Power off + 關機 + + + + + + Continue + 繼續 + + + + Getting Started + 入門 + + + + Before we get on the road, let’s finish installation and cover some details. + 在我們上路之前，讓我們完成安裝並介紹一些細節。 + + + + Connect to Wi-Fi + 連接到無線網絡 + + + + + Back + 回上頁 + + + + Continue without Wi-Fi + 在沒有 Wi-Fi 的情況下繼續 + + + + Waiting for internet + 連接至網路中 + + + + Choose Software to Install + 選擇要安裝的軟體 + + + + Dashcam + 行車記錄器 + + + + Custom Software + 定制的軟體 + + + + Enter URL + 輸入網址 + + + + for Custom Software + 定制的軟體 + + + + Downloading... + 下載中… + + + + Download Failed + 下載失敗 + + + + Ensure the entered URL is valid, and the device’s internet connection is good. + 請確定您輸入的是有效的安裝網址，並且確定設備的網路連線狀態良好。 + + + + Reboot device + 重新啟動 + + + + Start over + 重新開始 + + + + SetupWidget + + + Finish Setup + 完成設置 + + + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + 將您的設備與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。 + + + + Pair device + 配對設備 + + + + Sidebar + + + + CONNECT + 雲端服務 + + + + OFFLINE + 已離線 + + + + + ONLINE + 已連線 + + + + ERROR + 錯誤 + + + + + + TEMP + 溫度 + + + + HIGH + 偏高 + + + + GOOD + 正常 + + + + OK + 一般 + + + + VEHICLE + 車輛通訊 + + + + NO + 未連線 + + + + PANDA + 車輛通訊 + + + + GPS + GPS + + + + SEARCH + 車輛通訊 + + + + -- + -- + + + + Wi-Fi + + + + + ETH + + + + + 2G + + + + + 3G + + + + + LTE + + + + + 5G + + + + + SoftwarePanel + + + Git Branch + Git 分支 + + + + Git Commit + Git 提交 + + + + OS Version + 系統版本 + + + + Version + 版本 + + + + Last Update Check + 上次檢查時間 + + + + The last time openpilot successfully checked for an update. The updater only runs while the car is off. + 上次成功檢查更新的時間。更新系統只會在車子熄火時執行。 + + + + Check for Update + 檢查更新 + + + + CHECKING + 檢查中 + + + + Uninstall + 卸載 + + + + UNINSTALL + 卸載 + + + + Are you sure you want to uninstall? + 您確定您要卸載嗎？ + + + + failed to fetch update + 下載更新失敗 + + + + + CHECK + 檢查 + + + + SshControl + + + SSH Keys + SSH 密鑰 + + + + Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. + 警告：這將授權給 GitHub 帳號中所有公鑰 SSH 訪問權限。切勿輸入非您自己的 GitHub 用戶名。comma 員工「永遠不會」要求您添加他們的 GitHub 用戶名。 + + + + + ADD + 新增 + + + + Enter your GitHub username + 請輸入您 GitHub 的用戶名 + + + + LOADING + 載入中 + + + + REMOVE + 移除 + + + + Username '%1' has no keys on GitHub + GitHub 用戶 '%1' 沒有設定任何密鑰 + + + + Request timed out + 請求超時 + + + + Username '%1' doesn't exist on GitHub + GitHub 用戶 '%1' 不存在 + + + + SshToggle + + + Enable SSH + 啟用 SSH 服務 + + + + TermsPage + + + Terms & Conditions + 條款和條件 + + + + Decline + 拒絕 + + + + Scroll to accept + 滑動至頁尾接受條款 + + + + Agree + 接受 + + + + TogglesPanel + + + Enable openpilot + 啟用 openpilot + + + + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. + 使用 openpilot 的主動式巡航和車道保持功能，開啟後您需要持續集中注意力，設定變更在重新啟動車輛後生效。 + + + + Enable Lane Departure Warnings + 啟用車道偏離警告 + + + + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). + 車速在時速 50 公里 (31 英里) 以上且未打方向燈的情況下，如果偵測到車輛駛出目前車道線時，發出車道偏離警告。 + + + + Enable Right-Hand Drive + 啟用右駕模式 + + + + Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat. + openpilot 將對右側駕駛進行監控 (但仍遵守靠左駕的交通慣例)。 + + + + Use Metric System + 使用公制單位 + + + + Display speed in km/h instead of mph. + 啟用後，速度單位顯示將從 mp/h 改為 km/h。 + + + + Record and Upload Driver Camera + 記錄並上傳駕駛監控影像 + + + + Upload data from the driver facing camera and help improve the driver monitoring algorithm. + 上傳駕駛監控的錄像來協助我們提升駕駛監控的準確率。 + + + + Disengage On Accelerator Pedal + 油門取消控車 + + + + When enabled, pressing the accelerator pedal will disengage openpilot. + 啟用後，踩踏油門將會取消 openpilot 控制。 + + + + Show ETA in 24h format + 預計到達時間單位改用 24 小時制 + + + + Use 24h format instead of am/pm + 使用 24 小時制。(預設值為 12 小時制) + + + + 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 + + + Update Required + 系統更新 + + + + An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. + 設備的操作系統需要更新。請將您的設備連接到 Wi-Fi 以獲得最快的更新體驗。下載大小約為 1GB。 + + + + Connect to Wi-Fi + 連接到無線網絡 + + + + Install + 安裝 + + + + Back + 回上頁 + + + + Loading... + 載入中… + + + + Reboot + 重新啟動 + + + + Update failed + 更新失敗 + + + + WifiUI + + + + Scanning for networks... + 掃描無線網路中... + + + + CONNECTING... + 連線中... + + + + FORGET + 清除 + + + + Forget Wi-Fi Network " + 清除 Wi-Fi 網路 " + + + From e0f8f50baa209f0f5fc713100bcec16411cd5925 Mon Sep 17 00:00:00 2001 From: "Mr.one" <84395321+hellokitty-666@users.noreply.github.com> Date: Sat, 9 Jul 2022 03:49:04 +0800 Subject: [PATCH 114/306] Improve Chinese (Simplified) translations (#25075) * Optimize Chinese local translation * update QM Co-authored-by: Shane Smiskol --- selfdrive/ui/translations/main_zh-CHS.qm | Bin 17617 -> 17629 bytes selfdrive/ui/translations/main_zh-CHS.ts | 38 +++++++++++------------ 2 files changed, 19 insertions(+), 19 deletions(-) diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm index 627f6afc204dba0b2c2a87f13cad266e9edcbd4f..be6c51030617f25c54c086e107274a1b0434ea5c 100644 GIT binary patch delta 1770 zcmX9;ZB$g%8h*~1ea_4|b7oG+SD^;X0P$^JzYxI!S13>@2IbOBQ@CSkUNenbmUI0U zF~yFQijpO0S*D9g%a6*G^pb*F+VU$#eaRTuj;(S2d0bE6ZG6+ayOc_P&AWq?)r-K+h8L%G(jNSZB z0x@%d$Cd+W%vrFSc`gHwKgn}RK=EMiokipq>LIQG{D~~I;9j5(VpT1GwjkP;2QkJ9 z;;8>YZ0Z6e9inL{6DklbpA(B9&Iq7?JCrpsKvD&iJ-Yz?Yp4e<5qn{enZ*3_VNW>^ zI88ik67^7wZC(UFl5;V(XFo7_B*tko0COn{hS!h?8>q--2Zu3!jzuLBFyTiM=yw|v z-}n#rSE58d&iKnHnX!b0Q}NWUdcg4$CgpEr!9q;_;B_FY6jQ%$=Ksg=Vi~*ccLsmI z!}G=xy!UOZAIQ!`h0^_Xae()fG;AF$O6!t} zPf*U->(Z7Bj1T)=YAq2=yi&R-?*O9yBJ~bg4&0w2>%MP*_}Aq4?hYV*r<|uRAhBlo znfusq+MDvW^YI!F%#uG_OJ;-I@|XGR0QVO8`(h@J`b}CMn8$~P z+dguWUgBX};{i^KY1j@mhBKYlS|~^R-xJe!1z6;!cs`#Jn&ZT)9ixGPd&Da78!%+4 z*pz>S^OF!ncSaBg^oXtXeL(WR#QR-ktQjIcK2rlkFB6~6uBS-z#6g2<8@I)&D{YMb zC{F$KGxL8UIv)8HQ2$W$;S@1B^P1wSdWotuC}Z65lwBy3rnjw220zoXQzzZF{aYFteGCI4`Nn-<<=dtNI9y?u_YXeA5`}*>A>WHrD|4h z9{E?OV;jE!Mod?yNK`ZSq`IT;F7RNKdL(@_VDD9LjlV!MJMEq%>JqQo8={u6jhF3v z=XR37^CnyKwWyQG!g0F=qRv}ru&Se{Q7OqYOUkVgsn~1?S{T*^+p!f^g|CTBsN_?=Hod<)|>PP`5GM5 znPVM0BjT!BH>3c!l9(68xC5#7eI!|1q zA#u^pe?HN~%adS)9cAIJa+u0%d}!Sz`Mqr;0_O`e_f z^oXk|m+0+teVav3weQ^FA96I~_PV21v6=g>x;=ek*z{NKjLUooQfu6WYbi!Zg1fSo zH!ps#d)w7V>Fx~o?t11O{JT}EM(4Gd5m)Z=Hos<$>*DV8QRZAH0ZcP%=m6`yA__1Ae{?jW#mXseO=O=gEc*soo|=zSTj;m QmkxU&cA6Qe&dkyO1fHhgfdBvi delta 1804 zcmYLJYg80v7=C7UW_D+Gb|w@gNd*>AxvEKs3YJ(XXdsAXp;5}ZQD)jfsZ95jlA=j? zMhy|j62dI=#2S@ZSptQmcF_*Sp$x%G*HdPiiKnNtKl(A}+3(%&y*F-7`>S|nRt>|$UAojFuVY;9|rVS_l=K z`>RkO9-;kF6fAt2iAUhBrUtHa1^lU$TavPhwMyYxiw6kvFhv|hRhj9)2LXC31F zj0~WW9Kd0{QfMK_WS$x63{ z`liXNk`0dSetFY&rd87eI7|rO@c00xHORHkQ%ud08=mFZ2D|0`pPU8~TI7!hNR?PF zABp^e)Isj_5FV({NB+-3MEpE>MqPx^egi_`@ z^<;MrXCq(j33`+-!#-_lJYNl;qHD#UAEW$=R&ilCFl-btodF)wHk~thF4wkRr+n^h zTJ@pbEa-c!wrehzWwTa)jB?t3*Y<7LO1=iPgJWebUB33QmwvLSwQ3{y8oaBu4oTx~ z)M)1yl`_v+r_i#7_m?@N4!5BY=7uwd`^q#n{icz6nh!z3dSm8uBqPXeRP5yD#WWgq z=We6A_ZfQ|7jh>XpN^L$qq#1#914|VgtYYEn#QvQr^`$XRKZB$6R_5JX4Cy z>hCtpDwyYwiTcK&I#y*BmFH-_Jijv`+h!AUT>klEjyR+Z%c@{SrH&N7^=GF}6 REVIEW - 审查 + 重新查看 @@ -180,15 +180,15 @@ VIEW - 看法 + 查看 Change Language - 改变语言 + 切换语言 CHANGE - 改变 + 切换 Select a language @@ -227,7 +227,7 @@ left - 剩下 + 向左 @@ -270,7 +270,7 @@ ALL TIME - 整天 + 全部 @@ -285,7 +285,7 @@ Miles - 迈尔斯 + 英里 @@ -293,7 +293,7 @@ camera starting - 相机启动 + 相机启动中 @@ -324,7 +324,7 @@ Receiving objects: - 接收物体： + 正在接收： @@ -462,12 +462,12 @@ location set ALERTS - 个警报 + 警报 ALERT - 个警报 + 警报 @@ -561,7 +561,7 @@ location set Exit - 出口 + 退出 @@ -571,7 +571,7 @@ location set openpilot - 开放式飞行员 + openpilot @@ -732,7 +732,7 @@ location set Waiting for internet - 等待上网 + 等待网络连接 @@ -857,7 +857,7 @@ location set NO - 不 + 未连接 @@ -1046,12 +1046,12 @@ location set Decline - 衰退 + 拒绝 Scroll to accept - 滚动接受 + 滑动接受 @@ -1084,7 +1084,7 @@ location set Enable Right-Hand Drive - 启用右手驱动 + 启用右舵模式 @@ -1114,7 +1114,7 @@ location set Disengage On Accelerator Pedal - 松开加速踏板 + 踩油门解除 From df251ef50ebfe5c997e14a03fca4ec932bc4c5cf Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 8 Jul 2022 13:00:43 -0700 Subject: [PATCH 115/306] Fix master-ci dirty working tree + CI test (#25087) * check * test for dirty working tree * swap order * fix diff --- .github/workflows/selfdrive_tests.yaml | 7 +++++-- .gitignore | 2 -- Jenkinsfile | 1 + rednose_repo | 2 +- release/check-dirty.sh | 11 +++++++++++ release/files_common | 3 +++ selfdrive/loggerd/.gitignore | 1 + 7 files changed, 22 insertions(+), 5 deletions(-) create mode 100755 release/check-dirty.sh diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 35a08d4fe9..99a21b58f3 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -59,11 +59,14 @@ jobs: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh cp Dockerfile.openpilot_base $STRIPPED_DIR - name: Build Docker image - run: eval "$BUILD" + run: | + eval "$BUILD" + rm $STRIPPED_DIR/Dockerfile.openpilot_base - name: Build openpilot and run checks run: | cd $STRIPPED_DIR ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py && \ + release/check-dirty.sh && \ python -m unittest discover selfdrive/car" build_all: @@ -89,7 +92,7 @@ jobs: - name: Build Docker image run: eval "$BUILD" - name: Build openpilot with all flags - run: ${{ env.RUN }} "scons -j$(nproc) --extras --test" + run: ${{ env.RUN }} "scons -j$(nproc) --extras --test && release/check-dirty.sh" - name: Cleanup scons cache run: | ${{ env.RUN }} "scons -j$(nproc) --extras --test && \ diff --git a/.gitignore b/.gitignore index 0092c4dc94..e1ff5d5008 100644 --- a/.gitignore +++ b/.gitignore @@ -45,8 +45,6 @@ system/proclogd/proclogd selfdrive/ui/_ui selfdrive/test/longitudinal_maneuvers/out selfdrive/visiond/visiond -selfdrive/loggerd/loggerd -selfdrive/loggerd/bootlog selfdrive/sensord/_gpsd selfdrive/sensord/_sensord system/camerad/camerad diff --git a/Jenkinsfile b/Jenkinsfile index 0fa623fbcd..4e13717851 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -115,6 +115,7 @@ pipeline { phone_steps("tici", [ ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"], ["build openpilot", "cd selfdrive/manager && ./build.py"], + ["check dirty", "release/check-dirty.sh"], ["test manager", "python selfdrive/manager/test/test_manager.py"], ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"], ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"], diff --git a/rednose_repo b/rednose_repo index 225dbacbaa..3b6bd703b7 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit 225dbacbaac312f85eaaee0b97a3acc31f9c6b47 +Subproject commit 3b6bd703b7a7667e4f82d0b81ef9a454819b94bd diff --git a/release/check-dirty.sh b/release/check-dirty.sh new file mode 100755 index 0000000000..9c6389f380 --- /dev/null +++ b/release/check-dirty.sh @@ -0,0 +1,11 @@ +#!/usr/bin/bash +set -e + +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" +cd $DIR + +if [ ! -z "$(git status --porcelain)" ]; then + echo "Dirty working tree after build:" + git status --porcelain + exit 1 +fi diff --git a/release/files_common b/release/files_common index 260e37e29a..fb91170561 100644 --- a/release/files_common +++ b/release/files_common @@ -231,6 +231,7 @@ selfdrive/locationd/models/gnss_helpers.py selfdrive/locationd/calibrationd.py +system/logcatd/.gitignore system/logcatd/SConscript system/logcatd/logcatd_systemd.cc @@ -239,6 +240,7 @@ system/proclogd/main.cc system/proclogd/proclog.cc system/proclogd/proclog.h +selfdrive/loggerd/.gitignore selfdrive/loggerd/SConscript selfdrive/loggerd/encoder/encoder.cc selfdrive/loggerd/encoder/encoder.h @@ -414,6 +416,7 @@ scripts/stop_updater.sh pyextra/.gitignore pyextra/acados_template/** +rednose/.gitignore rednose/** laika/** diff --git a/selfdrive/loggerd/.gitignore b/selfdrive/loggerd/.gitignore index 6437be5e38..53dc24e6f2 100644 --- a/selfdrive/loggerd/.gitignore +++ b/selfdrive/loggerd/.gitignore @@ -1,3 +1,4 @@ loggerd encoderd +bootlog tests/test_logger From 8ea982264ec4ba7aa47a3228236f943e76a911c5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 8 Jul 2022 13:05:25 -0700 Subject: [PATCH 116/306] remove casync from agnos manifest for now --- system/hardware/tici/agnos.json | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 853d3ab434..7ccea95ee7 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -47,8 +47,6 @@ "size": 10737418240, "sparse": true, "full_check": false, - "has_ab": true, - "casync_caibx": "https://commadist.azureedge.net/agnosupdate/system-59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13.caibx", - "casync_store": "https://commadist.azureedge.net/agnosupdate/system-59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13" + "has_ab": true } ] From 1d6623c6092e312d03ce4d434077780e2287a010 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 8 Jul 2022 13:18:12 -0700 Subject: [PATCH 117/306] update release notes --- RELEASES.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 392e9dc486..7e8f80500e 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,18 +1,18 @@ -Version 0.8.15 (2022-07-XX) +Version 0.8.15 (2022-07-20) ======================== * New driving model * Path planning uses end-to-end output instead of lane lines at all times * Reduced ping pong * Improved lane centering * New lateral controller based on physical wheel torque model - * Much smoother control, consistent across the speed range + * Much smoother control that's consistent across the speed range * Effective feedforward that uses road roll * Simplified tuning, all car-specific parameters can be derived from data + * Used on select Toyota and Hyundai models at first * Significantly improved control on TSS-P Prius * New driver monitoring model * Takes a larger input frame * Outputs a driver state for both driver and passenger - * Automatically determines which side the driver is on (soon) * Navigation improvements * Speed limits shown while navigating * Faster position fix by using raw GPS measurements @@ -23,8 +23,8 @@ Version 0.8.15 (2022-07-XX) * More consistent camera view perspective across cars * Reduced power usage: device runs cooler and fan spins less * AGNOS 5 - * Support for delta updates to reduce data usage on future OS updates * Support VSCode remote SSH target + * Support for delta updates to reduce data usage on future OS updates * Honda Civic 2022 support * Hyundai Tucson 2021 support thanks to bluesforte! * Lexus NX Hybrid 2020 support thanks to AlexandreSato! From 5f77451aec3345c80f8cf2e5cd15c0ce911d5612 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 8 Jul 2022 13:46:09 -0700 Subject: [PATCH 118/306] FW fingerprinting updates (#25088) * Print brand along with ecu * fix json decoding * fw_versions updates * add timeout handling back * keep logging the same --- selfdrive/car/car_helpers.py | 6 +++--- selfdrive/car/fw_versions.py | 22 ++++++++++------------ 2 files changed, 13 insertions(+), 15 deletions(-) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 7f83732153..690072cc4d 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -79,7 +79,7 @@ interfaces = load_interfaces(interface_names) def fingerprint(logcan, sendcan): fixed_fingerprint = os.environ.get('FINGERPRINT', "") skip_fw_query = os.environ.get('SKIP_FW_QUERY', False) - ecu_responses = set() + ecu_rx_addrs = set() if not fixed_fingerprint and not skip_fw_query: # Vin query only reliably works thorugh OBDII @@ -98,7 +98,7 @@ def fingerprint(logcan, sendcan): else: cloudlog.warning("Getting VIN & FW versions") _, vin = get_vin(logcan, sendcan, bus) - ecu_responses = get_present_ecus(logcan, sendcan) + ecu_rx_addrs = get_present_ecus(logcan, sendcan) car_fw = get_fw_versions(logcan, sendcan) exact_fw_match, fw_candidates = match_fw_to_car(car_fw) @@ -166,7 +166,7 @@ def fingerprint(logcan, sendcan): source = car.CarParams.FingerprintSource.fixed cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, - fw_count=len(car_fw), ecu_responses=ecu_responses, error=True) + fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), error=True) return car_fingerprint, finger, vin, car_fw, source, exact_match diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 03dcece10c..c51d120166 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -290,24 +290,21 @@ def match_fw_to_car(fw_versions, allow_fuzzy=True): versions = get_interface_attr('FW_VERSIONS', ignore_none=True) # Try exact matching first - exact_matches = [True] + exact_matches = [(True, match_fw_to_car_exact)] if allow_fuzzy: - exact_matches.append(False) + exact_matches.append((False, match_fw_to_car_fuzzy)) - for exact_match in exact_matches: + for exact_match, match_func in exact_matches: # For each brand, attempt to fingerprint using FW returned from its queries + matches = set() for brand in versions.keys(): fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand) + matches |= match_func(fw_versions_dict) - if exact_match: - matches = match_fw_to_car_exact(fw_versions_dict) - else: - matches = match_fw_to_car_fuzzy(fw_versions_dict) + if len(matches): + return exact_match, matches - if len(matches) == 1: - return exact_match, matches - - return True, [] + return True, set() def get_present_ecus(logcan, sendcan): @@ -448,9 +445,10 @@ if __name__ == "__main__": print() print("Found FW versions") print("{") + padding = max([len(fw.brand) for fw in fw_vers]) for version in fw_vers: subaddr = None if version.subAddress == 0 else hex(version.subAddress) - print(f" (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]") + print(f" Brand: {version.brand:{padding}} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]") print("}") print() From b5f0cb22a5aab4ea94cdc817bf0331919a265bfb Mon Sep 17 00:00:00 2001 From: realfast Date: Fri, 8 Jul 2022 16:36:02 -0500 Subject: [PATCH 119/306] Add Chrysler FPv2 requests and logging (#24460) * Chrylser FPv2 * Update fw_versions.py * formatting and remove default * fix rx offset * move to end * add fw versions * this won't be fingerprinted on as it returns from Mazda * only log FW versions * add type annotation * fix typing * Skip if FW versions are for read/request-only * Fix crash if no fw versions Fix crash if no fw versions Co-authored-by: Shane Smiskol Co-authored-by: Adeeb Shihadeh --- selfdrive/car/chrysler/values.py | 18 +++++++++++++++++- selfdrive/car/fw_versions.py | 21 ++++++++++++++++++++- selfdrive/car/tests/test_fw_fingerprint.py | 2 ++ 3 files changed, 39 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 40210e68e6..ada4f486fc 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -1,6 +1,7 @@ +import capnp from dataclasses import dataclass from enum import Enum -from typing import Dict, List, Optional, Union +from typing import Dict, List, Optional, Tuple, Union from cereal import car from selfdrive.car import dbc_dict @@ -110,6 +111,21 @@ FINGERPRINTS = { ], } +FW_VERSIONS: Dict[str, Dict[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]], List[str]]] = { + CAR.RAM_1500: { + (Ecu.combinationMeter, 0x742, None): [], + (Ecu.srs, 0x744, None): [], + (Ecu.esp, 0x747, None): [], + (Ecu.fwdCamera, 0x753, None): [], + (Ecu.fwdCamera, 0x764, None): [], + (Ecu.eps, 0x761, None): [], + (Ecu.fwdRadar, 0x757, None): [], + (Ecu.eps, 0x75A, None): [], + (Ecu.engine, 0x7e0, None): [], + (Ecu.transmission, 0x7e1, None): [], + (Ecu.gateway, 0x18DACBF1, None): [], + } +} DBC = { CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'), diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index c51d120166..04610b96d9 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -92,6 +92,13 @@ SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION) +CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(0xf132) +CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(0xf132) + +CHRYSLER_RX_OFFSET = -0x280 + @dataclass class Request: @@ -188,6 +195,18 @@ REQUESTS: List[Request] = [ [TESTER_PRESENT_RESPONSE, UDS_VERSION_RESPONSE], bus=0, ), + # Chrysler / FCA / Stellantis + Request( + "chrysler", + [CHRYSLER_VERSION_REQUEST], + [CHRYSLER_VERSION_RESPONSE], + rx_offset=CHRYSLER_RX_OFFSET, + ), + Request( + "chrysler", + [CHRYSLER_VERSION_REQUEST], + [CHRYSLER_VERSION_RESPONSE], + ), ] @@ -445,7 +464,7 @@ if __name__ == "__main__": print() print("Found FW versions") print("{") - padding = max([len(fw.brand) for fw in fw_vers]) + padding = max([len(fw.brand) for fw in fw_vers] or [0]) for version in fw_vers: subaddr = None if version.subAddress == 0 else hex(version.subAddress) print(f" Brand: {version.brand:{padding}} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]") diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 49fa66d36d..cda241c73f 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -27,6 +27,8 @@ class TestFwFingerprint(unittest.TestCase): for _ in range(200): fw = [] for ecu, fw_versions in ecus.items(): + if not len(fw_versions): + raise unittest.SkipTest("Car model has no FW versions") ecu_name, addr, sub_addr = ecu fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand, "address": addr, "subAddress": 0 if sub_addr is None else sub_addr}) From c907a0c28aa0958fbc841019eb401a23432ef897 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 8 Jul 2022 14:42:54 -0700 Subject: [PATCH 120/306] add chrysler fw query to release notes --- RELEASES.md | 1 + 1 file changed, 1 insertion(+) diff --git a/RELEASES.md b/RELEASES.md index 7e8f80500e..1e9a1b0423 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -25,6 +25,7 @@ Version 0.8.15 (2022-07-20) * AGNOS 5 * Support VSCode remote SSH target * Support for delta updates to reduce data usage on future OS updates +* Chrysler ECU firmware fingerprinting thanks to realfast! * Honda Civic 2022 support * Hyundai Tucson 2021 support thanks to bluesforte! * Lexus NX Hybrid 2020 support thanks to AlexandreSato! From 76dde007959b633f4140d04e79043c7faef567b9 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Fri, 8 Jul 2022 16:57:50 -0700 Subject: [PATCH 121/306] Update RELEASES.md --- RELEASES.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 1e9a1b0423..588b88827a 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -11,8 +11,9 @@ Version 0.8.15 (2022-07-20) * Used on select Toyota and Hyundai models at first * Significantly improved control on TSS-P Prius * New driver monitoring model - * Takes a larger input frame - * Outputs a driver state for both driver and passenger + * Bigger model, covering full interior view from driver camera + * Works with a wider variety of mounting angles + * 3x more unique comma three training data than previous * Navigation improvements * Speed limits shown while navigating * Faster position fix by using raw GPS measurements From 4c493237d52525d2effb95b5cda96b36a684303c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 8 Jul 2022 19:36:09 -0700 Subject: [PATCH 122/306] Interleave VIN queries (#25090) Interleave the two requests --- selfdrive/car/vin.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index 7413c3f235..fd1ca61e66 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -18,8 +18,8 @@ VIN_UNKNOWN = "0" * 17 def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False): - for request, response in ((UDS_VIN_REQUEST, UDS_VIN_RESPONSE), (OBD_VIN_REQUEST, OBD_VIN_RESPONSE)): - for i in range(retry): + for i in range(retry): + for request, response in ((UDS_VIN_REQUEST, UDS_VIN_RESPONSE), (OBD_VIN_REQUEST, OBD_VIN_RESPONSE)): try: query = IsoTpParallelQuery(sendcan, logcan, bus, FUNCTIONAL_ADDRS, [request, ], [response, ], functional_addr=True, debug=debug) for addr, vin in query.get_data(timeout).items(): From 94c8717cac0cfad4603d57a8da108a124019dd73 Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Fri, 8 Jul 2022 22:03:21 -0500 Subject: [PATCH 123/306] Add missing HIGHLANDERH_TSS2 ESP & engine f/w (#25066) * Add missing HIGHLANDERH_TSS2 ESP & engine f/w `@pkozlowski#5214` 2022 Highlander Hybrid (Poland) DongleID/route b2e9858e29db492b|2022-07-07--17-57-24 * Fix test_fw_query_on_routes with older routes Co-authored-by: Shane Smiskol --- selfdrive/car/toyota/values.py | 4 +++- selfdrive/debug/test_fw_query_on_routes.py | 5 +++-- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 8149bfd063..2a03999342 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -954,11 +954,13 @@ FW_VERSIONS = { b'\x01F15264873500\x00\x00\x00\x00', b'\x01F152648C6300\x00\x00\x00\x00', b'\x01F152648J4000\x00\x00\x00\x00', + b'\x01F152648J6000\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ + b'\x01896630EE4000\x00\x00\x00\x00', + b'\x01896630EE6000\x00\x00\x00\x00', b'\x01896630E67000\x00\x00\x00\x00', b'\x01896630EA1000\x00\x00\x00\x00', - b'\x01896630EE4000\x00\x00\x00\x00', b'\x01896630EA1000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index 8c8c631c38..9ce0ebb3f5 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -17,6 +17,7 @@ NO_API = "NO_API" in os.environ VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True) SUPPORTED_BRANDS = VERSIONS.keys() SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_names[brand]] +UNKNOWN_BRAND = "unknown" try: from xx.pipeline.c.CarState import migration @@ -126,10 +127,10 @@ if __name__ == "__main__": print("New style (exact):", exact_matches) print("New style (fuzzy):", fuzzy_matches) - padding = max([len(fw.brand) for fw in car_fw]) + padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw]) for version in sorted(car_fw, key=lambda fw: fw.brand): subaddr = None if version.subAddress == 0 else hex(version.subAddress) - print(f" Brand: {version.brand:{padding}} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],") + print(f" Brand: {version.brand or UNKNOWN_BRAND:{padding}} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],") print("Mismatches") found = False From 949de4d2b6b293d9f77d83c58212f5dee176cbf1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 8 Jul 2022 20:25:54 -0700 Subject: [PATCH 124/306] UI: Internationalization support (#21212) * rough multiple language demo * more wrappings * stash * add some bad translations * updates * map from french to spanish still has same problem of needing to call setText on everything * add files * restart UI * use return code * relative path * more translations * don't loop restart * Toggle and prime translations * try on device * try QComboBox with readable style * stash * not yet scrollable * stash * dynamic translations (doesn't work for dynamic widget strings yet) * clean up multiple option selector * store languages in json * try transparent * Try transparent popup * see how this looks * tweaks * clean up * update names * Add Chinese (Simplified) translations * Do missing French translations * unit tests caught that :) * fix test * fix other test (on PC) * add entries to dialog to test * add cancel button, clean up a bit * just chinese * some clean up * use quotes * clean up * Just quit, set timeout to 0 * half a second * use exitcode * don't print if it's expected * this comment is outdated * update translations * Update translations * re-order input classes * Update line numbers * use enabled property for button style * Get rid of ListWidget * Update line numbers * Log failed to load language * Log failed to load language * Move to utils and fix english logging extra line * Update translations * spacing * looks a bit better * try this instead of exitcode fixes fix * only one function * comment * Update line numbers * fixup some japanese translations * clean up multi option dialog * Update line numbers --- common/params.cc | 1 + common/watchdog.cc | 5 +- common/watchdog.h | 4 +- selfdrive/ui/main.cc | 9 ++ selfdrive/ui/qt/offroad/settings.cc | 14 ++ selfdrive/ui/qt/util.cc | 16 +++ selfdrive/ui/qt/util.h | 1 + selfdrive/ui/qt/widgets/input.cc | 86 ++++++++++++ selfdrive/ui/qt/widgets/input.h | 9 ++ selfdrive/ui/tests/test_translations.cc | 1 + selfdrive/ui/translations/main_ja.ts | 6 +- selfdrive/ui/translations/main_ko.qm | Bin 19159 -> 19449 bytes selfdrive/ui/translations/main_ko.ts | 167 ++++++++++++----------- selfdrive/ui/translations/main_zh-CHS.qm | Bin 17629 -> 17919 bytes selfdrive/ui/translations/main_zh-CHS.ts | 167 ++++++++++++----------- selfdrive/ui/translations/main_zh-CHT.qm | Bin 17741 -> 18031 bytes selfdrive/ui/translations/main_zh-CHT.ts | 167 ++++++++++++----------- selfdrive/ui/ui.cc | 2 +- selfdrive/ui/update_translations.py | 2 +- 19 files changed, 404 insertions(+), 253 deletions(-) diff --git a/common/params.cc b/common/params.cc index f93c87cd98..c4f65a9e02 100644 --- a/common/params.cc +++ b/common/params.cc @@ -129,6 +129,7 @@ std::unordered_map keys = { {"IsUpdateAvailable", CLEAR_ON_MANAGER_START}, {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, {"LaikadEphemeris", PERSISTENT | DONT_LOG}, + {"LanguageSetting", PERSISTENT}, {"LastAthenaPingTime", CLEAR_ON_MANAGER_START}, {"LastGPSPosition", PERSISTENT}, {"LastManagerExitReason", CLEAR_ON_MANAGER_START}, diff --git a/common/watchdog.cc b/common/watchdog.cc index 5a10207828..920df4030a 100644 --- a/common/watchdog.cc +++ b/common/watchdog.cc @@ -1,12 +1,9 @@ #include "common/watchdog.h" -#include "common/timing.h" #include "common/util.h" const std::string watchdog_fn_prefix = "/dev/shm/wd_"; // + -bool watchdog_kick() { +bool watchdog_kick(uint64_t ts) { static std::string fn = watchdog_fn_prefix + std::to_string(getpid()); - - uint64_t ts = nanos_since_boot(); return util::write_file(fn.c_str(), &ts, sizeof(ts), O_WRONLY | O_CREAT) > 0; } diff --git a/common/watchdog.h b/common/watchdog.h index 7ed23aa0d9..12dd2ca035 100644 --- a/common/watchdog.h +++ b/common/watchdog.h @@ -1,3 +1,5 @@ #pragma once -bool watchdog_kick(); +#include + +bool watchdog_kick(uint64_t ts); diff --git a/selfdrive/ui/main.cc b/selfdrive/ui/main.cc index 1eecd78b19..ed54d5aa19 100644 --- a/selfdrive/ui/main.cc +++ b/selfdrive/ui/main.cc @@ -1,6 +1,7 @@ #include #include +#include #include "system/hardware/hw.h" #include "selfdrive/ui/qt/qt_window.h" @@ -13,7 +14,15 @@ int main(int argc, char *argv[]) { qInstallMessageHandler(swagLogMessageHandler); initApp(argc, argv); + QTranslator translator; + QString translation_file = QString::fromStdString(Params().get("LanguageSetting")); + if (!translator.load(translation_file, "translations") && translation_file.length()) { + qCritical() << "Failed to load translation file:" << translation_file; + } + QApplication a(argc, argv); + a.installTranslator(&translator); + MainWindow w; setMainWindow(&w); a.installEventFilter(&w); diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index a03af23951..6bcdd55b0a 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -13,6 +13,7 @@ #endif #include "common/params.h" +#include "common/watchdog.h" #include "common/util.h" #include "system/hardware/hw.h" #include "selfdrive/ui/qt/widgets/controls.h" @@ -133,6 +134,19 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { addItem(regulatoryBtn); } + auto translateBtn = new ButtonControl(tr("Change Language"), tr("CHANGE"), ""); + connect(translateBtn, &ButtonControl::clicked, [=]() { + QMap langs = getSupportedLanguages(); + QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), this); + if (!selection.isEmpty()) { + // put language setting, exit Qt UI, and trigger fast restart + Params().put("LanguageSetting", langs[selection].toStdString()); + qApp->exit(18); + watchdog_kick(0); + } + }); + addItem(translateBtn); + QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) { for (auto btn : findChildren()) { btn->setEnabled(offroad); diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index cab7299cd6..a7d5438ae4 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -1,6 +1,9 @@ #include "selfdrive/ui/qt/util.h" #include +#include +#include +#include #include #include #include @@ -36,6 +39,19 @@ std::optional getDongleId() { } } +QMap getSupportedLanguages() { + QFile f("translations/languages.json"); + f.open(QIODevice::ReadOnly | QIODevice::Text); + QString val = f.readAll(); + + QJsonObject obj = QJsonDocument::fromJson(val.toUtf8()).object(); + QMap map; + for (auto key : obj.keys()) { + map[key] = obj[key].toString(); + } + return map; +} + void configFont(QPainter &p, const QString &family, int size, const QString &style) { QFont f(family); f.setPixelSize(size); diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h index 9491c6798e..f0e57526c8 100644 --- a/selfdrive/ui/qt/util.h +++ b/selfdrive/ui/qt/util.h @@ -14,6 +14,7 @@ QString getBrand(); QString getBrandVersion(); QString getUserAgent(); std::optional getDongleId(); +QMap getSupportedLanguages(); void configFont(QPainter &p, const QString &family, int size, const QString &style); void clearLayout(QLayout* layout); void setQtSurfaceFormat(); diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc index 755ccfe8c5..a130a8e935 100644 --- a/selfdrive/ui/qt/widgets/input.cc +++ b/selfdrive/ui/qt/widgets/input.cc @@ -1,6 +1,7 @@ #include "selfdrive/ui/qt/widgets/input.h" #include +#include #include "system/hardware/hw.h" #include "selfdrive/ui/qt/util.h" @@ -257,3 +258,88 @@ bool RichTextDialog::alert(const QString &prompt_text, QWidget *parent) { auto d = RichTextDialog(prompt_text, tr("Ok"), parent); return d.exec(); } + +// MultiOptionDialog + +MultiOptionDialog::MultiOptionDialog(const QString &prompt_text, QStringList l, QWidget *parent) : QDialogBase(parent) { + QFrame *container = new QFrame(this); + container->setStyleSheet(R"( + QFrame { background-color: #1B1B1B; } + #confirm_btn[enabled="false"] { background-color: #2B2B2B; } + #confirm_btn:enabled { background-color: #465BEA; } + #confirm_btn:enabled:pressed { background-color: #3049F4; } + )"); + + QVBoxLayout *main_layout = new QVBoxLayout(container); + main_layout->setContentsMargins(55, 50, 55, 50); + + QLabel *title = new QLabel(prompt_text, this); + title->setStyleSheet("font-size: 70px; font-weight: 500;"); + main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop); + main_layout->addSpacing(25); + + QWidget *listWidget = new QWidget(this); + QVBoxLayout *listLayout = new QVBoxLayout(listWidget); + listLayout->setSpacing(20); + listWidget->setStyleSheet(R"( + QPushButton { + height: 135; + padding: 0px 50px; + text-align: left; + font-size: 55px; + font-weight: 300; + border-radius: 10px; + background-color: #4F4F4F; + } + QPushButton:checked { background-color: #465BEA; } + )"); + + QButtonGroup *group = new QButtonGroup(listWidget); + group->setExclusive(true); + + QPushButton *confirm_btn = new QPushButton(tr("Select")); + confirm_btn->setObjectName("confirm_btn"); + confirm_btn->setEnabled(false); + + for (QString &s : l) { + QPushButton *selectionLabel = new QPushButton(s); + selectionLabel->setCheckable(true); + QObject::connect(selectionLabel, &QPushButton::toggled, [=](bool checked) { + if (checked) selection = s; + confirm_btn->setEnabled(true); + }); + + group->addButton(selectionLabel); + listLayout->addWidget(selectionLabel); + } + + ScrollView *scroll_view = new ScrollView(listWidget, this); + scroll_view->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded); + + main_layout->addWidget(scroll_view); + main_layout->addStretch(1); + main_layout->addSpacing(35); + + // cancel + confirm buttons + QHBoxLayout *blayout = new QHBoxLayout; + main_layout->addLayout(blayout); + blayout->setSpacing(50); + + QPushButton *cancel_btn = new QPushButton(tr("Cancel")); + QObject::connect(cancel_btn, &QPushButton::clicked, this, &ConfirmationDialog::reject); + QObject::connect(confirm_btn, &QPushButton::clicked, this, &ConfirmationDialog::accept); + blayout->addWidget(cancel_btn); + blayout->addWidget(confirm_btn); + + QVBoxLayout *outer_layout = new QVBoxLayout(this); + outer_layout->setContentsMargins(50, 50, 50, 50); + outer_layout->addWidget(container); +} + +QString MultiOptionDialog::getSelection(const QString &prompt_text, const QStringList l, QWidget *parent) { + MultiOptionDialog d = MultiOptionDialog(prompt_text, l, parent); + if (d.exec()) { + return d.selection; + } + return ""; +} diff --git a/selfdrive/ui/qt/widgets/input.h b/selfdrive/ui/qt/widgets/input.h index f81211d0ee..47d8b74efd 100644 --- a/selfdrive/ui/qt/widgets/input.h +++ b/selfdrive/ui/qt/widgets/input.h @@ -68,3 +68,12 @@ public: explicit RichTextDialog(const QString &prompt_text, const QString &btn_text, QWidget* parent); static bool alert(const QString &prompt_text, QWidget *parent); }; + +class MultiOptionDialog : public QDialogBase { + Q_OBJECT + +public: + explicit MultiOptionDialog(const QString &prompt_text, const QStringList l, QWidget *parent); + static QString getSelection(const QString &prompt_text, const QStringList l, QWidget *parent); + QString selection; +}; diff --git a/selfdrive/ui/tests/test_translations.cc b/selfdrive/ui/tests/test_translations.cc index fecb9da44a..ba0612b4c0 100644 --- a/selfdrive/ui/tests/test_translations.cc +++ b/selfdrive/ui/tests/test_translations.cc @@ -41,6 +41,7 @@ void checkWidgetTrWrap(MainWindow &w) { // Tests all strings in the UI are wrapped with tr() TEST_CASE("UI: test all strings wrapped") { + Params().remove("LanguageSetting"); Params().remove("HardwareSerial"); Params().remove("DongleId"); qputenv("TICI", "1"); diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index fbb654bc4c..5c0f54a314 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -528,12 +528,12 @@ location set ✓ SUBSCRIBED - ✓ 購読 + ✓ 購読しました comma prime - コンマプライム + comma prime @@ -543,7 +543,7 @@ location set COMMA POINTS - コンマポイント + COMMA POINTS diff --git a/selfdrive/ui/translations/main_ko.qm b/selfdrive/ui/translations/main_ko.qm index 62ddb3be2b89c6c73e82458ae86c02825c925de5..f6e95b5038f984183d9d4273c581bb6ef6e4b91d 100644 GIT binary patch delta 1948 zcmZWqX;4#F7(ID;FE4p{c>!6pwrB`JMJwQ1tf2}B3RVzBbX-~&FhVJ63$?BpS6px# zT(F{b0d4En0k=}LF1X_pwkRM?;;ivrxA}5*Awdik?Yp+fD{IFmWaKHLx`goljp&pR{{ALpp^sa 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zmGPTzn4Ck&dR;VR?cxx71sMwOhO(FKhM!6qIAF5j#0&P`<(}bk=vBbEpHcmo&z|bG z(J_qU8yIYKZtDg{q#7r-FphsuV`_3M74eBMZmD0-UN1N9SddC0`Nor ConfirmationDialog - - + + Ok 확인 - + Cancel 취소 @@ -108,149 +108,152 @@ DevicePanel - + Dongle ID Dongle ID - + N/A N/A - + Serial Serial - + Driver Camera 운전자 카메라 - + PREVIEW 미리보기 - + Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off) 운전자 카메라를 미리 보면서 최적의 운전자 모니터링 경험을 위해 기기 장착 위치를 최적화할수 있습니다. (차량은 반드시 닫아야 합니다) - + Reset Calibration 캘리브레이션 재설정 - + RESET 재설정 - + Are you sure you want to reset calibration? 캘리브레이션을 재설정하시겠습니까？ - + Review Training Guide 트레이닝 가이드 다시보기 - + REVIEW 다시보기 - + Review the rules, features, and limitations of openpilot openpilot의 규칙, 기능, 제한 다시보기 - + Are you sure you want to review the training guide? 트레이닝 가이드를 다시보시겠습니까？ - + Regulatory 규제 - + VIEW 보기 + Change Language - 언어변경 + 언어변경 + CHANGE - 변경 + 변경 + Select a language - 언어선택 + 언어선택 - + Reboot 재부팅 - + Power Off 전원 종료 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot은 장치를 왼쪽 또는 오른쪽 4° 이내, 위쪽 5° 또는 아래쪽 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다. - + Your device is pointed %1° %2 and %3° %4. 사용자의 기기가 %1° %2 및 %3° %4를 가리키고 있습니다. - + down 아래 - + up 위 - + left 왼쪽 - + right 오른쪽 - + Are you sure you want to reboot? 재부팅 하시겠습니까？ - + Disengage to Reboot 재부팅 하려면 해제하세요 - + Are you sure you want to power off? 전원을 종료하시겠습니까？ - + Disengage to Power Off 전원을 종료하려면 해제하세요 @@ -299,17 +302,17 @@ InputDialog - + Cancel 취소 - + Need at least 최소 필요 - + characters! 문자！ @@ -389,12 +392,14 @@ location set MultiOptionDialog + Select - 선택 + 선택 + Cancel - 취소 + 취소 @@ -564,27 +569,27 @@ location set 종료 - + dashcam dashcam - + openpilot openpilot - + %1 minute%2 ago %1 분%2 전 - + %1 hour%2 ago %1 시간%2 전 - + %1 day%2 ago %1 일%2 전 @@ -640,7 +645,7 @@ location set RichTextDialog - + Ok 확인 @@ -648,33 +653,33 @@ location set SettingsWindow - + × × - + Device 장치 - - + + Network 네트워크 - + Toggles 토글 - + Software 소프트웨어 - + Navigation 네비게이션 @@ -913,68 +918,68 @@ location set SoftwarePanel - + Git Branch Git 브렌치 - + Git Commit Git 커밋 - + OS Version OS 버전 - + Version 버전 - + Last Update Check 최신 업데이트 검사 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 이전에 openpilot에서 업데이트를 성공적으로 확인한 시간입니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다. - + Check for Update 업데이트 확인 - + CHECKING 검사중 - + Uninstall 삭제 - + UNINSTALL 삭제 - + Are you sure you want to uninstall? 삭제하시겠습니까？ - + failed to fetch update 업데이트를 가져올수없습니다 - - + + CHECK 확인 @@ -1062,82 +1067,82 @@ location set TogglesPanel - + Enable openpilot openpilot 사용 - + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. 어댑티브 크루즈 컨트롤 및 차선 유지 운전자 보조를 위해 openpilot 시스템을 사용하십시오. 이 기능을 사용하려면 항상 주의를 기울여야 합니다. 이 설정을 변경하면 차량 전원이 꺼질 때 적용됩니다. - + Enable Lane Departure Warnings 차선 이탈 경고 사용 - + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). 차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향 지시등이 활성화되지 않은 상태에서 감지된 차선 위를 주행할 경우 차선이탈 경고를 사용합니다. - + Enable Right-Hand Drive 우측핸들 사용 - + Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat. openpilot이 좌측 교통 규칙을 준수하고 우측 운전석에서 운전자 모니터링을 수행합니다. - + Use Metric System 미터법 사용 - + Display speed in km/h instead of mph. mph가 아닌 km/h로 속도 표시. - + Record and Upload Driver Camera 운전자 카메라 기록 및 업로드 - + Upload data from the driver facing camera and help improve the driver monitoring algorithm. 운전자 카메라에서 데이터를 업로드하고 운전자 모니터링 알고리즘을 개선합니다. - + Disengage On Accelerator Pedal 가속페달 조작시 해제 - + When enabled, pressing the accelerator pedal will disengage openpilot. 활성화된 경우 가속 페달을 누르면 openpilot이 해제됩니다. - + Show ETA in 24h format 24시간 형식으로 ETA 표시 - + Use 24h format instead of am/pm 오전/오후 대신 24시간 형식 사용 - + 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! diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm index be6c51030617f25c54c086e107274a1b0434ea5c..19eccddbc0e919fdadb32a5621f8f7474aded85a 100644 GIT binary patch delta 1961 zcmZWpe^gXu8h&Q(ueo>b+$#ibB4fkw!w3XTP)yK-Km?UEG*@y96ekEV&lxn2+N>cd zQfeui8k#BQYMCee(dsdma>UU5(P}5ovXqgEbTUoX4@E|WgglvRR zEdlcT5Ldnnpf!NPiU3Bu8Nk$EA#S`3STu#9f3B_T3n2UIa8R#y2kk;!-jG+Ckv);mB5tfPUe~8Bt3j zEM!qS4?2jvvh}RA5l{a>0uSB6)Mfu>d?oU&#{t8E{G#PNI0n;q)dOlSW=z)jxI=^X9mHOwf#1dYHg55bvKl3yeuZgZEFs;C}Ewl*dXoQ<`G=y~DEk8-5>g+j2HvWZpkpTC6*Of$^5k;VXav z(N@iK0*LWiqp!3BiQBAMn$JsS$F0xxW5o$8ty?at+)!lw^bI#K)Mh<4VGUp=Suads z;(^z#ZO!a?e1`SXwooQqB{+X(s|Fqt+%;oaQHM}5h53?A;X{LjV-E@qho0vC4}>EP zj8AY1{=u)(Z>NNF!FSoZg+iCFVkd=-6*D_O0fI-1FYMY+LN~;c3H)rfi;LUG0E2dk zON&TQUL>v*Zv#n7#f=k=(tI%iH2x95;Kl$t+r_&2F1GT5xc%}R61IyUovQ_0%ftgO z)l=b8@vzQTIci1U>8q_=XcbTY^b32PEw+z604TF0Z3J5|`l{rpSwKnOlQN8G^6Zsn zyucPE^^-i>F`DUXsWgfOBcnF*3u;QVN(6;RX}LCwD064V8}7)i=HS-S0x>f_?jl$Dz&ze zP=qS|SlP_pR|haHRO;>_!T2MxH6ov8J1-kI5~yIFoZ6X11zY6t4W9uiGvxvcTjKV8 zF7N2-1s(~Jk0xvaY&mjw-ZwN!o8pe8WHC^7hE=k{dCI=>A4y=Ma%1XtO1M_J(=vdH zy{6p#i3$lHDfdQq0AY7+8L@s&$r@XZK;mYJt@!#q5>B?gS+SYxRkrs&WWHdF?ckM2 z&VN{rsyLpf%Ll8Gbv9tw19jXj4>uI5({e9U%5ZghB_$lwq82)M?2XIQzcRd+f8X9O{g`%AT&4wLUy+J@c( zod3vLZR61$WVB4HYnjHL)oNSMu=m2R+TK+gc(9-y87gtUXKG(~xKXlder*uldsy@L zPvsbH)~?N_>jz!6TMoTS$rsuq8&A+9r|q-ac~3;7*cV(7spJ#(3gIBt_3(ZGesCVfcSVw&YEJu8E~e&T_ilQIh!*{$cMQ-PEX`t({R zbWYaiP3|M~NBy1dXSv^_H@w9$41Zp4-bTfS+|<8nCC0y|w>FWO__{;h8O8G^ITD@U zlE^5>s2*Q6=lHl|ZxRC@Ip_Fv5piU;!|(opUT`}6>BOj8j#H`hf;QX;-My2{cN<|V zS#i*E!`+oZWeyuDmv}J^S!?9JLB)a^jRonMjPEk4-{t(r>^8P^Jjs^cH}=#s|Kqof z&wir^!WxaU1y7!*%d)d}tULuEzQRX`A9 z4qnGNRltxDyyp+Zhw$uFB7Zh#EB~zK1`{Q7!FdnFwV41a?5JO5N6&3`40{W4XDy(U zA(nLKJqhBiUx;xK%SE7VC8YJ9fPV_4yhDI|35HXTh>b9Mj$-_IFb3QQ95i&%?!yMz z83W6f0G*;Ru;C;S5{g0QiGa2OgL|fv2n$GwVg=_gbmlfH;fG<5Nx zu5f)m5+*KZ;y{c%lmnQaVpPm_CXB`CpOymQi5PdOjQf`{YZ8lgD#ya+S2oJE9Q&@{ z1|s^PAbC9C=ZX^Np{yhub?X;!|BlWzG!XEL)wSN^19;!i_1MG~1=Z@}ODU(U70^0Bkdv+gzKaFlx@sW!pfEsACb2SMY>UaPIB27= z`@WeMrV6JwkXdI{xDc}mP&0&k@eJ(tQm8CruLEL)s_d2wxJmEvOyYWx-kR2r6+PE4 zh-bj=E%irK67G0TUvP^4(G>mJ0-g`@-nL9=XLH;qPB>J^ysyP+F;rC>BrdA%3wY#- zYsHs9w-w^fm?B!r&yH$uJGwWBSvgH?(4XS|+DWA0C>||O2imU`Pt3@nZga#l3LBt& z5N|xG;QC|n#?!wT|Cm_a?*w4@D9Js?v(tT^NtU#^6e?GWR(;7^ltxXU@ZDUcB>4g@ z(My`{lS_e|r0JinV|FIK1&mvzMN<~?e7v-zyGn1Ll+u1A5p$#+-F0^K2(e@MaVcvv zJ1*~#a@MQ{T&z<5wJLTxutd7tOhJX!(iN|}6j+ohDoMmslWJC$v6Gwa7~WQT-%Mfw z#RkDEf!6umpuPyEQi+D}#sRD-#W1koJkV=`VT_IfdtEaeX!-=Sb2AhL?;_zw!~3BR z*zp>p)t^fF8jQJaww0`GzA=Ax4G9b}z8Jor(xn?;KWsy(8jNqBQW^bGZn1JjPHpr6+&d5>0P7q%tzP4In!NoJdu+{=cNQHWp&B{sVIo_V zDet*8o(26Q=dIh$yk^;Uwu?k&6XeTDyeJ8BiQJCQ$QilBHJpU9<%VyQndq5=?$i&I ze5r$X@l|@`uEV%$PQ7Pehq?DeO4;9G`S&io_u8TK8C&Gj-r?6Tsg#qS;!@1So%SkT z1zfk@RDvQF(IYdI0nu!AAIYW+?mdn@gAyA>1$t#DBhwksJwcfj_nFYw%8vJZOgqg| z3bt~n+D=x=vZ+|$8|7vNF<_liQA%Rs8jB&xzXe~0cKqM82YyJrm1Tp~HX zU2kcwPd@P#S*#7JWt`wJZFW)}zpWA4mWQj^>nYl<$+Jmhmv(W^M ConfirmationDialog - - + + Ok 好的 - + Cancel 取消 @@ -108,149 +108,152 @@ DevicePanel - + Dongle ID 加密狗 ID - + N/A 不适用 - + Serial 串行 - + Driver Camera 司机摄像头 - + PREVIEW 预习 - + Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off) 预览面向驾驶员的摄像头，以帮助优化设备安装位置以获得最佳驾驶员监控体验。 （车辆必须关闭） - + Reset Calibration 重置校准 - + RESET 重置 - + Are you sure you want to reset calibration? 您确定要重置校准吗？ - + Review Training Guide 查看培训指南 - + REVIEW 重新查看 - + Review the rules, features, and limitations of openpilot 查看 openpilot 的规则、功能和限制 - + Are you sure you want to review the training guide? 您确定要查看培训指南吗？ - + Regulatory 监管 - + VIEW 查看 + Change Language - 切换语言 + 切换语言 + CHANGE - 切换 + 切换 + Select a language - 选择语言 + 选择语言 - + Reboot 重启 - + Power Off 关机 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot 要求设备安装在左或右 4° 以内，上 5° 或下 8° 以内。 openpilot 会持续校准，很少需要重置。 - + Your device is pointed %1° %2 and %3° %4. 您的设备指向 %1° %2 和 %3° %4。 - + down 下 - + up 向上 - + left 向左 - + right 向右 - + Are you sure you want to reboot? 您确定要重新启动吗？ - + Disengage to Reboot 脱离以重新启动 - + Are you sure you want to power off? 您确定要关闭电源吗？ - + Disengage to Power Off 脱离以关闭电源 @@ -299,17 +302,17 @@ InputDialog - + Cancel 取消 - + Need at least 需要至少 - + characters! 字符！ @@ -389,12 +392,14 @@ location set MultiOptionDialog + Select - 选择 + 选择 + Cancel - 取消 + 取消 @@ -564,27 +569,27 @@ location set 退出 - + dashcam 行车记录器 - + openpilot openpilot - + %1 minute%2 ago %1 分钟%2 前 - + %1 hour%2 ago %1 小时%2 前 - + %1 day%2 ago %1 天%2 前 @@ -640,7 +645,7 @@ location set RichTextDialog - + Ok 好的 @@ -648,33 +653,33 @@ location set SettingsWindow - + × × - + Device 设备 - - + + Network 网络 - + Toggles 切换 - + Software 软件 - + Navigation 导航 @@ -913,68 +918,68 @@ location set SoftwarePanel - + Git Branch Git 分支 - + Git Commit Git 提交 - + OS Version 操作系统版本 - + Version 版本 - + Last Update Check 最后更新检查 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 上次 openpilot 成功检查更新的时间。 更新程序仅在汽车关闭时运行。 - + Check for Update 检查更新 - + CHECKING 正在检查 - + Uninstall 卸载 - + UNINSTALL 卸载 - + Are you sure you want to uninstall? 您确定要卸载吗？ - + failed to fetch update 未能获取更新 - - + + CHECK 查看 @@ -1062,82 +1067,82 @@ location set TogglesPanel - + Enable openpilot 启用 openpilot - + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. 使用 openpilot 系统进行自适应巡航控制和车道保持驾驶员辅助。 任何时候都需要您注意使用此功能。 更改此设置在汽车断电时生效。 - + Enable Lane Departure Warnings 启用车道偏离警告 - + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). 当您的车辆在以超过 31 英里/小时（50 公里/小时）的速度行驶时在检测到的车道线上漂移而没有激活转向信号时，接收提醒以返回车道。 - + Enable Right-Hand Drive 启用右舵模式 - + Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat. 允许 openpilot 遵守左侧交通惯例并在右侧驾驶座上执行驾驶员监控。 - + Use Metric System 使用公制 - + Display speed in km/h instead of mph. 以公里/小时而不是英里/小时显示速度。 - + Record and Upload Driver Camera 记录和上传司机摄像头 - + Upload data from the driver facing camera and help improve the driver monitoring algorithm. 从面向驾驶员的摄像头上传数据，帮助改进驾驶员监控算法。 - + Disengage On Accelerator Pedal 踩油门解除 - + When enabled, pressing the accelerator pedal will disengage openpilot. 启用后，踩下油门踏板将解除 openpilot。 - + Show ETA in 24h format 以 24 小时格式显示 ETA - + Use 24h format instead of am/pm 使用 24 小时制代替上午/下午 - + 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 将禁用汽车的雷达并接管油门和刹车的控制。 警告：这会禁用 AEB！ diff --git a/selfdrive/ui/translations/main_zh-CHT.qm b/selfdrive/ui/translations/main_zh-CHT.qm index 8b055d665e4582f8d1461595d0d88a7eeacfbb49..e64aabecd68c5df555b350ade44bd61fb2ea5cd9 100644 GIT binary patch delta 1961 zcmZWpdr(w$6#jPaz5BR(_bzXhKzS^_fQ1qjAEzkBcRob&t6Io~;rMVfmh zn)P0e(}1=M=${1$cH&xMK5-B6Jz@hO@?0GVND;t*Ys3-2z)0dO+PvVxfKotz3@{e~ z$|)dlA24neVA~2zTtmNT;OVKvbyec6SN`P)Z#MK`F zXmO!X;=;g7E{u5r;^ymsMuq5%qW`lH8$TzOK|Ch{{{E1P0!XwG(%zkb>22t0ejt7U zeZWlKvj+Omi*Uen1(BAEfc!BM>&Y&3BNE#W0#Ch$@y5A;+Z;?BvWY~PNPZkI@I+G9 z23ACi@Auk} z8&~P~y*5F1#cNyY+4Hb1 z+SW2}2CNnQ@3K{X5Q2(FGou(GFNN_2=Lox15+0}*Dr=JI-!2@gq`mDq!P)P1>g~L6 z&f^cZZkf>G$lJlfhKl2E9RNIX#20r~0p60BIf0+utm4wEqk!JOi?7ZlL0y5kTKo-& z`a#@0;V{K#bD_n@g&q%G*gH%tt>_@p0pj-S>BKZ~&$&%Nz)7+Cd1tXIsb8!wZcok^D{zC?Y{0G6!peEkmJmCSILet-5g5=hqHo3fpOAL)N@>cxuH>i@XS3JEp( zMSB4LFGoHs#!@(QDoPXapje0Ye zh@Zn4Tx#GL#T#RPwbP;8IDOJ}wj$CvV9(=HcM_DV@$8(81@}*T#FtQ$%n>^ z&66p*L&g^OMO;Q-%CVtbR61Wd{d^-cPnHXB`Ewt2FiSL+oJFL8Kg*n3iI}(X859@Li zvL}LhZxjszdYC`UCk`z$JA*!^7GllLIATbgxnU%=AZMuFyLK=Wlj^&g8M_};gF51Y zL1s0&m5V9-j5?`=6?1>6=ERMoh;3@&2b}+Yp6b?{W2l8O>ZcWqKPXW>@{k&M0_xdW zW6o3Mvn_^SxH9!M7Oz;&byP2lPupWIplZwb>kJr?W68GPVDDB~);ATf=L;-bGO|f1 z%yM+`U%>DVOH2DUCh)7JHDMp$Q!^=;x2g{53U%J%{0AAsC@e~%`xiexc5>pl4Q`5e zkfHmeXj>8fJ+;IyNXxco1U$|Eyfk|T&3vlHniEBoRwrsuK5g`VIGkd&apxlb4m7nY1`Jb5Zu#%(SdUc8x#+Vt1f_FVwk$=y~ve`zr5V H(P4iBk~aPp delta 1718 zcmX9;X;4#F7(ID;?j9}Z(DM;-5D*+qOy`*?F7(?A7%BntbN(&? z{wILptAMb5K++oC8w`wopSThj-tG0} z<9ayySnJ?`IvgXamjb=EVZ_6eK;Jx!RHgw|Cz7H!kq8sWCCQ#$Fm}!cDlr4&ej@=7 zA52*Og6C_IB3$79Nu*3;cEKx~9A@X#_KrV5!qR`VSj=4ROd_dl?> z{e^>aRpaZ+*MQhVD9xD+^jHC>$5_DU30evlF|eo3YhWl4uu0c>R}c{7qwBYh7KPh% z<1YpSw*Ie=-woBZ)xJaCLux1A+cYD zj1Jk%IILROS*P$qsc^cO%z7sY=MvWe+FhY`JOleA3JultI%K!dxThlnI`zI!B<{<4 zThS0^6t7=2o&lqB^+z=l4z}n^PmQC3WAx>vJRde?!*ZdU!|k>>^=Nqs zi};=StpP*CEBEVJdcoqA$4?pmvDh@^1Yq!%)ac1{dQhrlDOv#ZYn9@)?&O&!rA?*q zk+USbdX6PATbdQLp8}1MX1y&PWeBmA0ZvLwK3dH4hoz-a8Xx#iD*B2Lp% zOI;Z2E$#T6j;l3N$?AM2JU}{rsgX{HK|0?~L4_jeLcmQ5oFLUVkcj^z>0Vwn9sb#c zF-6j=b`lG9mxX{7X84}0JqxE&`{bBM34ok0k0?D0^gl1B>nO0zP2Sh`2Iw|Tt_a@> z7%lRvvA0-B$p%|6mFhmnu;1H}$IOl!j?cSC0^kKdNbOAa98CoAx8T~24 z>p>4#39-ibU?;o(sWD04NGaWn*}uQ0#0|#J7HtE%Tr%!H%6M)&jVD_Ixh_@=7ES`6 zd?j#)kv);94Exj01QliCsAdwruB1BhDBa-EN_qyR4opz8F2<4BP-PuDu^4tMb@gLd zLX}E`+kB3c@6}-;95=GJnsuXwnWw62ANjJo7Z78aak*Obz{>S4b>ka)Y->@sRP1Bz zcT#uUnMkWz)m=4{nb2$X*qV)0FjsYy_mRl#hA(F(mX{eKUFNxC-V(B# zH@}+109EGFFW6K*r_I%Ss90Ep`D#5efYS%*0LeE?~xPKANp99*FSJ z1~hWagx=If6;m>|3~lXpc5#m`+Rg_<>E!|KNC^W+Bx`5?ruW{mc5UblR`)ck@j2(7 zVWQP@7~40}&+2vm4W~%Cb!0Q+gy&l4*;}}_6 ConfirmationDialog - - + + Ok 確定 - + Cancel 取消 @@ -108,149 +108,152 @@ DevicePanel - + Dongle ID Dongle ID - + N/A 無法使用 - + Serial 序號 - + Driver Camera 駕駛監控 - + PREVIEW 預覽 - + Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off) 預覽駕駛監控鏡頭畫面，方便調整設備安裝的位置，以提供更準確的駕駛監控。(車子必須保持在熄火的狀態) - + Reset Calibration 重置校準 - + RESET 重置 - + Are you sure you want to reset calibration? 您確定要重置校準嗎？ - + Review Training Guide 觀看使用教學 - + REVIEW 觀看 - + Review the rules, features, and limitations of openpilot 觀看 openpilot 的使用規則、功能和限制 - + Are you sure you want to review the training guide? 您確定要觀看使用教學嗎？ - + Regulatory 法規/監管 - + VIEW 觀看 + Change Language - 更改語言 + 更改語言 + CHANGE - 更改 + 更改 + Select a language - 選擇語言 + 選擇語言 - + Reboot 重新啟動 - + Power Off 關機 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。 - + Your device is pointed %1° %2 and %3° %4. 你的設備目前朝%2 %1° 以及朝%4 %3° 。 - + down 下 - + up 上 - + left 左 - + right 右 - + Are you sure you want to reboot? 您確定要重新啟動嗎？ - + Disengage to Reboot 請先取消控車才能重新啟動 - + Are you sure you want to power off? 您確定您要關機嗎？ - + Disengage to Power Off 請先取消控車才能關機 @@ -299,17 +302,17 @@ InputDialog - + Cancel 取消 - + Need at least 需要至少 - + characters! 個字元！ @@ -394,12 +397,14 @@ location set MultiOptionDialog + Select - 選擇 + 選擇 + Cancel - 取消 + 取消 @@ -569,29 +574,29 @@ location set 離開 - + dashcam 行車記錄器 - + openpilot openpilot - + %1 minute%2 ago we don't need %2 %1 分鐘前 - + %1 hour%2 ago we don't need %2 %1 小時前 - + %1 day%2 ago we don't need %2 %1 天前 @@ -648,7 +653,7 @@ location set RichTextDialog - + Ok 確定 @@ -656,33 +661,33 @@ location set SettingsWindow - + × × - + Device 設備 - - + + Network 網路 - + Toggles 設定 - + Software 軟體 - + Navigation 導航 @@ -921,68 +926,68 @@ location set SoftwarePanel - + Git Branch Git 分支 - + Git Commit Git 提交 - + OS Version 系統版本 - + Version 版本 - + Last Update Check 上次檢查時間 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 上次成功檢查更新的時間。更新系統只會在車子熄火時執行。 - + Check for Update 檢查更新 - + CHECKING 檢查中 - + Uninstall 卸載 - + UNINSTALL 卸載 - + Are you sure you want to uninstall? 您確定您要卸載嗎？ - + failed to fetch update 下載更新失敗 - - + + CHECK 檢查 @@ -1070,82 +1075,82 @@ location set TogglesPanel - + Enable openpilot 啟用 openpilot - + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. 使用 openpilot 的主動式巡航和車道保持功能，開啟後您需要持續集中注意力，設定變更在重新啟動車輛後生效。 - + Enable Lane Departure Warnings 啟用車道偏離警告 - + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). 車速在時速 50 公里 (31 英里) 以上且未打方向燈的情況下，如果偵測到車輛駛出目前車道線時，發出車道偏離警告。 - + Enable Right-Hand Drive 啟用右駕模式 - + Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat. openpilot 將對右側駕駛進行監控 (但仍遵守靠左駕的交通慣例)。 - + Use Metric System 使用公制單位 - + Display speed in km/h instead of mph. 啟用後，速度單位顯示將從 mp/h 改為 km/h。 - + Record and Upload Driver Camera 記錄並上傳駕駛監控影像 - + Upload data from the driver facing camera and help improve the driver monitoring algorithm. 上傳駕駛監控的錄像來協助我們提升駕駛監控的準確率。 - + Disengage On Accelerator Pedal 油門取消控車 - + When enabled, pressing the accelerator pedal will disengage openpilot. 啟用後，踩踏油門將會取消 openpilot 控制。 - + Show ETA in 24h format 預計到達時間單位改用 24 小時制 - + Use 24h format instead of am/pm 使用 24 小時制。(預設值為 12 小時制) - + 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！ diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 6fe1d838ed..7922714c17 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -246,7 +246,7 @@ void UIState::update() { updateStatus(); if (sm->frame % UI_FREQ == 0) { - watchdog_kick(); + watchdog_kick(nanos_since_boot()); } emit uiUpdate(*this); } diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index 263eb5e670..d872be0d86 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import argparse -import os import json +import os from common.basedir import BASEDIR From cbff8fcbd02b262860b3540a3dba7108237d2b46 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 8 Jul 2022 21:17:00 -0700 Subject: [PATCH 125/306] Nav: wrap strings (#25089) * Wrap nav strings and translate * Update QM * Update QM --- selfdrive/ui/qt/maps/map.cc | 22 ++++---- selfdrive/ui/translations/main_ko.qm | Bin 19449 -> 19997 bytes selfdrive/ui/translations/main_ko.ts | 64 +++++++++++++++++++++++ selfdrive/ui/translations/main_zh-CHS.qm | Bin 17919 -> 18457 bytes selfdrive/ui/translations/main_zh-CHS.ts | 64 +++++++++++++++++++++++ selfdrive/ui/translations/main_zh-CHT.qm | Bin 18031 -> 18569 bytes selfdrive/ui/translations/main_zh-CHT.ts | 64 +++++++++++++++++++++++ 7 files changed, 203 insertions(+), 11 deletions(-) diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index fd47f4188f..a486110a73 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -175,7 +175,7 @@ void MapWindow::updateState(const UIState &s) { loaded_once = loaded_once || m_map->isFullyLoaded(); if (!loaded_once) { - map_instructions->showError("Map Loading"); + map_instructions->showError(tr("Map Loading")); return; } @@ -192,7 +192,7 @@ void MapWindow::updateState(const UIState &s) { carPosSource["data"] = QVariant::fromValue(feature1); m_map->updateSource("carPosSource", carPosSource); } else { - map_instructions->showError("Waiting for GPS"); + map_instructions->showError(tr("Waiting for GPS")); } if (pan_counter == 0) { @@ -418,10 +418,10 @@ void MapInstructions::updateDistance(float d) { if (uiState()->scene.is_metric) { if (d > 500) { distance_str.setNum(d / 1000, 'f', 1); - distance_str += " km"; + distance_str += tr(" km"); } else { distance_str.setNum(50 * int(d / 50)); - distance_str += " m"; + distance_str += tr(" m"); } } else { float miles = d * METER_TO_MILE; @@ -429,10 +429,10 @@ void MapInstructions::updateDistance(float d) { if (feet > 500) { distance_str.setNum(miles, 'f', 1); - distance_str += " mi"; + distance_str += tr(" mi"); } else { distance_str.setNum(50 * int(feet / 50)); - distance_str += " ft"; + distance_str += tr(" ft"); } } @@ -615,7 +615,7 @@ void MapETA::updateETA(float s, float s_typical, float d) { auto eta_time = QDateTime::currentDateTime().addSecs(s).time(); if (params.getBool("NavSettingTime24h")) { eta->setText(eta_time.toString("HH:mm")); - eta_unit->setText("eta"); + eta_unit->setText(tr("eta")); } else { auto t = eta_time.toString("h:mm a").split(' '); eta->setText(t[0]); @@ -625,11 +625,11 @@ void MapETA::updateETA(float s, float s_typical, float d) { // Remaining time if (s < 3600) { time->setText(QString::number(int(s / 60))); - time_unit->setText("min"); + time_unit->setText(tr("min")); } else { int hours = int(s) / 3600; time->setText(QString::number(hours) + ":" + QString::number(int((s - hours * 3600) / 60)).rightJustified(2, '0')); - time_unit->setText("hr"); + time_unit->setText(tr("hr")); } QString color; @@ -649,10 +649,10 @@ void MapETA::updateETA(float s, float s_typical, float d) { float num = 0; if (uiState()->scene.is_metric) { num = d / 1000.0; - distance_unit->setText("km"); + distance_unit->setText(tr("km")); } else { num = d * METER_TO_MILE; - distance_unit->setText("mi"); + distance_unit->setText(tr("mi")); } distance_str.setNum(num, 'f', num < 100 ? 1 : 0); diff --git a/selfdrive/ui/translations/main_ko.qm b/selfdrive/ui/translations/main_ko.qm index f6e95b5038f984183d9d4273c581bb6ef6e4b91d..60966cdde587ebf4a43deb8ad255f374d32ca7c8 100644 GIT binary patch delta 2328 zcmZuxeNa@_9X73 zlxjOlH3{0N5N$=%0YN30pg}C87!z^g43b#Ds2LNJ*fds)?ZKT9C-IM+v+v$>?>+bY z&i(yok7{3q%02Z|j$hl|it_fr;U6wKaHcCB&?;uLn0qQ*BGGY;N8*vY@ z8W1^e$p)nHK=`M`DZuyu;(T&SJQ#c*(EI>+w{UNN;!R>S_tyb#Z4+Q_0E`!akwf|G z;6w^Aio`*05c`SkK;jm_ZUAO(TF zDB$9}pB?H_iHDDeSn@W2@8N#@M}5LGFfz`A)AvE#+Y6`^h|P9x7z?re6mcuWPeefZ z9?~|2H+>({vBMO<8JhYph(~E&77vo44dX?Oml0th8p@E|x*mwwisV~$z@&7{(9^X+ z58RkJv7AbHu_9VO?nlgdeHSgAjJf}$fFY$w+xRaoID`!0BaW9KBYP7MUWUxWyq%ng ztd!m4b>WpG8-VE#vG8mw57M9@$HwuOv9^!v%{y_R?IK;ggBsVXz}Or#51zw|xa)Ca z+ZqzSP+6nL(r#as-~M1Av{N-<2WxHLqDpO{eWNa@-nzo^nDwfQ86r2fs;&ym$B2=t z+fiG9;ok^y-gzLbS_rw(4NRCJB*`v1F<)5V#T(lrg?$}*@}0uTG76i}D14Bz14#2~ 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a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -340,6 +340,57 @@ 파일갱신： + + MapETA + + + eta + 에타 + + + + min + 분 + + + + hr + 시간 + + + + km + km + + + + mi + mi + + + + MapInstructions + + + km + km + + + + m + m + + + + mi + mi + + + + ft + ft + + MapPanel @@ -389,6 +440,19 @@ location set 최근 경로 없음 + + MapWindow + + + Map Loading + 지도 로딩 + + + + Waiting for GPS + GPS를 기다리는 중 + + MultiOptionDialog diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm index 19eccddbc0e919fdadb32a5621f8f7474aded85a..b96acb89d99ed8207dd34740c51714706e771040 100644 GIT binary patch delta 2290 zcmZuxeNh6su&m3bEY$c`E+nrLX6ZtQX>7bVeC*}7}GBrp~nGj0r4ua6d0ip-zG)? zBJa&TfD{RYO(%{c)(~@OF3F5j-fJTPc63vGWL2Ubof%*Tm2n4K$ z^a@o99}Q{8Ho%kv-5x$}Dx-MWd?*6?FeYMZK$J?9T}WzOO8b5!_3Q>l-@qfr*-Xsk zMoLT-nJ}?ZN^-1&8&;H_R0ii)}URK&cHEewC`I;JgijP zxF-!z-_?HHNWaLh*DMzT+&*i>S=*ZU{+~r>GSyYP#3fzvfXyi`n@v8tQgNmDPlkyX 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Y77o_CIusUk$`iK6%bg4V=sMi@e-;zY9{>OV diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 1bcb30142c..c3e1954f1e 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -340,6 +340,57 @@ 更新文件： + + MapETA + + + eta + 埃塔 + + + + min + 分钟 + + + + hr + 小时 + + + + km + km + + + + mi + mi + + + + MapInstructions + + + km + km + + + + m + m + + + + mi + mi + + + + ft + ft + + MapPanel @@ -389,6 +440,19 @@ location set 没有最近的目的地 + + MapWindow + + + Map Loading + 地图加载 + + + + Waiting for GPS + 等待 GPS + + MultiOptionDialog diff --git a/selfdrive/ui/translations/main_zh-CHT.qm b/selfdrive/ui/translations/main_zh-CHT.qm index e64aabecd68c5df555b350ade44bd61fb2ea5cd9..208f29c0ec9dd45424301c70cdaf64c2e9a901bc 100644 GIT binary patch delta 2307 zcmZuxdsLKl8h+-x%*^-A?8i3by};+e-a zz{z`GC&XgL)*peic@KbgxE}lwOWg;-JKY!^2x-@KKxc*2Jdpv1LTWuu%!G770{lOR 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+ mi + mi + + + + ft + ft + + MapPanel @@ -394,6 +445,19 @@ location set 沒有最近的導航記錄 + + MapWindow + + + Map Loading + 地圖加載 + + + + Waiting for GPS + 等待 GPS + + MultiOptionDialog From f261b8a8c29fb2c9c5fee3b382e12e7887d50269 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 8 Jul 2022 22:09:37 -0700 Subject: [PATCH 126/306] EV6: supress LFA (#25094) * EV6: supress LFA * bump panda --- opendbc | 2 +- panda | 2 +- selfdrive/car/hyundai/carcontroller.py | 3 +++ selfdrive/car/hyundai/carstate.py | 5 ++++- selfdrive/car/hyundai/hda2can.py | 5 +++++ 5 files changed, 14 insertions(+), 3 deletions(-) diff --git a/opendbc b/opendbc index 1e9693ce09..9fc90a9f58 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 1e9693ce0916b896568dcd5558a670e67843c299 +Subproject commit 9fc90a9f5816ed82e0f25f2eaf7ad4af3d45733e diff --git a/panda b/panda index 53466f0934..ca927fe931 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 53466f09344c8ff6cdce3b19df76b5bca79e1327 +Subproject commit ca927fe9312651a16f13aaddca8b46af5315ede6 diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 73635375ad..a878ad3274 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -75,6 +75,9 @@ class CarController: # steering control can_sends.append(hda2can.create_lkas(self.packer, CC.enabled, self.frame, CC.latActive, apply_steer)) + if self.frame % 5 == 0: + can_sends.append(hda2can.create_cam_0x2a4(self.packer, self.frame, CS.cam_0x2a4)) + # cruise cancel if (self.frame - self.last_button_frame) * DT_CTRL > 0.25: if CC.cruiseControl.cancel: diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 6c82c33856..a10cdadbca 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -172,6 +172,7 @@ class CarState(CarStateBase): ret.cruiseState.speed = cp.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor self.buttons_counter = cp.vl["CRUISE_BUTTONS"]["_COUNTER"] + self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"]) return ret @@ -313,7 +314,9 @@ class CarState(CarStateBase): @staticmethod def get_cam_can_parser(CP): if CP.carFingerprint in HDA2_CAR: - return None + signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)] + checks = [("CAM_0x2a4", 20)] + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6) signals = [ # signal_name, signal_address diff --git a/selfdrive/car/hyundai/hda2can.py b/selfdrive/car/hyundai/hda2can.py index e4c658c1a9..437f5cf538 100644 --- a/selfdrive/car/hyundai/hda2can.py +++ b/selfdrive/car/hyundai/hda2can.py @@ -12,6 +12,11 @@ def create_lkas(packer, enabled, frame, lat_active, apply_steer): } return packer.make_can_msg("LKAS", 4, values, frame % 255) +def create_cam_0x2a4(packer, frame, camera_values): + camera_values.update({ + "BYTE7": 0, + }) + return packer.make_can_msg("CAM_0x2a4", 4, camera_values, frame % 255) def create_buttons(packer, cnt, cancel, resume): values = { From 825acfae98543c915c18d3b19a9c5d2503e431a6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 8 Jul 2022 22:09:58 -0700 Subject: [PATCH 127/306] Improve EV6 tune (#25085) --- selfdrive/car/torque_data/override.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index be81af2606..476313df2b 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -20,7 +20,7 @@ FORD FOCUS 4TH GEN: [.nan, 1.5, .nan] COMMA BODY: [.nan, 1000, .nan] # Totally new cars -KIA EV6 2022: [3.0, 2.5, 0.0] +KIA EV6 2022: [3.5, 2.5, 0.0] RAM 1500 5TH GEN: [2.0, 2.0, 0.05] # Dashcam or fallback configured as ideal car From d08a23177495c778fe628dc97728f5bbfee8b0f1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 8 Jul 2022 22:46:20 -0700 Subject: [PATCH 128/306] Ship EV6 (#25095) * Ship EV6 * bump opendbc --- RELEASES.md | 1 + docs/CARS.md | 3 ++- opendbc | 2 +- selfdrive/car/hyundai/interface.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/test_processes.py | 1 + 6 files changed, 7 insertions(+), 4 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 588b88827a..b87bd2ee7d 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -29,6 +29,7 @@ Version 0.8.15 (2022-07-20) * Chrysler ECU firmware fingerprinting thanks to realfast! * Honda Civic 2022 support * Hyundai Tucson 2021 support thanks to bluesforte! +* Kia EV6 2022 support * Lexus NX Hybrid 2020 support thanks to AlexandreSato! * Ram 1500 2019-21 support thanks to realfast! diff --git a/docs/CARS.md b/docs/CARS.md index a1e89efe12..eb570faa7e 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -71,7 +71,7 @@ How We Rate The Cars |Toyota|RAV4 2019-21|All|||||| |Toyota|RAV4 Hybrid 2019-21|All|||||| -# Silver - 68 cars +# Silver - 69 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| @@ -95,6 +95,7 @@ How We Rate The Cars |Hyundai|Santa Fe Plug-in Hybrid 2022|All|||||| |Hyundai|Tucson Diesel 2019|SCC + LKAS|||||| |Kia|Ceed 2019|SCC + LKAS|||||| +|Kia|EV6 2022|All|||||| |Kia|Forte 2018|SCC + LKAS|||||| |Kia|Forte 2019-21|SCC + LKAS|||||| |Kia|K5 2021-22|SCC|||||| diff --git a/opendbc b/opendbc index 9fc90a9f58..81148db67f 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 9fc90a9f5816ed82e0f25f2eaf7ad4af3d45733e +Subproject commit 81148db67fd00d4e2a107b5b8269c532436edf2b diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 97119c77b7..069b0e74e5 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -36,7 +36,7 @@ class CarInterface(CarInterfaceBase): # These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars likely still work fine. Once a user confirms each car works and a test route is # added to selfdrive/car/tests/routes.py, we can remove it from this list. - ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} or candidate in HDA2_CAR + ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} ret.steerActuatorDelay = 0.1 # Default delay ret.steerLimitTimer = 0.4 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 0d61dbd735..65ecbb4be3 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -dab90772097a0dd4706677ba4fe5e84b10232099 \ No newline at end of file +825acfae98543c915c18d3b19a9c5d2503e431a6 \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 96d1014004..652c49db3d 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -18,6 +18,7 @@ from tools.lib.logreader import LogReader original_segments = [ ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA + ("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--1"), # HYUNDAI.KIA_EV6 ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS (INDI) ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 (LQR) ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2 From 89d1d9f6df6e1fbe65609fa8f93702479620a50e Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Sat, 9 Jul 2022 00:55:40 -0700 Subject: [PATCH 129/306] firmware fingerprinting: order brand requests (#23311) Co-authored-by: Shane Smiskol --- selfdrive/car/car_helpers.py | 4 +- selfdrive/car/fw_versions.py | 75 ++++++++++++++++++++++++++++-------- 2 files changed, 62 insertions(+), 17 deletions(-) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 690072cc4d..b6bdece676 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -8,7 +8,7 @@ from system.version import is_comma_remote, is_tested_branch from selfdrive.car.interfaces import get_interface_attr from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars from selfdrive.car.vin import get_vin, VIN_UNKNOWN -from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car, get_present_ecus +from selfdrive.car.fw_versions import get_fw_versions_ordered, match_fw_to_car, get_present_ecus from system.swaglog import cloudlog import cereal.messaging as messaging from selfdrive.car import gen_empty_fingerprint @@ -99,7 +99,7 @@ def fingerprint(logcan, sendcan): cloudlog.warning("Getting VIN & FW versions") _, vin = get_vin(logcan, sendcan, bus) ecu_rx_addrs = get_present_ecus(logcan, sendcan) - car_fw = get_fw_versions(logcan, sendcan) + car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs) exact_fw_match, fw_candidates = match_fw_to_car(car_fw) else: diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 04610b96d9..c4b158aebb 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -225,6 +225,15 @@ def build_fw_dict(fw_versions, filter_brand=None): return fw_versions_dict +def get_brand_addrs(): + versions = get_interface_attr('FW_VERSIONS', ignore_none=True) + brand_addrs = defaultdict(set) + for brand, cars in versions.items(): + for fw in cars.values(): + brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()} + return brand_addrs + + def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None): """Do a fuzzy FW match. This function will return a match, and the number of firmware version that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars @@ -236,7 +245,7 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None): # time and only one is in our database. exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug] - # Build lookup table from (addr, subaddr, fw) to list of candidate cars + # Build lookup table from (addr, sub_addr, fw) to list of candidate cars all_fw_versions = defaultdict(list) for candidate, fw_by_addr in FW_VERSIONS.items(): if candidate == exclude: @@ -361,24 +370,59 @@ def get_present_ecus(logcan, sendcan): return ecu_responses -def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progress=False): - ecu_types = {} +def get_brand_ecu_matches(ecu_rx_addrs): + """Returns dictionary of brands and matches with ECUs in their FW versions""" - # Extract ECU addresses to query from fingerprints - # ECUs using a subaddress need be queried one by one, the rest can be done in parallel - addrs = [] - parallel_addrs = [] + brand_addrs = get_brand_addrs() + brand_matches = {r.brand: set() for r in REQUESTS} + + brand_rx_offsets = set((r.brand, r.rx_offset) for r in REQUESTS) + for addr, sub_addr, _ in ecu_rx_addrs: + # Since we can't know what request an ecu responded to, add matches for all possible rx offsets + for brand, rx_offset in brand_rx_offsets: + a = (uds.get_rx_addr_for_tx_addr(addr, -rx_offset), sub_addr) + if a in brand_addrs[brand]: + brand_matches[brand].add(a) + + return brand_matches + + +def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=False, progress=False): + """Queries for FW versions ordering brands by likelihood, breaks when exact match is found""" + all_car_fw = [] + brand_matches = get_brand_ecu_matches(ecu_rx_addrs) + + for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True): + car_fw = get_fw_versions(logcan, sendcan, brand=brand, timeout=timeout, debug=debug, progress=progress) + all_car_fw.extend(car_fw) + matches = match_fw_to_car_exact(build_fw_dict(car_fw)) + if len(matches) == 1: + break + + return all_car_fw + + +def get_fw_versions(logcan, sendcan, brand=None, extra=None, timeout=0.1, debug=False, progress=False): versions = get_interface_attr('FW_VERSIONS', ignore_none=True) + if brand is not None: + versions = {brand: versions[brand]} + if extra is not None: versions.update(extra) + # Extract ECU addresses to query from fingerprints + # ECUs using a subaddress need be queried one by one, the rest can be done in parallel + addrs = [] + parallel_addrs = [] + ecu_types = {} + for brand, brand_versions in versions.items(): for c in brand_versions.values(): for ecu_type, addr, sub_addr in c.keys(): a = (brand, addr, sub_addr) if a not in ecu_types: - ecu_types[(addr, sub_addr)] = ecu_type + ecu_types[a] = ecu_type if sub_addr is None: if a not in parallel_addrs: @@ -390,17 +434,17 @@ def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progr addrs.insert(0, parallel_addrs) fw_versions = {} - for i, addr in enumerate(tqdm(addrs, disable=not progress)): + requests = [r for r in REQUESTS if brand is None or r.brand == brand] + for addr in tqdm(addrs, disable=not progress): for addr_chunk in chunks(addr): - for r in REQUESTS: + for r in requests: try: addrs = [(a, s) for (b, a, s) in addr_chunk if b in (r.brand, 'any') and - (len(r.whitelist_ecus) == 0 or ecu_types[(a, s)] in r.whitelist_ecus)] + (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)] if addrs: query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug) - t = 2 * timeout if i == 0 else timeout - fw_versions.update({(r.brand, addr): (version, r) for addr, version in query.get_data(t).items()}) + fw_versions.update({(r.brand, addr): (version, r) for addr, version in query.get_data(timeout).items()}) except Exception: cloudlog.warning(f"FW query exception: {traceback.format_exc()}") @@ -409,7 +453,7 @@ def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progr for (brand, addr), (version, request) in fw_versions.items(): f = car.CarParams.CarFw.new_message() - f.ecu = ecu_types[addr] + f.ecu = ecu_types[(brand, addr[0], addr[1])] f.fwVersion = version f.address = addr[0] f.responseAddress = uds.get_rx_addr_for_tx_addr(addr[0], request.rx_offset) @@ -433,6 +477,7 @@ if __name__ == "__main__": parser = argparse.ArgumentParser(description='Get firmware version of ECUs') parser.add_argument('--scan', action='store_true') parser.add_argument('--debug', action='store_true') + parser.add_argument('--brand', help='Only query addresses/with requests for this brand') args = parser.parse_args() logcan = messaging.sub_sock('can') @@ -458,7 +503,7 @@ if __name__ == "__main__": print() t = time.time() - fw_vers = get_fw_versions(logcan, sendcan, extra=extra, debug=args.debug, progress=True) + fw_vers = get_fw_versions(logcan, sendcan, brand=args.brand, extra=extra, debug=args.debug, progress=True) _, candidates = match_fw_to_car(fw_vers) print() From eb17291ca13035b40d653da107653d4420517aaa Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 9 Jul 2022 16:47:10 +0800 Subject: [PATCH 130/306] Display the current language in MultiOptionDialog (#25098) * check the selected language in lange select dialog * disable if user selects current option * update line numbers Co-authored-by: Shane Smiskol --- selfdrive/ui/qt/offroad/settings.cc | 3 +- selfdrive/ui/qt/widgets/input.cc | 15 +++-- selfdrive/ui/qt/widgets/input.h | 4 +- selfdrive/ui/translations/main_ko.ts | 70 ++++++++++++------------ selfdrive/ui/translations/main_zh-CHS.ts | 70 ++++++++++++------------ selfdrive/ui/translations/main_zh-CHT.ts | 70 ++++++++++++------------ 6 files changed, 119 insertions(+), 113 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 6bcdd55b0a..d5b8d4bbd1 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -137,7 +137,8 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { auto translateBtn = new ButtonControl(tr("Change Language"), tr("CHANGE"), ""); connect(translateBtn, &ButtonControl::clicked, [=]() { QMap langs = getSupportedLanguages(); - QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), this); + QString currentLang = QString::fromStdString(Params().get("LanguageSetting")); + QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), langs.key(currentLang), this); if (!selection.isEmpty()) { // put language setting, exit Qt UI, and trigger fast restart Params().put("LanguageSetting", langs[selection].toStdString()); diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc index a130a8e935..b0facfce83 100644 --- a/selfdrive/ui/qt/widgets/input.cc +++ b/selfdrive/ui/qt/widgets/input.cc @@ -261,7 +261,7 @@ bool RichTextDialog::alert(const QString &prompt_text, QWidget *parent) { // MultiOptionDialog -MultiOptionDialog::MultiOptionDialog(const QString &prompt_text, QStringList l, QWidget *parent) : QDialogBase(parent) { +MultiOptionDialog::MultiOptionDialog(const QString &prompt_text, const QStringList &l, const QString ¤t, QWidget *parent) : QDialogBase(parent) { QFrame *container = new QFrame(this); container->setStyleSheet(R"( QFrame { background-color: #1B1B1B; } @@ -301,12 +301,17 @@ MultiOptionDialog::MultiOptionDialog(const QString &prompt_text, QStringList l, confirm_btn->setObjectName("confirm_btn"); confirm_btn->setEnabled(false); - for (QString &s : l) { + for (const QString &s : l) { QPushButton *selectionLabel = new QPushButton(s); selectionLabel->setCheckable(true); + selectionLabel->setChecked(s == current); QObject::connect(selectionLabel, &QPushButton::toggled, [=](bool checked) { if (checked) selection = s; - confirm_btn->setEnabled(true); + if (selection != current) { + confirm_btn->setEnabled(true); + } else { + confirm_btn->setEnabled(false); + } }); group->addButton(selectionLabel); @@ -336,8 +341,8 @@ MultiOptionDialog::MultiOptionDialog(const QString &prompt_text, QStringList l, outer_layout->addWidget(container); } -QString MultiOptionDialog::getSelection(const QString &prompt_text, const QStringList l, QWidget *parent) { - MultiOptionDialog d = MultiOptionDialog(prompt_text, l, parent); +QString MultiOptionDialog::getSelection(const QString &prompt_text, const QStringList &l, const QString ¤t, QWidget *parent) { + MultiOptionDialog d = MultiOptionDialog(prompt_text, l, current, parent); if (d.exec()) { return d.selection; } diff --git a/selfdrive/ui/qt/widgets/input.h b/selfdrive/ui/qt/widgets/input.h index 47d8b74efd..6c47a31d87 100644 --- a/selfdrive/ui/qt/widgets/input.h +++ b/selfdrive/ui/qt/widgets/input.h @@ -73,7 +73,7 @@ class MultiOptionDialog : public QDialogBase { Q_OBJECT public: - explicit MultiOptionDialog(const QString &prompt_text, const QStringList l, QWidget *parent); - static QString getSelection(const QString &prompt_text, const QStringList l, QWidget *parent); + explicit MultiOptionDialog(const QString &prompt_text, const QStringList &l, const QString ¤t, QWidget *parent); + static QString getSelection(const QString &prompt_text, const QStringList &l, const QString ¤t, QWidget *parent); QString selection; }; diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index ad35a37fa1..5a8f21d7a7 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -193,67 +193,67 @@ 변경 - + Select a language 언어선택 - + Reboot 재부팅 - + Power Off 전원 종료 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot은 장치를 왼쪽 또는 오른쪽 4° 이내, 위쪽 5° 또는 아래쪽 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다. - + Your device is pointed %1° %2 and %3° %4. 사용자의 기기가 %1° %2 및 %3° %4를 가리키고 있습니다. - + down 아래 - + up 위 - + left 왼쪽 - + right 오른쪽 - + Are you sure you want to reboot? 재부팅 하시겠습니까？ - + Disengage to Reboot 재부팅 하려면 해제하세요 - + Are you sure you want to power off? 전원을 종료하시겠습니까？ - + Disengage to Power Off 전원을 종료하려면 해제하세요 @@ -461,7 +461,7 @@ location set 선택 - + Cancel 취소 @@ -717,33 +717,33 @@ location set SettingsWindow - + × × - + Device 장치 - - + + Network 네트워크 - + Toggles 토글 - + Software 소프트웨어 - + Navigation 네비게이션 @@ -982,68 +982,68 @@ location set SoftwarePanel - + Git Branch Git 브렌치 - + Git Commit Git 커밋 - + OS Version OS 버전 - + Version 버전 - + Last Update Check 최신 업데이트 검사 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 이전에 openpilot에서 업데이트를 성공적으로 확인한 시간입니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다. - + Check for Update 업데이트 확인 - + CHECKING 검사중 - + Uninstall 삭제 - + UNINSTALL 삭제 - + Are you sure you want to uninstall? 삭제하시겠습니까？ - + failed to fetch update 업데이트를 가져올수없습니다 - - + + CHECK 확인 diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index c3e1954f1e..dbbde36394 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -193,67 +193,67 @@ 切换 - + Select a language 选择语言 - + Reboot 重启 - + Power Off 关机 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot 要求设备安装在左或右 4° 以内，上 5° 或下 8° 以内。 openpilot 会持续校准，很少需要重置。 - + Your device is pointed %1° %2 and %3° %4. 您的设备指向 %1° %2 和 %3° %4。 - + down 下 - + up 向上 - + left 向左 - + right 向右 - + Are you sure you want to reboot? 您确定要重新启动吗？ - + Disengage to Reboot 脱离以重新启动 - + Are you sure you want to power off? 您确定要关闭电源吗？ - + Disengage to Power Off 脱离以关闭电源 @@ -461,7 +461,7 @@ location set 选择 - + Cancel 取消 @@ -717,33 +717,33 @@ location set SettingsWindow - + × × - + Device 设备 - - + + Network 网络 - + Toggles 切换 - + Software 软件 - + Navigation 导航 @@ -982,68 +982,68 @@ location set SoftwarePanel - + Git Branch Git 分支 - + Git Commit Git 提交 - + OS Version 操作系统版本 - + Version 版本 - + Last Update Check 最后更新检查 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 上次 openpilot 成功检查更新的时间。 更新程序仅在汽车关闭时运行。 - + Check for Update 检查更新 - + CHECKING 正在检查 - + Uninstall 卸载 - + UNINSTALL 卸载 - + Are you sure you want to uninstall? 您确定要卸载吗？ - + failed to fetch update 未能获取更新 - - + + CHECK 查看 diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index f6e36081fa..2920916ece 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -193,67 +193,67 @@ 更改 - + Select a language 選擇語言 - + Reboot 重新啟動 - + Power Off 關機 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。 - + Your device is pointed %1° %2 and %3° %4. 你的設備目前朝%2 %1° 以及朝%4 %3° 。 - + down 下 - + up 上 - + left 左 - + right 右 - + Are you sure you want to reboot? 您確定要重新啟動嗎？ - + Disengage to Reboot 請先取消控車才能重新啟動 - + Are you sure you want to power off? 您確定您要關機嗎？ - + Disengage to Power Off 請先取消控車才能關機 @@ -466,7 +466,7 @@ location set 選擇 - + Cancel 取消 @@ -725,33 +725,33 @@ location set SettingsWindow - + × × - + Device 設備 - - + + Network 網路 - + Toggles 設定 - + Software 軟體 - + Navigation 導航 @@ -990,68 +990,68 @@ location set SoftwarePanel - + Git Branch Git 分支 - + Git Commit Git 提交 - + OS Version 系統版本 - + Version 版本 - + Last Update Check 上次檢查時間 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 上次成功檢查更新的時間。更新系統只會在車子熄火時執行。 - + Check for Update 檢查更新 - + CHECKING 檢查中 - + Uninstall 卸載 - + UNINSTALL 卸載 - + Are you sure you want to uninstall? 您確定您要卸載嗎？ - + failed to fetch update 下載更新失敗 - - + + CHECK 檢查 From be7f7041681ab088f03c075a8a836e538378a7a8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 11 Jul 2022 12:52:03 -0700 Subject: [PATCH 131/306] Fix new steer saturated warning with joystick mode (#25113) Fix steer sat warning with joystick mode --- selfdrive/controls/controlsd.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 6f0c9c2ae6..117509f1e6 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -602,14 +602,14 @@ class Controls: lac_log.saturated = abs(actuators.steer) >= 0.9 # Send a "steering required alert" if saturation count has reached the limit - if lac_log.active and not CS.steeringPressed and self.CP.lateralTuning.which() == 'torque': + if lac_log.active and not CS.steeringPressed and self.CP.lateralTuning.which() == 'torque' and not self.joystick_mode: undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2 turning = abs(lac_log.desiredLateralAccel) > 1.0 good_speed = CS.vEgo > 5 max_torque = abs(self.last_actuators.steer) > 0.99 if undershooting and turning and good_speed and max_torque: self.events.add(EventName.steerSaturated) - elif lac_log.active and lac_log.saturated and not CS.steeringPressed: + elif lac_log.active and not CS.steeringPressed and lac_log.saturated: dpath_points = lat_plan.dPathPoints if len(dpath_points): # Check if we deviated from the path From 5e896ce2f134b9f17d466bf1aec694142bcb5ed3 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Mon, 11 Jul 2022 13:22:13 -0700 Subject: [PATCH 132/306] Improve Simplified Chinese translations (#25091) * 1 * shane told me to do this * 1.5 * 2 * 3 * 4 * Update main_zh-CHS.ts * release * some minor improvements * build * remove state Co-authored-by: Shane Smiskol --- selfdrive/ui/translations/main_zh-CHS.qm | Bin 18457 -> 18507 bytes selfdrive/ui/translations/main_zh-CHS.ts | 272 +++++++++++------------ 2 files changed, 135 insertions(+), 137 deletions(-) diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm index b96acb89d99ed8207dd34740c51714706e771040..59487d263a7a7524f15a239bb7ace144137f31b0 100644 GIT binary patch delta 4896 zcmZuz30PBC_CHD9%f5gtDzbzR+dJw5{3}wOY}-)N!h|+8V30j@CNpXqEqYi8%FhK0ZA!_nvdl_B+3OH?8J; 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(vehicle must be off) - 预览面向驾驶员的摄像头，以帮助优化设备安装位置以获得最佳驾驶员监控体验。 （车辆必须关闭） + 打开并预览驾驶员摄像头，用于调整安装角度以获得最优驾驶员监控体验。仅熄火时可用。 Reset Calibration - 重置校准 + 重置设备校准 @@ -150,32 +150,32 @@ Are you sure you want to reset calibration? - 您确定要重置校准吗？ + 您确定要重置设备校准吗？ Review Training Guide - 查看培训指南 + 新手指南 REVIEW - 重新查看 + 查看 Review the rules, features, and limitations of openpilot - 查看 openpilot 的规则、功能和限制 + 查看openpilot的使用规则，以及其功能和限制。 Are you sure you want to review the training guide? - 您确定要查看培训指南吗？ + 您确定要查看新手指南吗？ Regulatory - 监管 + 监管信息 @@ -210,32 +210,32 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot 要求设备安装在左或右 4° 以内，上 5° 或下 8° 以内。 openpilot 会持续校准，很少需要重置。 + openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下8°之间。一般来说，openpilot会持续更新校准，很少需要重置。 Your device is pointed %1° %2 and %3° %4. - 您的设备指向 %1° %2 和 %3° %4。 + 您的设备校准为%1° %2、%3° %4。 down - 下 + 朝下 up - 向上 + 朝上 left - 向左 + 朝左 right - 向右 + 朝右 @@ -245,17 +245,17 @@ Disengage to Reboot - 脱离以重新启动 + 取消openpilot以重新启动 Are you sure you want to power off? - 您确定要关闭电源吗？ + 您确定要关机吗？ Disengage to Power Off - 脱离以关闭电源 + 取消openpilot以关机 @@ -263,7 +263,7 @@ Drives - 驱动器 + 旅程数 @@ -278,12 +278,12 @@ PAST WEEK - 上周 + 过去一周 KM - 千米 + 公里 @@ -296,7 +296,7 @@ camera starting - 相机启动中 + 正在启动相机 @@ -309,12 +309,12 @@ Need at least - 需要至少 + 至少需要 characters! - 字符！ + 个字符！ @@ -322,7 +322,7 @@ Installing... - 安装... + 正在安装…… @@ -332,12 +332,12 @@ Resolving deltas: - 解决增量： + 正在处理： Updating files: - 更新文件： + 正在更新文件： @@ -401,12 +401,12 @@ CLEAR - CLEAR + 清空 Recent Destinations - 近期目的地 + 最近目的地 @@ -417,27 +417,25 @@ Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai - 使用逗号获取显示的详细路线和更多信息 -主要订阅。 立即注册：https://connect.comma.ai + 订阅comma prime以获取导航。 +立即注册：https://connect.comma.ai No home location set - 没有家 -位置集 + 家：未设定 No work location set - 没有工作 -位置集 + 工作：未设定 no recent destinations - 没有最近的目的地 + 无最近目的地 @@ -445,7 +443,7 @@ location set Map Loading - 地图加载 + 地图加载中 @@ -471,23 +469,23 @@ location set Advanced - 先进的 + 高级 Enter password - 先进的 + 输入密码 for " - 为了 " + 网络名称：" Wrong password - Wrong password + 密码错误 @@ -495,30 +493,30 @@ location set km/h - 公里/小时 + km/h mph - 英里/小时 + mph MAX - 最大限度 + 最高定速 SPEED - 速度 + SPEED LIMIT - 限制 + LIMIT @@ -544,7 +542,7 @@ location set Pair your device to your comma account - 将您的设备与您的逗号账户配对 + 将您的设备与comma账号配对 @@ -574,12 +572,12 @@ location set Become a comma prime member at connect.comma.ai - 成为 connect.comma.ai 的逗号主要会员 + 打开connect.comma.ai以注册comma prime会员 PRIME FEATURES: - 主要特点： + comma prime特权： @@ -589,7 +587,7 @@ location set 1 year of storage - 1年存储 + 1年数据存储 @@ -602,12 +600,12 @@ location set ✓ SUBSCRIBED - ✓ 订阅 + ✓ 已订阅 comma prime - 逗号素数 + comma prime @@ -617,7 +615,7 @@ location set COMMA POINTS - 逗号分 + COMMA POINTS点数 @@ -635,7 +633,7 @@ location set dashcam - 行车记录器 + 行车记录仪 @@ -673,17 +671,17 @@ location set Resetting device... - 正在重置设备... + 正在重置设备…… System Reset - 系统重置 + 恢复出厂设置 System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - 触发系统重置。 按确认删除所有内容和设置。 按取消恢复启动。 + 已触发系统重置：确认以删除所有内容和设置。取消以正常启动设备。 @@ -703,7 +701,7 @@ location set Unable to mount data partition. Press confirm to reset your device. - 无法挂载数据分区。 按确认重置您的设备。 + 无法挂载数据分区。 确认以重置您的设备。 @@ -735,7 +733,7 @@ location set Toggles - 切换 + 设定 @@ -758,7 +756,7 @@ location set Power your device in a car with a harness or proceed at your own risk. - 使用安全带在汽车中为您的设备供电或自行承担风险。 + 请使用car harness线束为您的设备供电，或自行承担风险。 @@ -775,28 +773,28 @@ location set Getting Started - 入门 + 开始设置 Before we get on the road, let’s finish installation and cover some details. - 在我们上路之前，让我们完成安装并介绍一些细节。 + 开始旅程之前，让我们完成安装并介绍一些细节。 Connect to Wi-Fi - 连接到无线网络 + 连接到WiFi Back - 后退 + 返回 Continue without Wi-Fi - 在没有 Wi-Fi 的情况下继续 + 不连接WiFi并继续 @@ -811,12 +809,12 @@ location set Dashcam - 行车记录器 + Dashcam（行车记录仪） Custom Software - 定制的软件 + 自定义软件 @@ -826,12 +824,12 @@ location set for Custom Software - 定制软件 + 以下载自定义软件 Downloading... - 正在下载... + 正在下载…… @@ -841,7 +839,7 @@ location set Ensure the entered URL is valid, and the device’s internet connection is good. - 确保输入的 URL 有效，并且设备的互联网连接良好。 + 请确保互联网连接良好且输入的URL有效。 @@ -864,7 +862,7 @@ location set Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. - 将您的设备与 comma connect (connect.comma.ai) 配对并领取您的 comma prime 优惠。 + 将您的设备与comma connect（connect.comma.ai）配对并领取您的comma prime优惠。 @@ -878,7 +876,7 @@ location set CONNECT - 连接 + CONNECT @@ -889,49 +887,49 @@ location set ONLINE - 在线的 + 在线 ERROR - 错误 + 连接出错 TEMP - 温度 + 设备温度 HIGH - 高的 + 过热 GOOD - 好的 + 良好 OK - 好的 + 一般 VEHICLE - 车辆 + 车辆连接 NO - 未连接 + 无 PANDA - 熊猫 + PANDA @@ -941,7 +939,7 @@ location set SEARCH - 搜索 + 搜索中 @@ -956,7 +954,7 @@ location set ETH - 以太網 + 以太网 @@ -984,32 +982,32 @@ location set Git Branch - Git 分支 + Git Branch Git Commit - Git 提交 + Git Commit OS Version - 操作系统版本 + 系统版本 Version - 版本 + 软件版本 Last Update Check - 最后更新检查 + 上次检查更新 The last time openpilot successfully checked for an update. The updater only runs while the car is off. - 上次 openpilot 成功检查更新的时间。 更新程序仅在汽车关闭时运行。 + 上一次成功检查更新的时间。更新程序仅在汽车熄火时运行。 @@ -1019,7 +1017,7 @@ location set CHECKING - 正在检查 + 正在检查更新 @@ -1039,7 +1037,7 @@ location set failed to fetch update - 未能获取更新 + 获取更新失败 @@ -1053,12 +1051,12 @@ location set SSH Keys - SSH 密钥 + SSH密钥 Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. - 警告：这将授予对 GitHub 设置中所有公钥的 SSH 访问权限。 切勿输入您自己以外的 GitHub 用户名。 逗号员工永远不会要求您添加他们的 GitHub 用户名。 + 警告：这将授予SSH访问权限给您GitHub设置中的所有公钥。切勿输入您自己以外的GitHub用户名。comma员工永远不会要求您添加他们的GitHub用户名。 @@ -1069,7 +1067,7 @@ location set Enter your GitHub username - 输入你的 GitHub 用户名 + 输入您的GitHub用户名 @@ -1079,12 +1077,12 @@ location set REMOVE - 消除 + 删除 Username '%1' has no keys on GitHub - 用户名“%1”在 GitHub 上没有密钥 + 用户名“%1”在GitHub上没有密钥 @@ -1094,7 +1092,7 @@ location set Username '%1' doesn't exist on GitHub - GitHub 上不存在用户名“%1” + GitHub上不存在用户名“%1” @@ -1102,7 +1100,7 @@ location set Enable SSH - 启用 SSH + 启用SSH @@ -1120,7 +1118,7 @@ location set Scroll to accept - 滑动接受 + 滑动以接受 @@ -1133,12 +1131,12 @@ location set Enable openpilot - 启用 openpilot + 启用openpilot Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - 使用 openpilot 系统进行自适应巡航控制和车道保持驾驶员辅助。 任何时候都需要您注意使用此功能。 更改此设置在汽车断电时生效。 + 使用openpilot进行自适应巡航和车道保持辅助。使用此功能时您必须时刻保持注意力。该设置的更改在熄火时生效。 @@ -1148,7 +1146,7 @@ location set Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). - 当您的车辆在以超过 31 英里/小时（50 公里/小时）的速度行驶时在检测到的车道线上漂移而没有激活转向信号时，接收提醒以返回车道。 + 车速超过31mph（50km/h）时，若检测到车辆越过车道线且未打转向灯，系统将发出警告以提醒您返回车道。 @@ -1158,57 +1156,57 @@ location set Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat. - 允许 openpilot 遵守左侧交通惯例并在右侧驾驶座上执行驾驶员监控。 + 允许openpilot遵守左侧交通惯例并在右侧驾驶座上执行驾驶员监控。 Use Metric System - 使用公制 + 使用公制单位 Display speed in km/h instead of mph. - 以公里/小时而不是英里/小时显示速度。 + 显示车速时，以km/h代替mph。 Record and Upload Driver Camera - 记录和上传司机摄像头 + 录制并上传驾驶员摄像头 Upload data from the driver facing camera and help improve the driver monitoring algorithm. - 从面向驾驶员的摄像头上传数据，帮助改进驾驶员监控算法。 + 上传驾驶员摄像头的数据，帮助改进驾驶员监控算法。 Disengage On Accelerator Pedal - 踩油门解除 + 踩油门时取消控制 When enabled, pressing the accelerator pedal will disengage openpilot. - 启用后，踩下油门踏板将解除 openpilot。 + 启用后，踩下油门踏板将取消openpilot。 Show ETA in 24h format - 以 24 小时格式显示 ETA + 以24小时格式显示预计到达时间 Use 24h format instead of am/pm - 使用 24 小时制代替上午/下午 + 使用24小时制代替am/pm openpilot Longitudinal Control - openpilot 纵向控制 + 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 将禁用汽车的雷达并接管油门和刹车的控制。 警告：这会禁用 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！ @@ -1221,12 +1219,12 @@ location set An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. - 需要操作系统更新。 将您的设备连接到 Wi-Fi，以获得最快的更新体验。 下载大小约为 1GB。 + 操作系统需要更新。请将您的设备连接到WiFi以获取更快的更新体验。下载大小约为1GB。 Connect to Wi-Fi - 连接到无线网络 + 连接到WiFi @@ -1236,12 +1234,12 @@ location set Back - 后退 + 返回 Loading... - 正在加载... + 正在加载…… @@ -1260,12 +1258,12 @@ location set Scanning for networks... - 正在扫描网络... + 正在扫描网络…… CONNECTING... - 正在连接... + 正在连接…… @@ -1275,7 +1273,7 @@ location set Forget Wi-Fi Network " - 忘记 Wi-Fi 网络" + 忘记WiFi网络" From c181d475c52798462c5b2a2cf2237eebde0fa26d Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Mon, 11 Jul 2022 13:41:55 -0700 Subject: [PATCH 133/306] fix a translation line break --- selfdrive/ui/translations/main_zh-CHS.ts | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 9dade34701..9ac35994e6 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -862,7 +862,7 @@ location set Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. - 将您的设备与comma connect（connect.comma.ai）配对并领取您的comma prime优惠。 + 将您的设备与comma connect （connect.comma.ai）配对并领取您的comma prime优惠。 From 30d88d6892f11bf2472d97d79e9f68bef9e01b3c Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Mon, 11 Jul 2022 13:45:45 -0700 Subject: [PATCH 134/306] update main_zh-CHS.qm --- selfdrive/ui/translations/main_zh-CHS.qm | Bin 18507 -> 18509 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm index 59487d263a7a7524f15a239bb7ace144137f31b0..63c17d76b7f0f99e5180d400a8143d17cbbdde55 100644 GIT binary patch delta 774 zcmWksX-HI27(MsBcW0XEIpYvI_@l;sGM5=e)U?43T&AKlHOUMy(XteROpQ=%0jUh- zDu$4#n6_DCIDeEEx89xuK{Nx{fqKS%hOQVeO~V<}hX0?lI)zw9 z(ZtM|ZsbUlWF;3l#SO%*LtcL`psPlHW-H*GfJ3*=0f|{Cd_Dz)2cn|HAMhGR&H5VP zaTMLtGeAyn{wkt;wOZM#_Z!(2U`-U)oyjF%Rqf)tM5J%Mr;U&#>UQy z3Qep|YlvG6qa5GGfX2#_#k|I1G8w(UZqRmSj2TPhD6(B}t;Ku9xUk$w&3-d3rrig2 b1sn&Gw+zK=Plm8FqTe1Y!FR}IuQUGxC?Cv+ delta 771 zcmWlXZAep59LAq>?>)1vyUl%=!wpD3Huh zj*s>j1(c*!|^D;7EvwlERZ>_M}W*J(<0d&ihj&*H7ueXDx7` zS9)=W%wj90>72WO@uu{tfMh{Y(#l*Z5IrTjB&+R&+)zO3gtPKvLjy(B%VQJyH2qti z95a(!yYNX_Y*v_Md!SnxTB{^woAP9dmJOa!o?oVQQmaIfY){+b`p&CBqK{`7!pNzZ zmt3Im@#VZ)Hw~y-UK9EVh^gf@qaG?@fVczfJH%V6nrYr6rer%C5#MDi3ldzho6P*r zE;%?|8p&2jH7yFaVqrH#k>WJ@{GMI;21vzzo2P~-L#OCdtn91sDhVu4Y|z}I;M~dv zL>SKs+|fPsmDBy$)s1%a(lpaex;P!*u(-wT+Q$7MujyhWn1z=+9kOa0qrZmxt5NP2 z%DJs(W_$$PMm0CF3`h!9^U`Ubq-mkoSOR_OSWgPII;hSK7^ts&b>Ry!`mbY zX%e*DkhmI2du)nPjh&^4WsTKjGzR?GqtjV1X0K7Am_EV%tN|0omGy_z?3Qsg^C@uD Yb_qx`jVJllI#|8%xWdPmT-PlB0NsGh%m4rY From bdfaa1d1eee77d1f9fb5b9b2632c9988caba02e3 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Mon, 11 Jul 2022 15:19:55 -0700 Subject: [PATCH 135/306] Ram 1500 torque tune (#25117) * torque control again * 3mss per s * no bad sensors * tweaks * Need more checks before we can do this * update refs * only ram for now Co-authored-by: Adeeb Shihadeh --- panda | 2 +- selfdrive/car/chrysler/carcontroller.py | 7 ++++--- selfdrive/car/chrysler/interface.py | 6 +++--- selfdrive/car/chrysler/values.py | 14 ++++++++++---- selfdrive/car/interfaces.py | 4 ++-- selfdrive/car/torque_data/override.yaml | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 7 files changed, 22 insertions(+), 15 deletions(-) diff --git a/panda b/panda index ca927fe931..baecd2ecc6 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit ca927fe9312651a16f13aaddca8b46af5315ede6 +Subproject commit baecd2ecc6a2a608e1305601f6f697feca69fe88 diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index e0eb979e6a..a7f2d007f1 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -16,6 +16,7 @@ class CarController: self.lkas_active_prev = False self.packer = CANPacker(dbc_name) + self.params = CarControllerParams(CP) def update(self, CC, CS, low_speed_alert): can_sends = [] @@ -40,8 +41,8 @@ class CarController: # steering if self.frame % 2 == 0: # steer torque - new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX)) - apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, CarControllerParams) + new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX)) + apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params) if not lkas_active: apply_steer = 0 self.steer_rate_limited = new_steer != apply_steer @@ -56,6 +57,6 @@ class CarController: self.lkas_active_prev = lkas_active new_actuators = CC.actuators.copy() - new_actuators.steer = self.apply_steer_last / CarControllerParams.STEER_MAX + new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX return new_actuators, can_sends diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 697fb9b83a..8826a92523 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -46,15 +46,15 @@ class CarInterface(CarInterfaceBase): # Ram elif candidate == CAR.RAM_1500: + ret.steerActuatorDelay = 0.2 + ret.wheelbase = 3.88 ret.steerRatio = 16.3 ret.mass = 2493. + STD_CARGO_KG ret.maxLateralAccel = 2.4 ret.minSteerSpeed = 14.5 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) - ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1], [0.02]] - ret.lateralTuning.pid.kf = 0.00003 else: raise ValueError(f"Unsupported car: {candidate}") diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index ada4f486fc..f7531792fb 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -26,10 +26,16 @@ class CAR: class CarControllerParams: - STEER_MAX = 261 # higher than this faults the EPS on Chrysler/Jeep. Ram DT allows more - STEER_DELTA_UP = 3 - STEER_DELTA_DOWN = 3 - STEER_ERROR_MAX = 80 + def __init__(self, CP): + self.STEER_MAX = 261 # higher than this faults the EPS on Chrysler/Jeep. Ram DT allows more + self.STEER_ERROR_MAX = 80 + + if CP.carFingerprint in RAM_CARS: + self.STEER_DELTA_UP = 5 + self.STEER_DELTA_DOWN = 5 + else: + self.STEER_DELTA_UP = 3 + self.STEER_DELTA_DOWN = 3 STEER_THRESHOLD = 120 diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 136337c5a4..4c7ea97dff 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -135,11 +135,11 @@ class CarInterfaceBase(ABC): return ret @staticmethod - def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0): + def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0, use_steering_angle=True): params = get_torque_params(candidate) tune.init('torque') - tune.torque.useSteeringAngle = True + tune.torque.useSteeringAngle = use_steering_angle tune.torque.kp = 1.0 / params['LAT_ACCEL_FACTOR'] tune.torque.kf = 1.0 / params['LAT_ACCEL_FACTOR'] tune.torque.ki = 0.1 / params['LAT_ACCEL_FACTOR'] diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 476313df2b..8e6f62c4e7 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -21,7 +21,7 @@ COMMA BODY: [.nan, 1000, .nan] # Totally new cars KIA EV6 2022: [3.5, 2.5, 0.0] -RAM 1500 5TH GEN: [2.0, 2.0, 0.05] +RAM 1500 5TH GEN: [2.0, 2.0, 0.0] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 65ecbb4be3..fc5f83c32a 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -825acfae98543c915c18d3b19a9c5d2503e431a6 \ No newline at end of file +d583bbd9643000e7f817171c583d31ae3141a652 \ No newline at end of file From 903bb405286295b48d5192cb2a7b2c01029193e3 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Tue, 12 Jul 2022 08:51:03 +0900 Subject: [PATCH 136/306] Improve Korean translations (#25105) * kor translations fix update_translations --release qm * space * qm * map setting tr space remove * ts update fix ko_update ch_update * qm release * Update QM * Fix this translation Co-authored-by: Shane Smiskol --- selfdrive/ui/qt/maps/map_settings.cc | 2 +- selfdrive/ui/translations/main_ko.qm | Bin 19997 -> 20040 bytes selfdrive/ui/translations/main_ko.ts | 96 +++++++++++------------ selfdrive/ui/translations/main_zh-CHS.qm | Bin 18509 -> 18508 bytes selfdrive/ui/translations/main_zh-CHS.ts | 2 +- selfdrive/ui/translations/main_zh-CHT.qm | Bin 18569 -> 18568 bytes selfdrive/ui/translations/main_zh-CHT.ts | 7 +- 7 files changed, 51 insertions(+), 56 deletions(-) diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc index eaa8b1f703..d143b44e70 100644 --- a/selfdrive/ui/qt/maps/map_settings.cc +++ b/selfdrive/ui/qt/maps/map_settings.cc @@ -104,7 +104,7 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { screenshot->setPixmap(pm.scaledToWidth(1080, Qt::SmoothTransformation)); no_prime_layout->addWidget(screenshot, 0, Qt::AlignHCenter); - QLabel *signup = new QLabel(tr("Get turn-by-turn directions displayed and more with a comma \nprime subscription. Sign up now: https://connect.comma.ai")); + QLabel *signup = new QLabel(tr("Get turn-by-turn directions displayed and more with a comma\nprime subscription. Sign up now: https://connect.comma.ai")); signup->setStyleSheet(R"(font-size: 45px; color: white; font-weight:300;)"); signup->setAlignment(Qt::AlignCenter); diff --git a/selfdrive/ui/translations/main_ko.qm b/selfdrive/ui/translations/main_ko.qm index 60966cdde587ebf4a43deb8ad255f374d32ca7c8..c5c66d1e73491c2ff09d91b6fdd5200002b2a6da 100644 GIT binary patch delta 2731 zcmYLJX;c(v7Jb!S)l2opt_J}NnpG4;!61vQf`Y~+XgCT<#?c^(xCEn~s3hYCijGT zc6t;x5h(_UMlB^$<^XpAR{CuOAd1YQN!oct&K{IDZZC)+uT_bN??uz{L@1g`)BoOE zh>Xf;=DL64Km}zeu4AE`GUk1Ti+9oN6J9*q12i856Oi z5Va03XJ%M}u+YOC=)^+oVdiEA6c`f5+*KSW8lJ#B9=nmqQ={N>;FsW5h2O&-qKI5Y z3SR&vK2~HoAmi|vibEZ!`|x7Lr4kT}XjfdDyo1Q$f#UWI#1(uLUCr=J*fmA>5m&@p zu4D^Ch7h^-DLsEg&4za=eYV9RvpLF@GY~lX56aUtWny%3Ds)iI^SA7c0vla4A~VeyZq0|QaiEs_B;1Inv!2`bIf(ETcJv-?N1r@9 zPF%;827{Q}cCPe~@QQvhSGIW*l(@y6wRS_fHC)4hFO;j~u6yGpITR*x_qxEy?;GyB z4bAYtMmr`y;a(1a;h1QZ!aD<|D_0r&Lm=U9Rm|fQNSLomt-4AS7p9uapd#YD3Tyv<|A5(>h_o*=nC4C>9*6E_dGmPeiKE=6?qQE7binkKz5NtWZCH0%?>_ z)vu!a-~m>X6x4{u^IVgr1Y<{6&4Pctg2cBq+gBbS@+#8&=`;elI%qCDG-I5uRU6)i zx!%*7OEq{!f!c&$a*!FLot54Tq7B;F8=zdub?w|NC>^BJ&bK6jkV(6PhT#2^r0ux( zHq6$d?Q%pHRGImNV01dwZhn4SD>6>yiyxy?d1nG+i2|4K+xkox*YSJapvHlv{QlbG zAasl`y*mr$)$oT~QFAteuPoXF$a}%G?R=wK4DJuI@{fLB z0O_K2%*FLMkghY=HGxo!F6BWn%(PyY-GheVuhuQU&4T#`-De-WKthAg@*_$#Vz$mU z6^glC)w|SzK$u?dU4{9;+xk(lYv7f;`jjNpIx%0L7MV>np+%pb2qof{>SymQL_qIi z{gSt3X07^tFW*H5_w`k~@C=2|_02~h-PqIm8~1=?IQ=~f2(o`OsLFkD;ZsAX=Uxh$RlwL+hDM(+Vd5@BVbY!k=^K2W7CZ3C6Lgi)wn!yBHSEkEIx=nFj6oc>WfE>PZ>{@ z;iB;&#;ecZ39lC8&GG@ z<8nO-*OF_gw&+ge<+UVOH`VxcX4Xeq_J|*9Eq=b%ozl1UzBX5DG6|iTHNIC0NT~Q% zZJ0HtCX0mX>4Q5{`P3W^i2>)(~Z!!U1m zP_TH?kRp$MHmp_iO*Ku`IK0Bx!7!y_s>39ee9oFFiVh(zO+Qtfv&JK0fz6|OXj8Sd zsHs|NclbBMj1ya&%u1owB=$SyI6KKvWEtv(wyyum@V@g_wW=xk(*Bw(@u{;}tFe{b z^p?{X-CWGfO)<*F%SoOh;i5y;9uh3)upBQgatTyeDotF(EDN$%OqTJfm6i^|g0nb~k({K|c#*zX?4tQ13sMN5l^4QCXW z*NP<`2?nRutjgCUTsdiDn(L&y9!5sTS9G7zB4t!r`oXi=#LCr{YDWD|spjQLsOlbO zR{S;)6UT7vsnJt zRQAp+>uTxQTXPugW|@gxaB+IPo49&_PUYKP}Y`LGv8iO>1o`T%%~7r0!J=H z4%E;M*Dl65loraauHP;-$|mT@YPfGNf%KPzvkLb7nmZX{esa3EKaHVqq{otQ$F-r$ d{ubn-STr_Qd0y&BmNbkY7ESfUf7#SE{{dW0I-~#q delta 2737 zcmZuzX;c(v7Jb!S)l2n;$R=yCi3qZUhGCH?JMLo8Aqt~|7}Thv8BmNU$*2Rk=ad=~ z(YS!i*r=gE!Jq>jpuxCcfT#yh#wBW^CdSEVRAg?;oH_Gje$=^D-}1iu?z`{nZY^W> zlrh^}iw+XW`iVv*6UlRd^MNaX8-SkzO++l_4cSCoFj3GIU<^^PJ8%}(6c3`$b0Wnr zL_=DLly1O#z$hYH6|jLwe}+hFAsX(CrxWAji2Sgw$aXnitP3v^C9NYeYKX>{;2UD6byG z;czK3_$meHaKJUUr>?-C`IuvkpV6MsF50Bx@gRpf(u8(AVZZlDUN#=X^7EySr zESb-P60>BPHpti*D%;bk#`-0))0;pnyk2&0+!i96dRa#r;tEPxZyP)lxmd1=Dr^ipEpPH$ z1LHoHU$%Wl#B7m2&#!>M0c_HPFA*<_opV?Mv0`??I1CS2$gaHgHj&p&wlEt+l^k2l zJ|&87VvBZ-tA~qcuy4>NV-Ouu2hmH#mX*WVq2BC)J2}8C)^vFXk*_CP{eC%7vcT49 zttB(C-+bSV@%8LCKRhNHI-I>VrW&SIa(o0zk&wgbHZFs*E?k1%7o{D`Wz0dTqGuFw zx%@ep=q0z%2N@WTa|^9zU(+aRz|`O~xm=>Oz#%3rSygJjvt zXFot9d5`jC3@#7%2dV`BCbY{X)p$9W+dNgxd-M`g*Qhq}mdxvllA!uW_~jJ7Y%? z0(vgdE}m>5;`az3X{$a#8w#tmZTlcu*aq!|ZeVDSwz~zy*iN0I!UqR-=z`s@ zB7rHosQyy)^A2655%WGNy3;FwvES;Nybi&{UAm@t;7FD3{AhSV6RYdYKzllHdi$cI z6_{w$I~OB!yOnyc=LwLgS0CAjn<~s-KVcK3vpb_-7M}z+JLyYz;~oeY(C@i77M}Qv z{%_?tC~AoQ?7!dz_mlcdW82~OTL#t7xItC%2D>=4cQj*g`2ICfgwc?C2l0$o4NG$G zLLrSIaND)@sQm|q&*m+GRL>26U;2tD?!2M*{$5Bv+0d7K9N#Vr;GEl1v~q~d#krxC zgew!J^twh8&L!4UeaUx`Bv{th`ie``EiTTMZPIlTDi<||S`snNcI8>uwOpv4BfiUb z46!jSZB-3u8!B5}Ng!Ve6~}0d-czf7Gxu4>l2Gqd-DB<{p?P&BHMf%>UAJU(d)9^$dzd5aIVM(uzH8UYT* zBZ!RNMNHAfTIb#T{lycyWb5lQT_LAxu5GTCKGb(I%uaENP3mB*JvKo$|I4T9$L2)o zrp<2*V-&C3dNYCIfNie&&E7_#y;od0bOXmWC!XFV@^;=F+fsP`tQcYE&0G*?+PT|W zKk-XsQ?;Fh7N5ETOm46nAywPOFiORL2AV#O4P;Yvm8 ztFBVBlk|auo>8kv_$tz}ZGaI)$LSjF#mvS{By=UVY?mH6Ix%c>dwYYV9+t*vcuJs& zltghfO`PqV<+0APtueAIlLXV*+RWzElht*FBz!mBQqYxQ?y2<=uQ~_vZKdX(>L;~X z1J2@OA%y?0g3HAOml#Hn*0^{uGE1WPg=?I~=3-{$tHEf}BUe4cv8KM`YDwYVW?(O6 z)D=n{qy8voSScpdTgIsxeJ*8)^TL7|g|s_ND`QP(O?~3A@NV&NxK0uy6pXFa6ILpw zedd~~*5ec3)N(0n`l!Jqc|^`+xGk2vR#sdS<$xp`UB#VI9%^J`Rmrkmtc|+DS|f;? zqXXW&NcGV_GL9iuzgV`xD|vP6;5a|4=g3bKV!g$#(b1zK{{K8yrqBY)qg2YLY^xL7 z%S|MO#GaAqwC3{mMYTB)y|v}2q#1jN@f$&lX(`RezcQgYvFZYLzmJh%nqLcojhm$= z5;`-@J<^T16EYaAHcR{@ae|9LZ;{bTA7!vN_gY3 Enter new tethering password - 새 테더링 비밀번호 입력 + 새 테더링 비밀번호를 입력하세요 @@ -70,7 +70,7 @@ leave blank for automatic configuration - 자동 구성을 위해 비워둠 + 자동설정을 하려면 공백으로 두세요 @@ -92,7 +92,7 @@ You must accept the Terms and Conditions in order to use openpilot. - 당신은 반드시 약관에 동의해야만 openpilot을 사용할 수 있습니다. + openpilot을 사용하려면 이용 약관에 동의해야 합니다. @@ -102,7 +102,7 @@ Decline, uninstall %1 - 거절，삭제 %1 + 거절, %1 제거 @@ -135,7 +135,7 @@ Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off) - 운전자 카메라를 미리 보면서 최적의 운전자 모니터링 경험을 위해 기기 장착 위치를 최적화할수 있습니다. (차량은 반드시 닫아야 합니다) + 운전자 카메라를 미리 보면서 최적의 운전자 모니터링 경험을 위해 장치의 장착 위치를 최적화할수 있습니다. (차량연결은 해제되어있어야 합니다) @@ -150,7 +150,7 @@ Are you sure you want to reset calibration? - 캘리브레이션을 재설정하시겠습니까？ + 캘리브레이션을 재설정하시겠습니까? @@ -165,12 +165,12 @@ Review the rules, features, and limitations of openpilot - openpilot의 규칙, 기능, 제한 다시보기 + openpilot의 규칙, 기능 및 제한 다시보기 Are you sure you want to review the training guide? - 트레이닝 가이드를 다시보시겠습니까？ + 트레이닝 가이드를 다시보시겠습니까? @@ -185,7 +185,7 @@ Change Language - 언어변경 + 언어 변경 @@ -195,7 +195,7 @@ Select a language - 언어선택 + 언어를 선택하세요 @@ -210,37 +210,37 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot은 장치를 왼쪽 또는 오른쪽 4° 이내, 위쪽 5° 또는 아래쪽 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다. + openpilot은 장치를 좌측 또는 우측은 4° 이내, 위쪽 5° 또는 아래쪽은 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다. Your device is pointed %1° %2 and %3° %4. - 사용자의 기기가 %1° %2 및 %3° %4를 가리키고 있습니다. + 사용자의 장치가 %1° %2 및 %3° %4를 가리키고 있습니다. down - 아래 + 아래로 up - 위 + 위로 left - 왼쪽 + 좌측으로 right - 오른쪽 + 우측으로 Are you sure you want to reboot? - 재부팅 하시겠습니까？ + 재부팅 하시겠습니까? @@ -250,7 +250,7 @@ Are you sure you want to power off? - 전원을 종료하시겠습니까？ + 전원을 종료하시겠습니까? @@ -263,7 +263,7 @@ Drives - 주행수 + 주행 @@ -273,7 +273,7 @@ ALL TIME - 전체 시간 + 전체 @@ -309,12 +309,12 @@ Need at least - 최소 필요 + 최소 characters! - 문자！ + 자가 필요합니다! @@ -345,7 +345,7 @@ eta - 에타 + 도착 @@ -401,7 +401,7 @@ CLEAR - CLEAR + 삭제 @@ -411,14 +411,14 @@ Try the Navigation Beta - 네비게이션(베타)을 사용해보세요 + 네비게이션(베타)를 사용해보세요 - Get turn-by-turn directions displayed and more with a comma + Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai - 자세한 경로안내를 확인하시려면 comma prime을 구독하세요. -즉시등록：https://connect.comma.ai + 자세한 경로안내를 원하시면 comma prime을 구독하세요. +등록：https://connect.comma.ai @@ -437,7 +437,7 @@ location set no recent destinations - 최근 경로 없음 + 최근 목적지 없음 @@ -471,7 +471,7 @@ location set Advanced - 고급 + 고급 설정 @@ -775,12 +775,12 @@ location set Getting Started - 시작 + 설정 시작 Before we get on the road, let’s finish installation and cover some details. - 출발하기 전에 설치를 완료하고 몇 가지 세부 사항을 살펴보겠습니다. + 출발하기 전에 설정을 완료하고 몇 가지 세부 사항을 살펴보겠습니다. @@ -859,7 +859,7 @@ location set Finish Setup - 설치완료 + 설정 완료 @@ -869,7 +869,7 @@ location set Pair device - 페어링 + 장치 페어링 @@ -911,12 +911,12 @@ location set GOOD - 경고 + 좋음 OK - 좋음 + 경고 @@ -1009,7 +1009,7 @@ location set The last time openpilot successfully checked for an update. The updater only runs while the car is off. - 이전에 openpilot에서 업데이트를 성공적으로 확인한 시간입니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다. + 최근에 openpilot이 업데이트를 성공적으로 확인했습니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다. @@ -1019,22 +1019,22 @@ location set CHECKING - 검사중 + 확인중 Uninstall - 삭제 + 제거 UNINSTALL - 삭제 + 제거 Are you sure you want to uninstall? - 삭제하시겠습니까？ + 제거하시겠습니까? @@ -1084,7 +1084,7 @@ location set Username '%1' has no keys on GitHub - 사용자 이름 '%1' GitHub에 키가 없습니다 + '%1'의 키가 GitHub에 없습니다 @@ -1094,7 +1094,7 @@ location set Username '%1' doesn't exist on GitHub - 사용자 이름 '%1' GitHub에 없습니다 + '%1'은 GitHub에 없습니다 @@ -1120,7 +1120,7 @@ location set Scroll to accept - 스크롤 허용 + 허용하려면 아래로 스크롤하세요 @@ -1168,12 +1168,12 @@ location set Display speed in km/h instead of mph. - mph가 아닌 km/h로 속도 표시. + mph 대신 km/h로 속도를 표시합니다. Record and Upload Driver Camera - 운전자 카메라 기록 및 업로드 + 운전자 카메라 녹화 및 업로드 @@ -1193,7 +1193,7 @@ location set Show ETA in 24h format - 24시간 형식으로 ETA 표시 + 24시간 형식으로 도착예정시간 표시 @@ -1275,7 +1275,7 @@ location set Forget Wi-Fi Network " - wifi 네트워크 저장안함" + wifi 네트워크 저장안함 " diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm index 63c17d76b7f0f99e5180d400a8143d17cbbdde55..45fae52b4286bb3e57938bf6c7c4ad53d3bd3ba1 100644 GIT binary patch delta 1686 zcmX9;2~1R16g@NZ|15uI{(uZ%Q3M8%MP#XfvdNZ$pal^W<5G=6QL8q#S|l!`ts9~U z!Ch1ka4EGWxYm6^EGW2PG$j~R5H(t;HI-<<9>XM)lmGsI_nmvrxv#NEajQsC2XL?@uH||?FuxqI`2qN`kN6%~{P}%x@f(+*dl1&|0Y<-tu(KUd zNDyj+xoH}N#xuk!2)6~mWgx_juB3CPBue3E&4FfEGoXKhKoe0aLt_0hV0Z-*Uz`Mj zS7MBA7GT?eKD6^Gn#I7UQ4rH2Zc;Sn-bEHz7lLjq4MUF>5tXS%FE1 zDgj+CCMRtr)o@HXyc~!gkLg#~j&-;@7Gzmi-~^WTvVd_m${U)1m=UO1{0-ofgIc>( zU`Pu(HZI}&8ihlcAKs#;-~~lUA=M9xR;1PW0G_^z-4D1P=AmfH5Lnl$c%-ZV zoD&rwxz)rDw-eSP}F|nIJ7Dvop$RHtaa?wQ_H>jvGppr#F$M1FpH;P9D@*Pw2U+h4GY=gngLYwV5(Tyi7V@5s23%hV%V&|1 zI!{ zOFctys~@8s#1FkB7!agZx@9n3x7Bi&KNT!eN4`v;f`6$KYc2rctJPB#)ZSB2SM>A& zZkg)y{=2MXzDoTe^#Ristg-k|GVfGPmD4Zmut{@l;WHALr0JS)fD&%fynjVyRA)6G zBRXmJ0ByWaEoZ(}o2(*X(>ZPSn~x;ALc4j%ZeVbsc7HYN*zMGw>~QCEx=v%9!4S>S zxtD4=F5`5uZ%eubv-P%a>NH9_G+vig$NBR1(iMWK!hT(IOA1p|u4}dZo)<^86gw<{ z9m!JGokn(;DCNI&=2XujMzOPUsi4!u=Q?R?A1(EKEbTmB!E~CX(nk|%O^>v%kru0Z zrK20RvLU5(Hc(^+f~%yfIov1;Qmr(E*T)s9)*+IF9!M`{FQ!zUdc~=glr~rIe)&2H zIp`A}=K}+L_0ym7B5+@!Uvys}@qGR2pUm98Wc$BvpEN0{B zTw++BvDR{s)~6e5;|?+dUO~o&NO~{LHa1V@IGWeV_D8C?-XlA$rvi4avZW^;2vN(U z+IRy6bjxEmQ9`?^@}jt}7+ya)e-8)T2lC#|7-nId{A(o-3W<>~{KpIoZjqZ}?l9aD zCT%ybMopc`9LsSIwJ|w7x9{Uk(`Xvg&VoVPO$&26=-t8+qsGzUw5j#QKJxA|wI%!x bL|Wzou>+2WYf1+wmXtjFBI3B6Q@H>CHZ-~4 delta 1659 zcmX9;dsK{R9Dcr;@0)3E-_UK=CDnAN`=(W-(rzRqk}T~yNU_*sH`2Nc8yj+|ovd3( zigjt7le^>6u0)|YSe=bsBIK}ImlaO!KF-WP&zblA-rxKDp6B_!mkWg}g+ifcY$~A4 z1o|!@<`B0KHxf?)VkaO615yys?>TWG;2%z$$Zs-iXx>tk;UgR-E5_oj|v5fN#5qZ-DF%`#%;va}Bu;F@GyC_$9c?jC}TL~SXC)-41A$}#lu5g^Qh zVVWsG_j(Ku-+⋘WIj-X^$kEw7^t%hQvarE6yaW z1B}ZR*OOVePk`c19c>IetGHY0#DYteVxS3dOi{W#m3Z#4(p(Tt1(THXl3DkYiOT&l ziTfLsRYym&PKWYj70(6dDQkR|Sg$F1S+0wd_Z%XFR&hoG1@0Cm=C%w5+}gxNQ^-h_ zE9Q$Yf$)psrUZsd8D>MH*@lkQHgxk8OUgUQELtpkFpX#t4>WE7%;&_zUzJnREb)Y% z-WcwPmmW3)9`53$Cx6p}?(Jer^kL@BB5A{^dDIKZP%sx5&?v>pUZkETrA?+M;gh9I z?HNF?k!E^UQ1dy`%*s79x0J{%+WAVk(>V?Pd!>b8GB0>775qdZntB_$M%mD9whg2A zNhSTt>49UrRI;9_&}B&FKdb;u_R_%%cd3z^^jjx2SFD%LxnERr-Jrmer)>_^FbN2@D(=CQ*@^}#v!Ng!4Id`uZ7T&sTF)B~{ZtA6u@ z3Mo&j-w%95(;e*M{AxJ+e_AU=(}eYQJNEOm!)Ci9tsX${6ph;OC8IM#<56PAAsMNO zeZiMQuGEZ6d_dj(HK}>jE9R>AG%B(JuDPfp) zRhtV3c`7lA&6H^i9vS)ng0{GeE_(f?-E?Xf1L>qKX&Og2-fFjBp{vSHZRN^h-lEi= z43@}Zw{@{(viz=nJT;qAca_RXieS91(i|Vc)J|Laad+QU2u(!x+ zed-3*b1l@*9!1s`X}o^pyYZZtMtxNg=cdn2eO)QV2p*%q+)NDY(l^(Vn7GcMs_^86 ziH0DTTO<-;i0E9!`8#W<4CB7p$#5)(81bE<#=M)Bjy2Q_A^LIczM?Nq~!G)|dg zzU;KOg6nVPp844fpM$$>?uY~WtK|WA`LYE4BPXt*P7aggxkElzt1p?>yel7TS$><9`7LdCUM}9S%jROYDXD)>}OW M3T}t&dqxKS50wtHa{vGU diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 9ac35994e6..04bd2415f0 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -415,7 +415,7 @@ - Get turn-by-turn directions displayed and more with a comma + Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai 订阅comma prime以获取导航。 立即注册：https://connect.comma.ai diff --git a/selfdrive/ui/translations/main_zh-CHT.qm b/selfdrive/ui/translations/main_zh-CHT.qm index 208f29c0ec9dd45424301c70cdaf64c2e9a901bc..130bcfc92670cff84c6c6fcf359be599e4941e3e 100644 GIT binary patch delta 1686 zcmX9;3sg;M7~SXGbME8Zd(V|_H=@_Atco_OWJPd^Q z#Q?*2z@;3C5v%e3mzWhts%h`G6I72WX?6zKi&@PKV4i?&7ixf*2`HP%JiA1~=}LvY zN^x&lCinLXwq8Mif3nbSvp>-3hR~yc>W9<|DV1Hg{zBMro$I~yLd{T#akGS*;ts$w zSa|foBA|m!R5H#1oi~XA_iiHxp_{~bWhR+z5J$IR#vzNuO|=GIm?9ooPGVuQcru{? zu*?##r7*CUB-U54jE<3F!&Wy2%+W{=cfdMG@FO4ldNCuVC!~_c5#$TF!yD#8VF3lNFM%u;F zQt2fSu|-;!P(cGZTG3)_MeC7P^lp@jOPW}_$I|w@X=G@Z_Fi5M*q2C$zAB-lYo((m z*2essbn$*2*Y8RfA3tRcT>g-5M<1f!vSlTLn)h{)&H2-To@H`BHGrwO$|J_ICJ_O0 zhH?@x$?_!soj|BTp0ux&#obDL1?X+^>@Q~Ve43mct^$6?wA^1YLM&dNyx9Qd}m=5 zi@mB9qvPc_%_Qik){4GE>8^KL^_hbTj?wmc6i)^3Yx|d-0D8~WjuNQ7|0V5?rWU~0 zQ(NI!pF`$TwQrKH(`|a4y$dDl9H`srv5*-~(jAz3hXj&!&xUNLgcZ71kEx8NT=zEe z0no8Y->-|4?XX*)s3Bp?9({V_TN2IEugKiM{crVK_AriXf&TD4KYsT&=*;YYuNZ@0 zv7YTB8Dd`)J(sLGI>V^Zl(v&#NULOj1->;DfUd$8Lv7t)x+vRF?=p>pne88oqDDC<}j9~Oxaw`5^LTn z`*K$?p)loGh)fTJrz>YNcu{VvI2A9Bj}wa1#yQk!kMeNBOg{9?D3s5mw53MBQ|IV~ zr^fhOc|cp6G4(bFfnTg~`ZbBlO)xI_#>)Gzjg?PWlEALU^Mk06o4d(+iUfjxGWnKq zJ>aS-IBGV%(PWD6ca(IG@OxqzrnPTAWq|pn zvO@Nk*Vm@1ttvgzXu4EKbgVbkRg$3ey;-}{pAW{FyLmYS{+($I8L(SXB2Jc*}Zh8KT9KN3CeV+I2c|V>v`V#ssMS80tqV#oEib;lW32A9U z5*3CxD`FPM2#b{&hSSg}@-ZB2zE<0{)AP@Dp5J}nzx(=K*Y9`d77BTV!Y0oM3!q5_ z28<(S64QuVi0c8V6Ho^LvOnNkMI1qVNlfIP8QthUy)eaF_@Z!wO9UfvxjgwE81pH2 zh5`wJfbI!#4q(?s%w~KouwWNpJsnugnDu=io$L1Lg@3vPZh@4u9SC!SRMG|rDx`+N zJmd(e={PY7(q##7z6*JsD=@I2C{%FBii6Jg8eq7K05eg)2QiJy0l!Iz={O1u4#OxV z3FuLWxS(SE|HWlSlInHDFDPP>BF6o}+w5*&{L0tdUw{eXS;pfrA!#*l3Bjbjm4K3o z$+4SB)dN%Ztsu+QnD%2MkTviQ7ACthK{b|kGJ$Cpc3o@+!jn;x&N};tpur}dwD+NX z-4d=J66}Kq0-gy%uQE@d-wk2NMyelhM@Tr|pYd11w(E=sD?;-GiFua_H^mCT$s#-& z^cB#@LDZ+71ANLvul9S$LSUH~txqSj?c!8xRveHm?zpD#K$>`LJ&Ap!6;H)(1k6jt zs|if(EQ_}rX`>}kY%RBA!Y?(F#R0G#t8scN^V}JYdwv)z|5vjlfq91x(i~7p+_zCv zQ^!^@cW6%3@LWJ2O@sHUqAOybtVU_(-dZxaAkB@Xz}BA9vU?)|*JIL(Br?)wOF7aj zAgEj_iLGY?S-R0|-;K7%yV2#DR9g9#-aV0awfjr7KJ zOS<%+h4FUj(&K0JpvUjhy|5$fx8<@vh?a0mEwLDAkLl*vgY<(vzTma;p9m zV3g%~o>f4gUY=LIm*$oe-vCzj^0L`Wxj#i-K3D}jevtFOAra+bH@axL(RFAyhW#d& z`c~2d+YY(3fL&ool`Gd~Q;FB|;R~&Rf4zLBlbVb9@>#bl?5b9|r>y+0-M@zGWFUc(CK>kg;gCxLOg=i_%X@k!lZHyweV_PRHZsgR~l z_hH0Cpzk}YsQwKci~U8_lEdd~tacvYX`2G8qwOAC9i`|@oN?y}#iP`ULn12?FZpt) z70SfXZPYzLnY4y_MOZ0`Q>kx1QAs`@33&gbYy?{iJC$oKW7$e8ikxJJ*q-{lM^1o? zACWJGSB5_Sp_%`M`psQ*(QB8!q`ra;spv~@PNW;P`m!dvs`;R=&fUx!2I)@($Ye3Q zXr=6sbx_|iE1gokFbH+4IGFnk9;eUI>*t1P_c-7lk%mQAB`T6^Se;?ZXXTyY{8LKp z?Q8hy6IN{3%V>L=xA=W$bgN<9>sO;+=rVf#))*Z{%R=ppal@ujdTZn8NY*yI-Z-h4 z`CO(L7mg+CEIHM<<^5+&u-aHt$hmP|Y-}v282-^Y6|Ym4s!uUpo6IS*%~I{Y ztzx`M?VXd(=Cd)W?r)>0$7OX`D_<7>4eIFi)X8S7x+wBvHl;<)+s?uDxvuVb7|sC> zSNB))q9KZU@^8A__l(*c{tMvXY_@vACr?*rwvFJJ4rwvlKj`8El3^az#(aT;%xS6Z zR4B^4>1H-vonzjbl2+uXGuWRn-|i^mKpru-Mjrw~T;{SF;%kTNa(fCHMQ0sH2(GnV Ij_WM{0lCk!tN;K2 diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 2920916ece..806dd54ad3 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -415,16 +415,11 @@ - Get turn-by-turn directions displayed and more with a comma + Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai 成為 comma 高級會員來使用導航功能 立即註冊：https://connect.comma.ai - - Get turn-by-turn directions displayed and more with a comma -prime subscription. Sign up now: https://connect.comma.ai - 成為 comma 高級會員來使用導航功能，立即註冊：https://connect.comma.ai - No home From 2ae52e9b2218c23d4c80b36fb0b50387b6ecdd8f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 11 Jul 2022 17:20:56 -0700 Subject: [PATCH 137/306] process replay: ensure enabled for significant amount of time (#25121) * process replay: ensure enabled for significant amount of time * update refs * 10s is reasonable --- selfdrive/controls/controlsd.py | 3 ++- selfdrive/test/process_replay/process_replay.py | 11 +++++++++-- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/test_processes.py | 16 ++++++++-------- 4 files changed, 20 insertions(+), 12 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 117509f1e6..b344705f9d 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -406,7 +406,8 @@ class Controls: if not self.initialized: all_valid = CS.canValid and self.sm.all_checks() - if all_valid or self.sm.frame * DT_CTRL > 3.5 or SIMULATION: + timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 3.5) + if all_valid or timed_out or SIMULATION: if not self.read_only: self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) self.initialized = True diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index c667aa3887..bea7dc46ee 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -14,6 +14,7 @@ from cereal import car, log from cereal.services import service_list from common.params import Params from common.timeout import Timeout +from common.realtime import DT_CTRL from panda.python import ALTERNATIVE_EXPERIENCE from selfdrive.car.car_helpers import get_car, interfaces from selfdrive.test.process_replay.helpers import OpenpilotPrefix @@ -548,11 +549,17 @@ def cpp_replay_process(cfg, lr, fingerprint=None): def check_enabled(msgs): + cur_enabled_count = 0 + max_enabled_count = 0 for msg in msgs: if msg.which() == "carParams": if msg.carParams.notCar: return True elif msg.which() == "controlsState": if msg.controlsState.active: - return True - return False + cur_enabled_count += 1 + else: + cur_enabled_count = 0 + max_enabled_count = max(max_enabled_count, cur_enabled_count) + + return max_enabled_count > int(10. / DT_CTRL) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index fc5f83c32a..bef6956ec3 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -d583bbd9643000e7f817171c583d31ae3141a652 \ No newline at end of file +998b457e0d38e3639814ed81cb2d32e92d9bed8c \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 652c49db3d..91cc40f5ce 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -18,14 +18,14 @@ from tools.lib.logreader import LogReader original_segments = [ ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA - ("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--1"), # HYUNDAI.KIA_EV6 + ("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--0"), # HYUNDAI.KIA_EV6 ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS (INDI) ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 (LQR) ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2 ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.CIVIC (NIDEC) ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.ACCORD (BOSCH) ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.PACIFICA - ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--2"), # CHRYSLER.RAM_1500 + ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--3"), # CHRYSLER.RAM_1500 ("SUBARU", "4d70bc5e608678be|2021-01-15--17-02-04--5"), # SUBARU.IMPREZA ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.VOLT ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.XTRAIL @@ -39,13 +39,14 @@ original_segments = [ segments = [ ("BODY", "regen660D86654BA|2022-07-06--14-27-15--0"), ("HYUNDAI", "regen657E25856BB|2022-07-06--14-26-51--0"), + ("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--0"), ("TOYOTA", "regenBA97410FBEC|2022-07-06--14-26-49--0"), ("TOYOTA2", "regenDEDB1D9C991|2022-07-06--14-54-08--0"), ("TOYOTA3", "regenDDC1FE60734|2022-07-06--14-32-06--0"), ("HONDA", "regen17B09D158B8|2022-07-06--14-31-46--0"), ("HONDA2", "regen041739C3E9A|2022-07-06--15-08-02--0"), ("CHRYSLER", "regenBB2F9C1425C|2022-07-06--14-31-41--0"), - ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--2"), + ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--3"), ("SUBARU", "regen732B69F33B1|2022-07-06--14-36-18--0"), ("GM", "regen01D09D915B5|2022-07-06--14-36-20--0"), ("NISSAN", "regenEA6FB2773F5|2022-07-06--14-58-23--0"), @@ -65,7 +66,7 @@ def run_test_process(data): res = None if not args.upload_only: lr = LogReader.from_bytes(lr_dat) - res, log_msgs = test_process(cfg, lr, ref_log_path, args.ignore_fields, args.ignore_msgs) + res, log_msgs = test_process(cfg, lr, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs) # save logs so we can upload when updating refs save_log(cur_log_fn, log_msgs) @@ -83,7 +84,7 @@ def get_log_data(segment): return (segment, f.read()) -def test_process(cfg, lr, ref_log_path, ignore_fields=None, ignore_msgs=None): +def test_process(cfg, lr, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None): if ignore_fields is None: ignore_fields = [] if ignore_msgs is None: @@ -96,7 +97,7 @@ def test_process(cfg, lr, ref_log_path, ignore_fields=None, ignore_msgs=None): # check to make sure openpilot is engaged in the route if cfg.proc_name == "controlsd": if not check_enabled(log_msgs): - raise Exception(f"Route never enabled: {ref_log_path}") + return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs try: return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance), log_msgs @@ -216,8 +217,7 @@ if __name__ == "__main__": results: Any = defaultdict(dict) p2 = pool.map(run_test_process, pool_args) for (segment, proc, subtest_name, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)): - if isinstance(result, list): - results[segment][proc + subtest_name] = result + results[segment][proc + subtest_name] = result diff1, diff2, failed = format_diff(results, ref_commit) if not upload: From 29c8e5d227eacae36dbc4357bf5328f22668d5ef Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 11 Jul 2022 17:26:59 -0700 Subject: [PATCH 138/306] Chrysler: increase Ram torque rate limit --- selfdrive/car/chrysler/values.py | 4 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index f7531792fb..69dade4b64 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -31,8 +31,8 @@ class CarControllerParams: self.STEER_ERROR_MAX = 80 if CP.carFingerprint in RAM_CARS: - self.STEER_DELTA_UP = 5 - self.STEER_DELTA_DOWN = 5 + self.STEER_DELTA_UP = 6 + self.STEER_DELTA_DOWN = 6 else: self.STEER_DELTA_UP = 3 self.STEER_DELTA_DOWN = 3 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index bef6956ec3..d98ae96516 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -998b457e0d38e3639814ed81cb2d32e92d9bed8c \ No newline at end of file +2ae52e9b2218c23d4c80b36fb0b50387b6ecdd8f \ No newline at end of file From 045c881e1ffeb5e7bcb8e1ee78d4a42caee1be4d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 11 Jul 2022 21:11:12 -0700 Subject: [PATCH 139/306] couple more stinger MYs supported --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index eb570faa7e..5e185ed278 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -105,7 +105,7 @@ How We Rate The Cars |Kia|Seltos 2021|SCC + LKAS|||||| |Kia|Sorento 2018|SCC + LKAS|||||| |Kia|Sorento 2019|SCC + LKAS|||||| -|Kia|Stinger 2018|SCC + LKAS|||||| +|Kia|Stinger 2018-20|SCC + LKAS|||||| |Lexus|CT Hybrid 2017-18|LSS|[3](#footnotes)||||| |Lexus|ES Hybrid 2017-18|LSS|[3](#footnotes)||||| |Lexus|NX 2018-19|All|[3](#footnotes)||||| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 4b3acf3f27..2e6a2017ea 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -151,7 +151,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Sorento 2018", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c), HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e), ], - CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c), + CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c), CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e), CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.hyundai_p), From 614b3a01f89eabfa9ea26ed2a367592939f78e11 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 11 Jul 2022 22:10:06 -0700 Subject: [PATCH 140/306] Chrysler: limit buttons to 20Hz (#25125) * Chrysler: limit buttons to 10Hz * cleanup * 20hz --- selfdrive/car/chrysler/carcontroller.py | 20 +++++++++++++++----- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 16 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index a7f2d007f1..8156e7841e 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -1,4 +1,5 @@ from opendbc.can.packer import CANPacker +from common.realtime import DT_CTRL from selfdrive.car import apply_toyota_steer_torque_limits from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams @@ -14,6 +15,7 @@ class CarController: self.hud_count = 0 self.last_lkas_falling_edge = 0 self.lkas_active_prev = False + self.last_button_frame = 0 self.packer = CANPacker(dbc_name) self.params = CarControllerParams(CP) @@ -26,11 +28,19 @@ class CarController: # *** control msgs *** - das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0 - if CC.cruiseControl.cancel: - can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True)) - elif CC.enabled and CS.out.cruiseState.standstill: - can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True)) + # cruise buttons + if (self.frame - self.last_button_frame)*DT_CTRL > 0.05: + das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0 + + # ACC cancellation + if CC.cruiseControl.cancel: + self.last_button_frame = self.frame + can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True)) + + # ACC resume from standstill + elif CC.cruiseControl.resume: + self.last_button_frame = self.frame + can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True)) # HUD alerts if self.frame % 25 == 0: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index d98ae96516..b165b163ba 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -2ae52e9b2218c23d4c80b36fb0b50387b6ecdd8f \ No newline at end of file +11e721366f1c177a84e6cb8b48171113ac3b54f9 \ No newline at end of file From 4d7b7483d70a61cf0fb938107df55c24f27da1b0 Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Tue, 12 Jul 2022 12:36:57 +0200 Subject: [PATCH 141/306] Replay: tolerances per field (#25116) * tolerances per field in replay * refactor * Remove laikad parameters * Small comment change --- selfdrive/test/process_replay/compare_logs.py | 22 ++++++++++++++++--- .../test/process_replay/process_replay.py | 2 +- .../test/process_replay/test_processes.py | 2 +- 3 files changed, 21 insertions(+), 5 deletions(-) diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py index 057e46cd9c..bf6daf5fed 100755 --- a/selfdrive/test/process_replay/compare_logs.py +++ b/selfdrive/test/process_replay/compare_logs.py @@ -46,11 +46,25 @@ def remove_ignored_fields(msg, ignore): return msg.as_reader() -def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=None): +def get_field_tolerance(diff_field, field_tolerances): + diff_field_str = diff_field[0] + for s in diff_field[1:]: + # loop until number in field + if not isinstance(s, str): + break + diff_field_str += '.'+s + if diff_field_str in field_tolerances: + return field_tolerances[diff_field_str] + + +def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=None, field_tolerances=None): if ignore_fields is None: ignore_fields = [] if ignore_msgs is None: ignore_msgs = [] + if field_tolerances is None: + field_tolerances = {} + default_tolerance = EPSILON if tolerance is None else tolerance log1, log2 = (list(filter(lambda m: m.which() not in ignore_msgs, log)) for log in (log1, log2)) @@ -72,7 +86,6 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non msg1_dict = msg1.to_dict(verbose=True) msg2_dict = msg2.to_dict(verbose=True) - tolerance = EPSILON if tolerance is None else tolerance dd = dictdiffer.diff(msg1_dict, msg2_dict, ignore=ignore_fields) # Dictdiffer only supports relative tolerance, we also want to check for absolute @@ -80,10 +93,13 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non def outside_tolerance(diff): try: if diff[0] == "change": + field_tolerance = default_tolerance + if (tol := get_field_tolerance(diff[1], field_tolerances)) is not None: + field_tolerance = tol a, b = diff[2] finite = math.isfinite(a) and math.isfinite(b) if finite and isinstance(a, numbers.Number) and isinstance(b, numbers.Number): - return abs(a - b) > max(tolerance, tolerance * max(abs(a), abs(b))) + return abs(a - b) > max(field_tolerance, field_tolerance * max(abs(a), abs(b))) except TypeError: pass return True diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index bea7dc46ee..0c642cde17 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -28,7 +28,7 @@ TIMEOUT = 15 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__)) FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/") -ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config', 'environ', 'subtest_name'], defaults=({}, {}, "")) +ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config', 'environ', 'subtest_name', "field_tolerances"], defaults=({}, {}, "", {})) def wait_for_event(evt): diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 91cc40f5ce..d8cd1fd57a 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -100,7 +100,7 @@ def test_process(cfg, lr, ref_log_path, new_log_path, ignore_fields=None, ignore return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs try: - return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance), log_msgs + return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance, cfg.field_tolerances), log_msgs except Exception as e: return str(e), log_msgs From f0b5ff5c1addff7932fe86a2874a23d87b5eb5f3 Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Tue, 12 Jul 2022 14:03:35 +0200 Subject: [PATCH 142/306] Replay: Fix --upload-only (#25127) Add checking for list back --- selfdrive/test/process_replay/test_processes.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index d8cd1fd57a..77d73a4ff4 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -217,7 +217,8 @@ if __name__ == "__main__": results: Any = defaultdict(dict) p2 = pool.map(run_test_process, pool_args) for (segment, proc, subtest_name, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)): - results[segment][proc + subtest_name] = result + if isinstance(result, list): + results[segment][proc + subtest_name] = result diff1, diff2, failed = format_diff(results, ref_commit) if not upload: From 205f6f7414f502248082949addac25a215c73d59 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 12 Jul 2022 16:09:21 +0200 Subject: [PATCH 143/306] casync: manifest compare script (#25129) * casync compare script * typo * cleanup output --- .../tici/tests/compare_casync_manifest.py | 74 +++++++++++++++++++ 1 file changed, 74 insertions(+) create mode 100755 system/hardware/tici/tests/compare_casync_manifest.py diff --git a/system/hardware/tici/tests/compare_casync_manifest.py b/system/hardware/tici/tests/compare_casync_manifest.py new file mode 100755 index 0000000000..5e5fa24556 --- /dev/null +++ b/system/hardware/tici/tests/compare_casync_manifest.py @@ -0,0 +1,74 @@ +#!/usr/bin/env python3 +import argparse +import collections +import multiprocessing +import os +from typing import Dict, List + +import requests +from tqdm import tqdm + +import system.hardware.tici.casync as casync + + +def get_chunk_download_size(chunk): + sha = chunk.sha.hex() + path = os.path.join(remote_url, sha[:4], sha + ".cacnk") + if os.path.isfile(path): + return os.path.getsize(path) + else: + r = requests.head(path) + r.raise_for_status() + return int(r.headers['content-length']) + + +if __name__ == "__main__": + + parser = argparse.ArgumentParser(description='Compute overlap between two casync manifests') + parser.add_argument('frm') + parser.add_argument('to') + args = parser.parse_args() + + frm = casync.parse_caibx(args.frm) + to = casync.parse_caibx(args.to) + remote_url = args.to.replace('.caibx', '') + + most_common = collections.Counter(t.sha for t in to).most_common(1)[0][0] + + frm_dict = casync.build_chunk_dict(frm) + + # Get content-length for each chunk + with multiprocessing.Pool() as pool: + szs = list(tqdm(pool.imap(get_chunk_download_size, to), total=len(to))) + chunk_sizes = {t.sha: sz for (t, sz) in zip(to, szs)} + + sources: Dict[str, List[int]] = { + 'seed': [], + 'remote_uncompressed': [], + 'remote_compressed': [], + } + + for chunk in to: + # Assume most common chunk is the zero chunk + if chunk.sha == most_common: + continue + + if chunk.sha in frm_dict: + sources['seed'].append(chunk.length) + else: + sources['remote_uncompressed'].append(chunk.length) + sources['remote_compressed'].append(chunk_sizes[chunk.sha]) + + print() + print("Update statistics (excluding zeros)") + print() + print("Download only with no seed:") + print(f" Remote (uncompressed)\t\t{sum(sources['seed'] + sources['remote_uncompressed']) / 1000 / 1000:.2f} MB\tn = {len(to)}") + print(f" Remote (compressed download)\t{sum(chunk_sizes.values()) / 1000 / 1000:.2f} MB\tn = {len(to)}") + print() + print("Upgrade with seed partition:") + print(f" Seed (uncompressed)\t\t{sum(sources['seed']) / 1000 / 1000:.2f} MB\t\t\t\tn = {len(sources['seed'])}") + sz, n = sum(sources['remote_uncompressed']), len(sources['remote_uncompressed']) + print(f" Remote (uncompressed)\t\t{sz / 1000 / 1000:.2f} MB\t(avg {sz / 1000 / 1000 / n:4f} MB)\tn = {n}") + sz, n = sum(sources['remote_compressed']), len(sources['remote_compressed']) + print(f" Remote (compressed download)\t{sz / 1000 / 1000:.2f} MB\t(avg {sz / 1000 / 1000 / n:4f} MB)\tn = {n}") From 105afee4a21ad008fa741f19c5a62a6d52fdd773 Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Tue, 12 Jul 2022 18:11:47 +0200 Subject: [PATCH 144/306] Laikad: set cache dir to comma_download_cache (#25131) * Cache downloads for process replay * set cache dir permanent * Create constant --- selfdrive/locationd/laikad.py | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 0954cb4c9f..4868e8ae52 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -27,6 +27,7 @@ from system.swaglog import cloudlog MAX_TIME_GAP = 10 EPHEMERIS_CACHE = 'LaikadEphemeris' +DOWNLOADS_CACHE_FOLDER = "/tmp/comma_download_cache" CACHE_VERSION = 0.1 POS_FIX_RESIDUAL_THRESHOLD = 100.0 @@ -42,7 +43,7 @@ class Laikad: valid_ephem_types: Valid ephemeris types to be used by AstroDog save_ephemeris: If true saves and loads nav and orbit ephemeris to cache. """ - self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True) + self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER) self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True) self.auto_fetch_orbits = auto_fetch_orbits @@ -183,7 +184,7 @@ class Laikad: def fetch_orbits(self, t: GPSTime, block): # Download new orbits if 1 hour of orbits data left if t + SECS_IN_HR not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or abs(t - self.last_fetch_orbits_t) > SECS_IN_MIN): - astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types + astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types, self.astro_dog.cache_dir ret = None if block: # Used for testing purposes @@ -203,8 +204,8 @@ class Laikad: self.cache_ephemeris(t=t) -def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types): - astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types) +def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types, cache_dir): + astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, cache_dir=cache_dir) cloudlog.info(f"Start to download/parse orbits for time {t.as_datetime()}") start_time = time.monotonic() try: @@ -301,6 +302,7 @@ def main(sm=None, pm=None): replay = "REPLAY" in os.environ use_internet = "LAIKAD_NO_INTERNET" not in os.environ laikad = Laikad(save_ephemeris=not replay, auto_fetch_orbits=use_internet) + while True: sm.update() From 780c60324bf19762e9b72da38be0a9f09d624efd Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 12 Jul 2022 11:12:35 -0700 Subject: [PATCH 145/306] process replay: fix string failures after #25127 --- selfdrive/test/process_replay/test_processes.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 77d73a4ff4..4ebb0701dd 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -217,7 +217,7 @@ if __name__ == "__main__": results: Any = defaultdict(dict) p2 = pool.map(run_test_process, pool_args) for (segment, proc, subtest_name, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)): - if isinstance(result, list): + if not args.upload_only: results[segment][proc + subtest_name] = result diff1, diff2, failed = format_diff(results, ref_commit) From 1f17f812cfa74c1db2ceba05dae4946b5e472e2a Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Tue, 12 Jul 2022 15:45:43 -0500 Subject: [PATCH 146/306] Add missing RAV4H_TSS2_2022 engine f/w (#25111) `@Rocks#8913` 2021 RAV4 Hybrid (Italy) DongleID/route 081a1d5f242294c0|2022-07-10--17-39-33 Continental camera p/n 8646C-0R090... https://discord.com/channels/469524606043160576/524327905937850394/995781101903679558 --- selfdrive/car/toyota/values.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 2a03999342..723fa85820 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1381,11 +1381,12 @@ FW_VERSIONS = { b'8965B42172\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ - b'\x01896634A62000\x00\x00\x00\x00', - b'\x01896634A08000\x00\x00\x00\x00', - b'\x01896634A61000\x00\x00\x00\x00', b'\x01896634A02001\x00\x00\x00\x00', b'\x01896634A03000\x00\x00\x00\x00', + b'\x01896634A08000\x00\x00\x00\x00', + b'\x01896634A61000\x00\x00\x00\x00', + b'\x01896634A62000\x00\x00\x00\x00', + b'\x01896634A63000\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F0R01100\x00\x00\x00\x00', From ecac734160f719f59364a637b7cd781460456845 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 12 Jul 2022 13:51:25 -0700 Subject: [PATCH 147/306] update compatibility docs with VIN data (#25134) * start with genesis * chrysler * honda * toyota * subaru --- docs/CARS.md | 46 ++++++++++++++++---------------- selfdrive/car/chrysler/values.py | 4 +-- selfdrive/car/honda/values.py | 20 +++++++------- selfdrive/car/hyundai/values.py | 6 ++--- selfdrive/car/subaru/values.py | 6 ++--- selfdrive/car/toyota/values.py | 10 +++---- 6 files changed, 46 insertions(+), 46 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 5e185ed278..c3efe87515 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -49,12 +49,12 @@ How We Rate The Cars |Kia|Niro Electric 2021|All|||||| |Kia|Niro Electric 2022|All|||||| |Kia|Telluride 2020|SCC + LKAS|||||| -|Lexus|ES 2019-21|All|||||| +|Lexus|ES 2019-22|All|||||| |Lexus|ES Hybrid 2019-22|All|||||| -|Lexus|NX 2020|All|||||| -|Lexus|NX Hybrid 2020|All|||||| +|Lexus|NX 2020-21|All|||||| +|Lexus|NX Hybrid 2020-21|All|||||| |Lexus|RX 2020-22|All|||||| -|Lexus|UX Hybrid 2019-21|All|||||| +|Lexus|UX Hybrid 2019-22|All|||||| |Toyota|Avalon 2022|All|||||| |Toyota|Avalon Hybrid 2022|All|||||| |Toyota|Camry 2021-22|All||[4](#footnotes)|||| @@ -80,8 +80,8 @@ How We Rate The Cars |Audi|RS3 2018|ACC + Lane Assist|||||| |Audi|S3 2015-17|ACC + Lane Assist|||||| |Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise|||||| -|Genesis|G70 2018|All|||||| -|Genesis|G80 2018|All|||||| +|Genesis|G70 2018-19|All|||||| +|Genesis|G80 2017-19|All|||||| |Hyundai|Elantra 2021-22|SCC + LKAS|||||| |Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|||||| |Hyundai|Ioniq Electric 2020|SCC + LKAS|||||| @@ -117,10 +117,10 @@ How We Rate The Cars |Nissan|X-Trail 2017|ProPILOT|||||| |SEAT|Ateca 2018|Driver Assistance|||||| |SEAT|Leon 2014-20|Driver Assistance|||||| -|Subaru|Ascent 2019-20|All|||||| +|Subaru|Ascent 2019-21|All|||||| |Subaru|Crosstrek 2020-21|EyeSight|||||| -|Subaru|Forester 2019-21|All|||||| -|Subaru|Impreza 2020-21|EyeSight|||||| +|Subaru|Forester 2019-22|All|||||| +|Subaru|Impreza 2020-22|EyeSight|||||| |Subaru|XV 2020-21|EyeSight|||||| |Toyota|Alphard 2019-20|All|||||| |Toyota|Alphard Hybrid 2021|All|||||| @@ -151,7 +151,7 @@ How We Rate The Cars |---|---|---|:---:|:---:|:---:|:---:|:---:| |Acura|ILX 2016-19|AcuraWatch Plus|||||| |Acura|RDX 2016-18|AcuraWatch Plus|||||| -|Acura|RDX 2019-21|All|||||| +|Acura|RDX 2019-22|All|||||| |Audi|Q2 2018|ACC + Lane Assist|||||| |Audi|Q3 2020-21|ACC + Lane Assist|||||| |Cadillac|Escalade ESV 2016[1](#footnotes)|ACC + LKAS|||||| @@ -159,27 +159,27 @@ How We Rate The Cars |Chrysler|Pacifica 2019-20|Adaptive Cruise|||||| |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|||||| |Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|||||| -|Genesis|G90 2018|All|||||| +|Genesis|G90 2017-18|All|||||| |GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise|||||| -|Honda|Accord 2018-21|All|||||| -|Honda|Accord Hybrid 2018-21|All|||||| +|Honda|Accord 2016-22|All|||||| +|Honda|Accord Hybrid 2018-22|All|||||| |Honda|Civic 2016-18|Honda Sensing|||||| -|Honda|Civic 2019-20|All|||[2](#footnotes)||| +|Honda|Civic 2019-21|All|||[2](#footnotes)||| |Honda|Civic 2022|All|||||| |Honda|Civic Hatchback 2017-21|Honda Sensing|||||| |Honda|Civic Hatchback 2022|All|||||| |Honda|CR-V 2015-16|Touring|||||| -|Honda|CR-V 2017-21|Honda Sensing|||||| +|Honda|CR-V 2017-22|Honda Sensing|||||| |Honda|CR-V Hybrid 2017-19|Honda Sensing|||||| |Honda|e 2020|All|||||| -|Honda|Fit 2018-19|Honda Sensing|||||| +|Honda|Fit 2018-20|Honda Sensing|||||| |Honda|Freed 2020|Honda Sensing|||||| -|Honda|HR-V 2019-20|Honda Sensing|||||| -|Honda|Insight 2019-21|All|||||| +|Honda|HR-V 2019-22|Honda Sensing|||||| +|Honda|Insight 2019-22|All|||||| |Honda|Inspire 2018|All|||||| -|Honda|Odyssey 2018-20|Honda Sensing|||||| +|Honda|Odyssey 2018-22|Honda Sensing|||||| |Honda|Passport 2019-21|All|||||| -|Honda|Pilot 2016-21|Honda Sensing|||||| +|Honda|Pilot 2016-22|Honda Sensing|||||| |Honda|Ridgeline 2017-22|Honda Sensing|||||| |Hyundai|Elantra 2017-19|SCC + LKAS|||||| |Hyundai|Genesis 2015-16|SCC + LKAS|||||| @@ -190,16 +190,16 @@ How We Rate The Cars |Hyundai|Tucson 2021|SCC + LKAS|||||| |Hyundai|Veloster 2019-20|SCC + LKAS|||||| |Jeep|Grand Cherokee 2016-18|Adaptive Cruise|||||| -|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|||||| +|Jeep|Grand Cherokee 2019-21|Adaptive Cruise|||||| |Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|||||| |Kia|Optima 2017|SCC + LKAS|||||| |Lexus|IS 2017-19|All|||||| -|Lexus|RC 2020|All|||||| +|Lexus|RC 2017-2020|All|||||| |Lexus|RX 2016-18|All|[3](#footnotes)||||| |Lexus|RX Hybrid 2016-19|All|[3](#footnotes)||||| |Mazda|CX-5 2022|All|||||| |Mazda|CX-9 2021|All|||||| -|Ram|1500 2019-21|Adaptive Cruise|||||| +|Ram|1500 2019-22|Adaptive Cruise|||||| |Subaru|Crosstrek 2018-19|EyeSight|||||| |Subaru|Impreza 2017-19|EyeSight|||||| |Subaru|XV 2018-19|EyeSight|||||| diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 69dade4b64..80baba9bd6 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -53,8 +53,8 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"), CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2019-20"), CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), - CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-20", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), - CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-21"), + CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), + CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22"), } # Unique CAN messages: diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index c6e20f2d83..bfa42bd509 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -109,13 +109,13 @@ class HondaCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.ACCORD: [ - HondaCarInfo("Honda Accord 2018-21", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), + HondaCarInfo("Honda Accord 2016-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), ], - CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), + CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec), CAR.CIVIC_BOSCH: [ - HondaCarInfo("Honda Civic 2019-20", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a), + HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a), HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a), ], CAR.CIVIC_BOSCH_DIESEL: None, # same platform @@ -125,20 +125,20 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { ], CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec), CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring", harness=Harness.nidec), - CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-21", harness=Harness.bosch_a), + CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", harness=Harness.bosch_a), CAR.CRV_EU: None, # HondaCarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch_a), - CAR.FIT: HondaCarInfo("Honda Fit 2018-19", harness=Harness.nidec), + CAR.FIT: HondaCarInfo("Honda Fit 2018-20", harness=Harness.nidec), CAR.FREED: HondaCarInfo("Honda Freed 2020", harness=Harness.nidec), - CAR.HRV: HondaCarInfo("Honda HR-V 2019-20", harness=Harness.nidec), - CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0., harness=Harness.nidec), + CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", harness=Harness.nidec), + CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-22", min_steer_speed=0., harness=Harness.nidec), CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", harness=Harness.nidec), - CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), - CAR.PILOT: HondaCarInfo("Honda Pilot 2016-21", harness=Harness.nidec), + CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), + CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", harness=Harness.nidec), CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", harness=Harness.nidec), CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", harness=Harness.nidec), - CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), + CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), } diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 2e6a2017ea..6e184ce9ef 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -156,10 +156,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.hyundai_p), # Genesis - CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018", "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_G80: HyundaiCarInfo("Genesis G80 2018", "All", harness=Harness.hyundai_h), - CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2018", "All", harness=Harness.hyundai_c), + CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2017-19", "All", harness=Harness.hyundai_h), + CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness=Harness.hyundai_c), } class Buttons: diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index ea923b1b50..8fac934285 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -41,18 +41,18 @@ class SubaruCarInfo(CarInfo): CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { - CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20", "All"), + CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"), CAR.IMPREZA: [ SubaruCarInfo("Subaru Impreza 2017-19"), SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), ], CAR.IMPREZA_2020: [ - SubaruCarInfo("Subaru Impreza 2020-21"), + SubaruCarInfo("Subaru Impreza 2020-22"), SubaruCarInfo("Subaru Crosstrek 2020-21"), SubaruCarInfo("Subaru XV 2020-21"), ], - CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"), + CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-22", "All"), CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"), CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"), CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"), diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 723fa85820..f47ab87040 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -124,7 +124,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ], CAR.COROLLAH_TSS2: [ ToyotaCarInfo("Toyota Corolla Hybrid 2020-22"), - ToyotaCarInfo("Lexus UX Hybrid 2019-21"), + ToyotaCarInfo("Lexus UX Hybrid 2019-22"), ], CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo", footnotes=[Footnote.DSU]), CAR.HIGHLANDER_TSS2: ToyotaCarInfo("Toyota Highlander 2020-22"), @@ -151,14 +151,14 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { # Lexus CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]), CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]), - CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-21"), + CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"), CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-22", video_link="https://youtu.be/BZ29osRVJeg?t=12"), CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"), CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19", footnotes=[Footnote.DSU]), CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19", footnotes=[Footnote.DSU]), - CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020"), - CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020"), - CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2020"), + CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"), + CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"), + CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-2020"), CAR.LEXUS_RX: ToyotaCarInfo("Lexus RX 2016-18", footnotes=[Footnote.DSU]), CAR.LEXUS_RXH: ToyotaCarInfo("Lexus RX Hybrid 2016-19", footnotes=[Footnote.DSU]), CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"), From ea449f1fe0bbff0eff5b12d64f0b5e75b7983998 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 12 Jul 2022 14:08:17 -0700 Subject: [PATCH 148/306] Use upstream wait-on-check-action action (#25126) Use upstream lewagon action --- .github/workflows/prebuilt.yaml | 2 +- .github/workflows/release.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml index 7acc8a2254..99d9694f24 100644 --- a/.github/workflows/prebuilt.yaml +++ b/.github/workflows/prebuilt.yaml @@ -25,7 +25,7 @@ jobs: IMAGE_NAME: openpilot-prebuilt steps: - name: Wait for green check mark - uses: commaai/wait-on-check-action@f16fc3bb6cd4886520b4e9328db1d42104d5cadc + uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd with: ref: master wait-interval: 30 diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml index fb5a37eeef..8df89dcc38 100644 --- a/.github/workflows/release.yaml +++ b/.github/workflows/release.yaml @@ -12,7 +12,7 @@ jobs: if: github.repository == 'commaai/openpilot' steps: - name: Wait for green check mark - uses: commaai/wait-on-check-action@f16fc3bb6cd4886520b4e9328db1d42104d5cadc + uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd with: ref: master wait-interval: 30 From b632d56244c5fd6821477a642d6f151ea4b13b20 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Tue, 12 Jul 2022 16:39:13 -0700 Subject: [PATCH 149/306] UI: change wording for dcam preview description (#25142) --- selfdrive/ui/qt/offroad/settings.cc | 2 +- selfdrive/ui/translations/main_ja.ts | 4 ++-- selfdrive/ui/translations/main_ko.qm | Bin 20040 -> 19981 bytes selfdrive/ui/translations/main_ko.ts | 4 ++-- selfdrive/ui/translations/main_zh-CHS.qm | Bin 18508 -> 18469 bytes selfdrive/ui/translations/main_zh-CHS.ts | 4 ++-- selfdrive/ui/translations/main_zh-CHT.qm | Bin 18568 -> 18509 bytes selfdrive/ui/translations/main_zh-CHT.ts | 6 +++--- 8 files changed, 10 insertions(+), 10 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index d5b8d4bbd1..9aeb966ccf 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -102,7 +102,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { // offroad-only buttons auto dcamBtn = new ButtonControl(tr("Driver Camera"), tr("PREVIEW"), - tr("Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)")); + tr("Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)")); connect(dcamBtn, &ButtonControl::clicked, [=]() { emit showDriverView(); }); addItem(dcamBtn); diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 5c0f54a314..f3b8733128 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -134,8 +134,8 @@ - Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off) - ドライバーカメラのプレビューにより、デバイスの取り付け位置を最適化し、最高のドライバーモニタリング体験を提供します。(車両の電源を切る必要があります) + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) + ドライバー向けカメラをプレビューする、ドライバーモニタリングの視認性を確保します。(車両の電源を切る必要があります) diff --git a/selfdrive/ui/translations/main_ko.qm b/selfdrive/ui/translations/main_ko.qm index c5c66d1e73491c2ff09d91b6fdd5200002b2a6da..40b0bb65a38d65ee901ac7a85257e88868b4513c 100644 GIT binary patch delta 1903 zcmX9;Yfx2H7+v?=bMEupb1%xnv5>m`N23+hBMX66Gk z3REhz6o^d786aOtzL1B83 z7}gP&0zTV_{I|2PWxJT56j%%-hyzN)w4{`mcz^qb;mDd1`3bBpIE`T7QFmrF$=$mg~vO&eh5!!L78*TA!^bT;N{|&LK<{_){5O-h8BF+`-f7nVpYQ*N(Yk&kr zJS0;W<(_!v*Iv$Ni)U`#p^!uM;??QRw4YTnO(5ZMsgk8MpZsa1I3<_@*`@i5DafQ~ z$zl4APU(|!f@;ZAg_QHeQKmTJKivPdwEDGGj9(+Y8KtlX;-u1TEX0)WM)kfM10viQ zA1hUb)=)_ARH^C%IzkSYYTjE%CMu+T?S15Dnsj0?h|Sv|o%BCP0rXPuB^DICUFu)k zNud+nIBTEuXpjYtgHG^IqjPd}%3V7dd`UOuW&#<^)y-~f0j53BWoXFz$Thm^hmV24 zak@vzJtef*Q~H1qQWYxbYlpAp%?9=Ra{HOMKz}!NH>sPb|K}DN(caPjJNY^=qSFu; z(#n_Ph#^VKLTwif*|-0t}eJv?V*kH_9K#E8GXv}Jh1x9xpw}8$D>mE(1$ipLak)DlzWk!t$UVXC_DA_eI(?d+nk;&@ZTh6?gi zZ8{t-u~X-iza{yUY&P9^)kQX7*6e?qt2T4su~W>YF(+K!2n>xgFTBb=5B}bqe_kX> zbIfasJV}nl-1a+JAN`cM<2jPy{f_K;jM>7^$^MO;A5|%bOc8_PRRkCM~3^1KrNdGhjkEMMx9w?BG`2kep?KVex&5b#&hFs zW#gyp-_QYN$MqSMJx}?nhKZv8R$3lV?h$3m*%?35zbCAQKlt()lB}LH*|9PGR_|XQ z0}}-6oNGKUs>Pb@qJNDxYp!D;f`T{_~&j z{9m2@f7hRVh_i~*uYh>1WEv2%~R&*08W0Nkh}Y*$*w{O+dc-;TOjNo z1XK!y=6EKpfYA9j;zsN;4^VTD54}v6}kL z71PY&q-_%mma!po)`%t2MZok2@r|%r>U3Rv!|Nz%Gx0I=zY;gTzJc+L;+yei-hs{H zjt@yhsvE=L*f9)QHHP!w65UZXY-B*S=zgD$kXMQ|?{1|M*Tt_}Z&RO*V$*0CFK@kg zC75@@Cspk0C!z3vigzm7+2}1}nEpT<870Bz61D2!JUXjZYkm|>1wYUx-Or$cc5SBT z0x&O5yF^9Zr#5Pj4L=1!OSO&B2V8)`M>~?+L#yTMLLwKph>aHXX_3vGAdmIg8WQ&P*IR#jLWytatJfX`g0|~FIl(&q zKKe6vL;0R#(3$>32fbzpb?bRmA`B_NxJr03mEo0~K{9PJE3cDrAsub&TeLWjxqGoRT4@vX56ael-O)sI>4bYMQ2=nLm=@A<2&p8 zsG!N%@*`U`E#KJoA{7g`Ap2b+fjC)q1$+1*;)eWe@ zl}gMjlk@knU~r{e`jVGer~J{#A9;d*%bwl5Ys!am`w=QPxQ5R?ZQZfw zFGH!j(9_$R4y9G-aq@p{SAjRKwf0)1cde_yTg#jMue_dRO%u4bz3Ggn%`=E-D2TWg zajyO9&wJ{9rs}sXbXeEftn2rb&Yzg;EK^okSCuPeG4b? - Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off) - 운전자 카메라를 미리 보면서 최적의 운전자 모니터링 경험을 위해 장치의 장착 위치를 최적화할수 있습니다. (차량연결은 해제되어있어야 합니다) + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) + 운전자 모니터링이 좋은 가시성을 갖도록 운전자를 향한 카메라를 미리 봅니다. (차량연결은 해제되어있어야 합니다) diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm index 45fae52b4286bb3e57938bf6c7c4ad53d3bd3ba1..2c7963cf17a496e356fb5b0372b565ac82514661 100644 GIT binary patch delta 1858 zcmX9;c~n$o9KAF1-Yjos-a{S41!UL+6j=%v1Q9VYutb!QLNf^(#t;$)lw8Qv6e+{N zB*hgF%gl4ousB+pNTOkJva&doq6lb2+bI&ku7~;O&ij_%cfWh@@B6AmRb8SgaV>lb zP!9kT0s)PUxPZ8tm_yu6ECU42%LYIU0w#V*3-2adpVN7n%}{jv0X6XzdbWtu1VzlAje+;5J+q03i+C=+TO&jbEZXc!UC zi=0Bo_B_rPt44+epb*~6RipNMQ|lj9lXuY1kWs3HMt{IZquTQw$EOXbt|kgBoUFR8 zt_0kys_w@(17rSDOSX%EUxnJIqn-P%t79YwiS1M`apH}GFRJ%lV;0;p)u-PivBx6S zpT*K^WvTkx1lAoVs@s}Uo&W-Ot8W~12F509gg_U-5}oy9Y>C6; zg0=VKzbj=T|$hyUYlXSfc4^z5y-M@FKh^AiGAKnSL-qX+a zZ{W*Or;pQ+s8Xg+@98JOB>h`?dpK{?A2`N3BUb4@?(pJwfI(+o#^lU0cva}xB0h#$ zf7-bI4Z}0@Cf%m=0fwYalq~9~A!P|A9`9;MYm6o#7gL1Z9!{LWz`rULcPjioAe9Z$NT1VE`I$-{-y>CAe};y%Nc)>xtf0%3!u zdC|P%^m0?uF4ik_&oHf=Px|6w)9(9=S)j&LyOZrRuE5lEkfH=nFn!fZ4E)~I+DL-J z4zsq}n|QNz z|N8wX@9T`B?LP7cRXk|&X!-0vwA=NRd^L)1w2MX2|IU|B*Qi)#v12E9D32lK0cP06x#gixxvO3C#tv^hh0FFlKrJybq_4W6w{|v98R{vOBVK>{&Kz#`0XNEjv5Sns3jwr`j{^ Mj)Id#P8X*B4>phSf&c&j delta 1954 zcmX9;4Nz3)6+Qd*z5RK+`yS{@tWjAPP!PnWK@>$nXdt2m5kw|v%m6RzCbA$dAWd{* z#3+#>4jPr9!3Z&_wV6Sqi7{#vu^2&R#e*;unC(?}`hMrUQ}xCe8t(W)SnaM;k#W z_ZuDp0XqTX1mdT}c;Y{ZX8~I+V7&;090n#|0|I{sOyRyIfvJ4p#=w2R^VNW>14!S> zLNkFy*~B-2tQaQwjkpR33M6jkdMB{@01K1>Yo8K-1$@KbckK8%*#9lWE$;#I9zxvH z2k2yo?Xe764zcSqVk^WeA`m%g>wNW04pV>jRha{F^RgYjtC%Zs;==m z*W*KV-8mu?`*k;jgTRC|-M#0kfoI1FvikxMeqIRczspN=*zR1c;<`x!wQ*4Df+hKisBS>4Sao|I z;J7QkQ9wF|DshYWUm)(HxM#sB+A($nRp$uW&y1iWL~LpqB&&Ji2Yp4v4dP#~>;jzU z#AC0uP*1n`xs`LV^@?Br*h8B-#IJv%)%}4F#M_C-Xg|Ls$5HUP|B-Cl)&R4*r4%KM zw3kVFFLNMqDB((kB;hQJ-Mx+)yYF?{?|@q;Ke` z`%+IY358@xKWyp*LNAYCVvzKBhykSF_c=incGNiSA3C!MT z$k$Q#Fwt;u@F_59nc-CQUO$)eqqvnenO(_O@A(L1jg5y-apJdqxYCT z?GNF5w%KS~Ne8VmhcuaZR2G@%KlHm9aKyZHVIM~jWzOA1>5{IP^OsZV$tmWdj${&= zVy*)nhWE|adNSy!1Loeq5?)J(<@u4**`XpAUF~AWX>!dyUOB-9#JTMBfV}OF%J&X= z=TnY2?54cu)ImDcE;rp+%25r<`~6*qL}sn>IX43(QErzf@^<-3 zZVyTzq3iP9LLa3Iv*?a*pwyL?kh2#^D9Dm}vj!M7)w1F?FNKixmNnmrBwl0LSYc=U z6HCW^j%Z4r_Om1qEn5AP+W29zYMnN>ie`CaO-_H>Y-SZ6b| zhO%I~ZTf_Nl1RKQeuzY$J#9O}s|`-O-*%#s5AjvDcISumLbk0vnK&iJb}4~gkPB_s z@_0P$Z!2RyZsq!*GHweM80}D;gDJoagEH$@6wUWQSy)R2N9QYRlAouUqm-KWc-SML z?7NdhZ!A*&(!x43l9Vrhp(n=oDBVd{Y4+SXs_6mmNn?j|X9m-<2< z6UMx&dfok;omZ{Dv6&uNrS8?dBsN(+Q~Ez3;e^_IcRxEBP;aIFjqgqmFn`q1*~V&< zZgImIb!>8Zct%~VUi0PGY`swP?MokK^lv(`aa6w=~!SLKm&lR+lvoiu wto8UjC0@rXC1s8RZLQByROYGB%DBVp@s*Sf@6pzkYGoeHTc{l^2sl6U|7&9g_5c6? diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 04bd2415f0..d9377054a5 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -134,8 +134,8 @@ - Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off) - 打开并预览驾驶员摄像头，用于调整安装角度以获得最优驾驶员监控体验。仅熄火时可用。 + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) + 打开并预览驾驶员摄像头，以确保驾驶员监控具有良好视野。仅熄火时可用。 diff --git a/selfdrive/ui/translations/main_zh-CHT.qm b/selfdrive/ui/translations/main_zh-CHT.qm index 130bcfc92670cff84c6c6fcf359be599e4941e3e..0d448f2080322661cb712bd3c06b4049fabbf935 100644 GIT binary patch delta 1928 zcmX9;3s93+8a+w=KhHmZP=oDKfd~N+1cJo}2!c?s;I4q6wMF}&U`Ry}2%v+STA!3^ zrT73vtqQd-*BP|fwZ(NSVxbMTQ*7;I=_-n-W0$SnSzKN0o=!58Imx}>{l0V0cfPy5 zLE+w|*fq&z1(ajJ)cb(S4uqSDHN@$}eZ*`);J$GL5Tk(z2XPLugP6~lm%JDh1gM$A zCk@c}6IT%9h}($gc|Hq}E&;)@KxjYLdx0s8TjVp!9}FC~5J=k$*n)w~?JRr__+u^$ zDS(_9CLw{GV!-zc;ufxF0wqV7i1C$=iSGkW?oXWE@N=LmAHuc+z}z7SO*a9B455pa z!v`R^Kjq<22$uyQ;26X=Ex@!~h$oH%h9yvU{6yRUjb$m5$ z@(MPxFtFr!E1*lj(v01V8^#OouLF|Ou>5a5+&_v{g_PE}9BamS-WY}>y?sD(7}}jL zvTZ=u1WFrFf}uC7xL>K57&i?rSbY^w9AvF5)0+W5k5X^H2!s_VLxu){m;z{~qN)PyRDNRG{+OyS~6v&!~i`Cjj$!mH$1F0b5l;^+~+h z1yxlJ6VDt~eI%24#12(^2hC$?c~SOw(Y(%!f$c&|>jO6Kq;T|RA#qsv`0^egXn}Bg zWh?buCj3QWUyO%@uWos`{(F=@nnIwo#`(@wML_r7I%R;#xm(?TR(L_EfPpR^}YI#QMD?qI=tm z0hhcO_{fV%`^A=sRyNZ7vDor99buRzwr<@*B|a5TUb;qoUKhU@vvPRr#S4?arK8$J z&j1Mp{UF}h)Wb$U@5Lm8_;8E_qux;~C+E>wU21tGiV6m+6Yiu_!CUJ2?VUh;iaK9G z-K`DkV-Fs4e^C7}>xzp`aBG65QmQHUG;MyH*zsu1$9VS-QiOc@Cz}K=i~MD!zQjT*6)7I)`k@6n?65A zLT-J_)x~U4jsB3EtyVqKpOCljreve~vo?{#8{W8He8RO_fBRJ@1v+g|bZp>mi6Qv> zMOyHbA^oR1z6Bn`@&M>e1raL=)T8BgpL@#{1f#t|6MYlXSv8K zX>vQ)L-tCMiEHVIPANT=4Ndq_%ACC%i0hXYr10ADuS-kzFrOjUr|5R+YY#E%Mak1mg2FpSb(@u=t}#aY|3D&%#<(#OeX7oQB9{A; z4;s(Z5aU9PT|w{Bs%gfq6k_O?#@+-rULS7kU&z`w9%4N8f3q1RABtKa?pcR z>e49BzQ&gEn6)IJnLsWhftSGTb9 z#ir(>QcCuV>94E*N69vr25ukX46HF-OaC)4=Y|8AH{n#g=B&mjHD77=-kyR`A75pYG99nZWYapjOr^c>(qwM+hb$c87Y|8A5 z&xMt5UcGWfO72Kim`zEq(q#OWH2%TI8dFqSSyfSFaTdSgv=ml2s*5TttIA3p&aw(e fsohfiN~OhKR#s@Kc2qhF93>9t+EaBtzs>qT^2rE( delta 2026 zcmX|B3sjV48h+-V|DVf0|I80^v10?s1I0^;v8|aMEKJ0_gd`?rCv4qiaY@13X6{;NBVBMG4!b+&%z0+M?|a|x`JVTA z-}cR#jaxLEM|xfcgnnRb6rjx|+K45@JmOAbB_ML&G8T}=1LNw5Q;Gj1X7LQ;2Qg$3 zpnCv#tp)S}#CM4C#IwZHfVl!tz5qh=fl(cRw*-vlxw+o4{K13X<-jv#K+H=(+D2ad z3-IgT@S!CM>3h~xz6tjUgE{`s|JWS05|vjS8cf$ppcEGk`D`gXq@f`{HeT%uT{ltJO z%o9H6x()NP-{8elv7o*VFqU9p>NZ{&f*1bqDv7VfqBCvW??PTq2;)CMX+Pu5cD!@p z5|C&|gPSiOGZig9ELmVZdMk>!|Dnb|J`x^;WoVw*8%C|a)l8~lJ!85wnXO}hum_r5 zSGXQ;&|I1)GI5FKs&D`Zh|=77stkD2UyyUp0TFwI@ZRgdggruv>?W~Y!i!#faZH)8 zr^CqedBU+xBo-?PpQTm-YN_x|Ci4c0LRVYXuYl+mgzo)*Oz6>y(Zd1XIog2lS@eK2 z+K|cwzHC5Sl*z zSKDdZH^q;a*HO=%;&Fv_G5=Zo@@6O3d&DpA{=hDR3cjS9b|-}j-qg)% zI0;O7O_!yi?qL^o2l@tp-~e57bd871UAl+1E3}$HA2NoLMU2)T9I=isT&6$bx5!@fhz z<5Ok$q&JlRXBqWoPLseyV`!~`ts)we9(ZyYaKJc!b`MJsV_dL~(k1DQSuaxRQ5s`T zYci+DBV!flFzhpSbf(i$Ym8mq95d1hIcXe6mTrWcbGe-__Lj@H< z(;LOUjQ_>d`aMfDdaUXE94h8FT=6|k0#P3+p5O*O6!{?Y_t+s~+>Q68?x^Y;Fm8k6uVJwHE6H@BM>Zzi1h;feQF2mXN-gRO*sta(5&z-ej4*i3B+)AW35-oqM<2{oMmXrUYCq|yJTuQtQ3||nS8vemKsc%$$li1&r{-XNd z9N^d~QlIT%!U?geE4P;lC99jSuBQix$~_{9V-f~`2}ugp7Xcd<1xF# znwMYXaywnQ)`I+1PPa4PWnGeAXw7!4a{o7)CtOZ9zXpb D32iIQ diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 806dd54ad3..efd893ec4c 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -125,7 +125,7 @@ Driver Camera - 駕駛監控 + 駕駛員攝像頭 @@ -134,8 +134,8 @@ - Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off) - 預覽駕駛監控鏡頭畫面，方便調整設備安裝的位置，以提供更準確的駕駛監控。(車子必須保持在熄火的狀態) + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) + 預覽駕駛員監控鏡頭畫面，以確保其具有良好視野。僅在熄火時可用。 From ee6dc0311818fd97cb78c58fb9a47267385312a0 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 12 Jul 2022 17:25:54 -0700 Subject: [PATCH 150/306] fix accord years --- docs/CARS.md | 2 +- selfdrive/car/honda/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index c3efe87515..ec7da7a845 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -161,7 +161,7 @@ How We Rate The Cars |Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|||||| |Genesis|G90 2017-18|All|||||| |GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise|||||| -|Honda|Accord 2016-22|All|||||| +|Honda|Accord 2018-22|All|||||| |Honda|Accord Hybrid 2018-22|All|||||| |Honda|Civic 2016-18|Honda Sensing|||||| |Honda|Civic 2019-21|All|||[2](#footnotes)||| diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index bfa42bd509..b8417ee19b 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -109,7 +109,7 @@ class HondaCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.ACCORD: [ - HondaCarInfo("Honda Accord 2016-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), + HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), ], CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), From 00bb07f6248010afb197854257c2958433159990 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 12 Jul 2022 17:45:00 -0700 Subject: [PATCH 151/306] fw_versions.py: fix debug scanning (#25144) * Fix scanning all requests * fix replace --- selfdrive/car/fw_versions.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index c4b158aebb..a8f5357f0e 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -394,7 +394,7 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa brand_matches = get_brand_ecu_matches(ecu_rx_addrs) for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True): - car_fw = get_fw_versions(logcan, sendcan, brand=brand, timeout=timeout, debug=debug, progress=progress) + car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, debug=debug, progress=progress) all_car_fw.extend(car_fw) matches = match_fw_to_car_exact(build_fw_dict(car_fw)) if len(matches) == 1: @@ -403,10 +403,10 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa return all_car_fw -def get_fw_versions(logcan, sendcan, brand=None, extra=None, timeout=0.1, debug=False, progress=False): +def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, debug=False, progress=False): versions = get_interface_attr('FW_VERSIONS', ignore_none=True) - if brand is not None: - versions = {brand: versions[brand]} + if query_brand is not None: + versions = {query_brand: versions[query_brand]} if extra is not None: versions.update(extra) @@ -434,7 +434,7 @@ def get_fw_versions(logcan, sendcan, brand=None, extra=None, timeout=0.1, debug= addrs.insert(0, parallel_addrs) fw_versions = {} - requests = [r for r in REQUESTS if brand is None or r.brand == brand] + requests = [r for r in REQUESTS if query_brand is None or r.brand == query_brand] for addr in tqdm(addrs, disable=not progress): for addr_chunk in chunks(addr): for r in requests: @@ -503,7 +503,7 @@ if __name__ == "__main__": print() t = time.time() - fw_vers = get_fw_versions(logcan, sendcan, brand=args.brand, extra=extra, debug=args.debug, progress=True) + fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, debug=args.debug, progress=True) _, candidates = match_fw_to_car(fw_vers) print() From 44c6ca7eb4c9ea83aca18d4f648764cabdad8861 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 12 Jul 2022 18:23:48 -0700 Subject: [PATCH 152/306] EV6: reject fake cruise engagements (#25143) * EV6: reject fake cruise engagements * bump panda * raise to 8 * update refs * bump panda Co-authored-by: Comma Device --- opendbc | 2 +- panda | 2 +- selfdrive/car/hyundai/carcontroller.py | 4 ++-- selfdrive/car/hyundai/carstate.py | 11 ++++++++--- selfdrive/car/hyundai/hda2can.py | 8 +++----- selfdrive/car/hyundai/interface.py | 5 ++--- selfdrive/car/hyundai/values.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 8 files changed, 19 insertions(+), 17 deletions(-) diff --git a/opendbc b/opendbc index 81148db67f..3fb3f5e821 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 81148db67fd00d4e2a107b5b8269c532436edf2b +Subproject commit 3fb3f5e82129ad76232bcdca10632ed0566b20f8 diff --git a/panda b/panda index baecd2ecc6..2abeab913f 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit baecd2ecc6a2a608e1305601f6f697feca69fe88 +Subproject commit 2abeab913f6432e4327b07e247b8a46994ac77a1 diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index a878ad3274..d0d9c40839 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -82,12 +82,12 @@ class CarController: if (self.frame - self.last_button_frame) * DT_CTRL > 0.25: if CC.cruiseControl.cancel: for _ in range(20): - can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, True, False)) + can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL)) self.last_button_frame = self.frame # cruise standstill resume elif CC.cruiseControl.resume: - can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, False, True)) + can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL)) self.last_button_frame = self.frame else: diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index a10cdadbca..8afd851f00 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -8,7 +8,7 @@ from opendbc.can.can_define import CANDefine from selfdrive.car.hyundai.values import DBC, FEATURES, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams from selfdrive.car.interfaces import CarStateBase -PREV_BUTTON_SAMPLES = 4 +PREV_BUTTON_SAMPLES = 8 class CarState(CarStateBase): @@ -171,7 +171,10 @@ class CarState(CarStateBase): speed_factor = CV.MPH_TO_MS if cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] == 1 else CV.KPH_TO_MS ret.cruiseState.speed = cp.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor - self.buttons_counter = cp.vl["CRUISE_BUTTONS"]["_COUNTER"] + self.cruise_buttons.extend(cp.vl_all["CRUISE_BUTTONS"]["CRUISE_BUTTONS"]) + self.main_buttons.extend(cp.vl_all["CRUISE_BUTTONS"]["ADAPTIVE_CRUISE_MAIN_BTN"]) + self.buttons_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"] + self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"]) return ret @@ -362,7 +365,9 @@ class CarState(CarStateBase): ("CRUISE_ACTIVE", "SCC1"), ("SET_SPEED", "CRUISE_INFO"), ("CRUISE_STANDSTILL", "CRUISE_INFO"), - ("_COUNTER", "CRUISE_BUTTONS"), + ("COUNTER", "CRUISE_BUTTONS"), + ("CRUISE_BUTTONS", "CRUISE_BUTTONS"), + ("ADAPTIVE_CRUISE_MAIN_BTN", "CRUISE_BUTTONS"), ("DISTANCE_UNIT", "CLUSTER_INFO"), diff --git a/selfdrive/car/hyundai/hda2can.py b/selfdrive/car/hyundai/hda2can.py index 437f5cf538..9a9e477cf5 100644 --- a/selfdrive/car/hyundai/hda2can.py +++ b/selfdrive/car/hyundai/hda2can.py @@ -18,11 +18,9 @@ def create_cam_0x2a4(packer, frame, camera_values): }) return packer.make_can_msg("CAM_0x2a4", 4, camera_values, frame % 255) -def create_buttons(packer, cnt, cancel, resume): +def create_buttons(packer, cnt, btn): values = { - "_COUNTER": cnt % 0xf, "SET_ME_1": 1, - "DISTANCE_BTN": 1 if resume else 0, - "PAUSE_RESUME_BTN": 1 if cancel else 0, + "CRUISE_BUTTONS": btn, } - return packer.make_can_msg("CRUISE_BUTTONS", 5, values) + return packer.make_can_msg("CRUISE_BUTTONS", 5, values, cnt % 0xf) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 069b0e74e5..a32ee2c0ab 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -2,7 +2,7 @@ from cereal import car from panda import Panda from common.conversions import Conversions as CV -from selfdrive.car.hyundai.values import CAR, DBC, HDA2_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams +from selfdrive.car.hyundai.values import CAR, DBC, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase @@ -321,8 +321,7 @@ class CarInterface(CarInterfaceBase): # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons # Main button also can trigger an engagement on these cars allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons) - allow_enable = allow_enable or self.CP.carFingerprint in HDA2_CAR - events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable or True) + events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable) if self.CS.brake_error: events.add(EventName.brakeUnavailable) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 6e184ce9ef..ffa29c60d4 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -167,7 +167,7 @@ class Buttons: RES_ACCEL = 1 SET_DECEL = 2 GAP_DIST = 3 - CANCEL = 4 + CANCEL = 4 # on newer models, this is a pause/resume button FINGERPRINTS = { CAR.ELANTRA: [{ diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index b165b163ba..e77a38de5f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -11e721366f1c177a84e6cb8b48171113ac3b54f9 \ No newline at end of file +5efbbdf69e16db3d989bfaf62d10e958e80b9ca2 \ No newline at end of file From aadaaabd54988a286704ef2bea0bacf4bd62fa8b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 12 Jul 2022 18:58:46 -0700 Subject: [PATCH 153/306] compatibility docs: print diff from PR (#24941) * print docs diff * revert car changes * cause a diff * temp so it works * text diff * tier inline is a bit too much * comments * fix * use paths * fix * temp * temp * diff * fix * remove something * more text diff * Delete comment if outdated * Smaller diff * remove * no diff * Don't try to run on fork PRs * cause some errors * Fix * Fix * Doesn't support env in job if, only step if * in case file was moved, don't throw error * See if this does what I think it does * See if this does what I think it does * should work * change something * revert * uncomment * no comment * this shouldn't fail * rename to base * Remove true * Remove other true --- .github/workflows/selfdrive_tests.yaml | 71 +++++++++++++++++++- selfdrive/debug/dump_car_info.py | 18 ++++++ selfdrive/debug/print_docs_diff.py | 90 ++++++++++++++++++++++++++ 3 files changed, 176 insertions(+), 3 deletions(-) create mode 100755 selfdrive/debug/dump_car_info.py create mode 100755 selfdrive/debug/print_docs_diff.py diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 99a21b58f3..298ea5fb49 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -10,6 +10,7 @@ env: CL_BASE_IMAGE: openpilot-base-cl DOCKER_REGISTRY: ghcr.io/commaai AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }} + HAS_AZURE_TOKEN: $AZURE_TOKEN != '' DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }} BUILD: | @@ -17,12 +18,12 @@ env: docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . - RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c + RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c BUILD_CL: | docker pull $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest || true docker build --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl . - RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $CL_BASE_IMAGE /bin/sh -c + RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c UNIT_TEST: coverage run --append -m unittest discover @@ -365,7 +366,7 @@ jobs: name: process_replay_diff.txt path: selfdrive/test/process_replay/diff.txt - name: Upload reference logs - if: ${{ failure() && github.event_name == 'pull_request' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }} + if: ${{ failure() && github.event_name == 'pull_request' && github.repository == 'commaai/openpilot' && env.HAS_AZURE_TOKEN }} run: | ${{ env.RUN }} "scons -j$(nproc) && \ CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" @@ -510,3 +511,67 @@ jobs: run: | $DOCKER_LOGIN docker push $DOCKER_REGISTRY/openpilot-docs:latest + + car_docs_diff: + name: comment on PR with car docs diff + runs-on: ubuntu-20.04 + timeout-minutes: 50 + if: github.event_name == 'pull_request' + steps: + - uses: actions/checkout@v3 + with: + submodules: true + ref: ${{ github.event.pull_request.base.ref }} + - name: Cache scons + id: scons-cache + # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged. + uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b + env: + CACHE_SKIP_SAVE: true + with: + path: /tmp/scons_cache + key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- + restore-keys: | + scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- + scons- + - name: Build Docker image + run: eval "$BUILD" + - name: Get base car info + run: | + ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info" + sudo chown -R $USER:$USER ${{ github.workspace }} + - uses: actions/checkout@v3 + with: + submodules: true + - name: Save car docs diff + id: save_diff + run: | + ${{ env.RUN }} "scons -j$(nproc)" + output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info") + output="${output//$'\n'/'%0A'}" + echo "::set-output name=diff::$output" + - name: Find comment + if: env.HAS_AZURE_TOKEN + uses: peter-evans/find-comment@v1 + id: fc + with: + issue-number: ${{ github.event.pull_request.number }} + body-includes: This PR makes changes to + - name: Update comment + if: steps.save_diff.outputs.diff != '' && env.HAS_AZURE_TOKEN + uses: peter-evans/create-or-update-comment@v1 + with: + comment-id: ${{ steps.fc.outputs.comment-id }} + issue-number: ${{ github.event.pull_request.number }} + body: "${{ steps.save_diff.outputs.diff }}" + edit-mode: replace + - name: Delete comment + if: steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.HAS_AZURE_TOKEN + uses: actions/github-script@v6 + with: + script: | + github.rest.issues.deleteComment({ + owner: context.repo.owner, + repo: context.repo.repo, + comment_id: ${{ steps.fc.outputs.comment-id }} + }) diff --git a/selfdrive/debug/dump_car_info.py b/selfdrive/debug/dump_car_info.py new file mode 100755 index 0000000000..c9a21c2848 --- /dev/null +++ b/selfdrive/debug/dump_car_info.py @@ -0,0 +1,18 @@ +#!/usr/bin/env python3 +import argparse +import pickle + +from selfdrive.car.docs import get_all_car_info + + +def dump_car_info(path): + with open(path, 'wb') as f: + pickle.dump(get_all_car_info(), f) + print(f'Dumping car info to {path}') + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument("--path", required=True) + args = parser.parse_args() + dump_car_info(args.path) diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py new file mode 100755 index 0000000000..5cf3867b2d --- /dev/null +++ b/selfdrive/debug/print_docs_diff.py @@ -0,0 +1,90 @@ +#!/usr/bin/env python3 +import argparse +import pickle + +from selfdrive.car.docs import get_all_car_info +from selfdrive.car.docs_definitions import Column + +STAR_ICON = '' +COLUMNS = "|" + "|".join([column.value for column in Column]) + "|" +COLUMN_HEADER = "|---|---|---|:---:|:---:|:---:|:---:|:---:|" +ARROW_SYMBOL = "➡️" + + +def load_base_car_info(path): + with open(path, "rb") as f: + return pickle.load(f) + + +def get_star_diff(base_car, new_car): + return [column for column, value in base_car.row.items() if value != new_car.row[column]] + + +def format_row(builder): + return "|" + "|".join(builder) + "|" + + +def print_car_info_diff(path): + base_car_info = {f"{i.make} {i.model}": i for i in load_base_car_info(path)} + new_car_info = {f"{i.make} {i.model}": i for i in get_all_car_info()} + + tier_changes = [] + star_changes = [] + removals = [] + additions = [] + + # Changes (tier + stars) + for base_car_model, base_car in base_car_info.items(): + if base_car_model not in new_car_info: + continue + + new_car = new_car_info[base_car_model] + + # Tier changes + if base_car.tier != new_car.tier: + tier_changes.append(f"- Tier for {base_car.make} {base_car.model} changed! ({base_car.tier.name.title()} {ARROW_SYMBOL} {new_car.tier.name.title()})") + + # Star changes + diff = get_star_diff(base_car, new_car) + if not len(diff): + continue + + row_builder = [] + for column in list(Column): + if column not in diff: + row_builder.append(new_car.get_column(column, STAR_ICON, "{}")) + else: + row_builder.append(base_car.get_column(column, STAR_ICON, "{}") + ARROW_SYMBOL + new_car.get_column(column, STAR_ICON, "{}")) + + star_changes.append(format_row(row_builder)) + + # Removals + for model in set(base_car_info) - set(new_car_info): + car_info = base_car_info[model] + removals.append(format_row([car_info.get_column(column, STAR_ICON, "{}") for column in Column])) + + # Additions + for model in set(new_car_info) - set(base_car_info): + car_info = new_car_info[model] + additions.append(format_row([car_info.get_column(column, STAR_ICON, "{}") for column in Column])) + + # Print diff + if len(star_changes) or len(tier_changes) or len(removals) or len(additions): + markdown_builder = ["### ⚠️ This PR makes changes to [CARS.md](../blob/master/docs/CARS.md) ⚠️"] + + for title, category in (("## 🏅 Tier Changes", tier_changes), ("## 🔀 Star Changes", star_changes), ("## ❌ Removed", removals), ("## ➕ Added", additions)): + if len(category): + markdown_builder.append(title) + if "Tier" not in title: + markdown_builder.append(COLUMNS) + markdown_builder.append(COLUMN_HEADER) + markdown_builder.extend(category) + + print("\n".join(markdown_builder)) + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument("--path", required=True) + args = parser.parse_args() + print_car_info_diff(args.path) From 01de46ad82358efa12797a50f501d902ca711547 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 12 Jul 2022 19:25:03 -0700 Subject: [PATCH 154/306] Corolla Cross: Update minimum enable speed (#25132) * Update min steer speed for intl. Corolla Cross 27 km/h, thanks to Ale Sato * update docs --- docs/CARS.md | 6 +++--- selfdrive/car/toyota/values.py | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index ec7da7a845..e24672e9bc 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -35,7 +35,7 @@ How We Rate The Cars **All supported cars can move between the tiers as support changes.** -# Gold - 31 cars +# Gold - 30 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| @@ -60,7 +60,6 @@ How We Rate The Cars |Toyota|Camry 2021-22|All||[4](#footnotes)|||| |Toyota|Camry Hybrid 2021-22|All|||||| |Toyota|Corolla 2020-22|All|||||| -|Toyota|Corolla Cross 2020-21 (Non-US only)|All|||||| |Toyota|Corolla Hatchback 2019-22|All|||||| |Toyota|Corolla Hybrid 2020-22|All|||||| |Toyota|Highlander 2020-22|All|||||| @@ -71,7 +70,7 @@ How We Rate The Cars |Toyota|RAV4 2019-21|All|||||| |Toyota|RAV4 Hybrid 2019-21|All|||||| -# Silver - 69 cars +# Silver - 70 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| @@ -126,6 +125,7 @@ How We Rate The Cars |Toyota|Alphard Hybrid 2021|All|||||| |Toyota|Camry 2018-20|All||[4](#footnotes)|||| |Toyota|Camry Hybrid 2018-20|All||[4](#footnotes)|||| +|Toyota|Corolla Cross 2020-21 (Non-US only)|All|||||| |Toyota|Highlander 2017-19|All|[3](#footnotes)||||| |Toyota|Highlander Hybrid 2017-19|All|[3](#footnotes)||||| |Toyota|Prius 2016-20|TSS-P|[3](#footnotes)||||| diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index f47ab87040..f40a58b5a7 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -119,7 +119,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19", footnotes=[Footnote.DSU]), CAR.COROLLA_TSS2: [ ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), - ToyotaCarInfo("Toyota Corolla Cross 2020-21 (Non-US only)"), + ToyotaCarInfo("Toyota Corolla Cross 2020-21 (Non-US only)", min_enable_speed=7.5), ToyotaCarInfo("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), ], CAR.COROLLAH_TSS2: [ From 906a8a912cbd39863f43582677f2435f11ecb904 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 13 Jul 2022 04:28:48 +0200 Subject: [PATCH 155/306] casync: only when run from updater (#25130) * casync: only when run from updater * also here --- system/hardware/tici/agnos.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py index 750aa630ae..ca2498a00c 100755 --- a/system/hardware/tici/agnos.py +++ b/system/hardware/tici/agnos.py @@ -222,7 +222,7 @@ def extract_casync_image(target_slot_number: int, partition: dict, cloudlog): raise Exception(f"Raw hash mismatch '{partition['hash_raw'].lower()}'") -def flash_partition(target_slot_number: int, partition: dict, cloudlog): +def flash_partition(target_slot_number: int, partition: dict, cloudlog, standalone=False): cloudlog.info(f"Downloading and writing {partition['name']}") if verify_partition(target_slot_number, partition): @@ -236,7 +236,7 @@ def flash_partition(target_slot_number: int, partition: dict, cloudlog): path = get_partition_path(target_slot_number, partition) - if 'casync_caibx' in partition: + if ('casync_caibx' in partition) and not standalone: extract_casync_image(target_slot_number, partition, cloudlog) else: extract_compressed_image(target_slot_number, partition, cloudlog) @@ -263,7 +263,7 @@ def swap(manifest_path: str, target_slot_number: int, cloudlog) -> None: cloudlog.error(f"Swap failed {out}") -def flash_agnos_update(manifest_path: str, target_slot_number: int, cloudlog) -> None: +def flash_agnos_update(manifest_path: str, target_slot_number: int, cloudlog, standalone=False) -> None: update = json.load(open(manifest_path)) cloudlog.info(f"Target slot {target_slot_number}") @@ -276,7 +276,7 @@ def flash_agnos_update(manifest_path: str, target_slot_number: int, cloudlog) -> for retries in range(10): try: - flash_partition(target_slot_number, partition, cloudlog) + flash_partition(target_slot_number, partition, cloudlog, standalone) success = True break @@ -320,9 +320,9 @@ if __name__ == "__main__": elif args.swap: while not verify_agnos_update(args.manifest, target_slot_number): logging.error("Verification failed. Flashing AGNOS") - flash_agnos_update(args.manifest, target_slot_number, logging) + flash_agnos_update(args.manifest, target_slot_number, logging, standalone=True) logging.warning(f"Verification succeeded. Swapping to slot {target_slot_number}") swap(args.manifest, target_slot_number, logging) else: - flash_agnos_update(args.manifest, target_slot_number, logging) + flash_agnos_update(args.manifest, target_slot_number, logging, standalone=True) From 0eab1ed817ece20b25de7438d32238c482613df3 Mon Sep 17 00:00:00 2001 From: Jafar Al-Gharaibeh Date: Tue, 12 Jul 2022 20:38:18 -0600 Subject: [PATCH 156/306] Mazda: CX-5 22 FW FP (#24778) Mazda CX-5 2022 FW FP dongle-id: 661621a8442f0688 Signed-off-by: Jafar Al-Gharaibeh --- selfdrive/car/mazda/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 09b9b7732b..12e9eafc4f 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -65,6 +65,7 @@ FW_VERSIONS = { ], (Ecu.engine, 0x7e0, None): [ b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ From 3b4e939b9f88b70727e687613a912aef36178755 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 12 Jul 2022 19:58:39 -0700 Subject: [PATCH 157/306] UI: translations cleanup (#25120) * Make this one translation * Remote html from translations * getBrand as argument * some stuff * Forget Wi-Fi network * Update translations * Remove obsolete * compilation fixes * remove * Fix missing translation --- selfdrive/ui/qt/offroad/networking.cc | 8 +-- selfdrive/ui/qt/offroad/settings.cc | 2 +- selfdrive/ui/qt/widgets/input.cc | 2 +- selfdrive/ui/qt/widgets/prime.cc | 13 ++-- selfdrive/ui/translations/main_ko.qm | Bin 19981 -> 19439 bytes selfdrive/ui/translations/main_ko.ts | 79 +++++++++++------------ selfdrive/ui/translations/main_zh-CHS.qm | Bin 18469 -> 17931 bytes selfdrive/ui/translations/main_zh-CHS.ts | 79 +++++++++++------------ selfdrive/ui/translations/main_zh-CHT.qm | Bin 18509 -> 17969 bytes selfdrive/ui/translations/main_zh-CHT.ts | 79 +++++++++++------------ selfdrive/ui/update_translations.py | 10 ++- 11 files changed, 129 insertions(+), 143 deletions(-) diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc index 536ca495ca..c7341d1987 100644 --- a/selfdrive/ui/qt/offroad/networking.cc +++ b/selfdrive/ui/qt/offroad/networking.cc @@ -84,7 +84,7 @@ void Networking::connectToNetwork(const Network &n) { } else if (n.security_type == SecurityType::OPEN) { wifi->connect(n); } else if (n.security_type == SecurityType::WPA) { - QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"") + n.ssid + "\"", true, 8); + QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"%1\"").arg(QString::fromUtf8(n.ssid)), true, 8); if (!pass.isEmpty()) { wifi->connect(n, pass); } @@ -94,7 +94,7 @@ void Networking::connectToNetwork(const Network &n) { void Networking::wrongPassword(const QString &ssid) { if (wifi->seenNetworks.contains(ssid)) { const Network &n = wifi->seenNetworks.value(ssid); - QString pass = InputDialog::getText(tr("Wrong password"), this, tr("for \"") + n.ssid +"\"", true, 8); + QString pass = InputDialog::getText(tr("Wrong password"), this, tr("for \"%1\"").arg(QString::fromUtf8(n.ssid)), true, 8); if (!pass.isEmpty()) { wifi->connect(n, pass); } @@ -174,7 +174,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid list->addItem(editApnButton); // Set initial config - wifi->updateGsmSettings(roamingEnabled, QString::fromStdString(params.get("GsmApn"))); + wifi->updateGsmSettings(roamingEnabled, QString::fromStdString(params.get("GsmApn"))); main_layout->addWidget(new ScrollView(list, this)); main_layout->addStretch(1); @@ -296,7 +296,7 @@ void WifiUI::refresh() { QPushButton *forgetBtn = new QPushButton(tr("FORGET")); forgetBtn->setObjectName("forgetBtn"); QObject::connect(forgetBtn, &QPushButton::clicked, [=]() { - if (ConfirmationDialog::confirm(tr("Forget Wi-Fi Network \"") + QString::fromUtf8(network.ssid) + "\"?", this)) { + if (ConfirmationDialog::confirm(tr("Forget Wi-Fi Network \"%1\"?").arg(QString::fromUtf8(network.ssid)), this)) { wifi->forgetConnection(network.ssid); } }); diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 9aeb966ccf..9a6e203966 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -249,7 +249,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { }); - auto uninstallBtn = new ButtonControl(tr("Uninstall ") + getBrand(), tr("UNINSTALL")); + auto uninstallBtn = new ButtonControl(tr("Uninstall %1").arg(getBrand()), tr("UNINSTALL")); connect(uninstallBtn, &ButtonControl::clicked, [&]() { if (ConfirmationDialog::confirm(tr("Are you sure you want to uninstall?"), this)) { params.putBool("DoUninstall", true); diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc index b0facfce83..dc54a3621c 100644 --- a/selfdrive/ui/qt/widgets/input.cc +++ b/selfdrive/ui/qt/widgets/input.cc @@ -165,7 +165,7 @@ void InputDialog::handleEnter() { done(QDialog::Accepted); emitText(line->text()); } else { - setMessage(tr("Need at least ") + QString::number(minLength) + tr(" characters!"), false); + setMessage(tr("Need at least %1 characters!").arg(minLength), false); } } diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc index d2529821f4..5419475262 100644 --- a/selfdrive/ui/qt/widgets/prime.cc +++ b/selfdrive/ui/qt/widgets/prime.cc @@ -88,13 +88,16 @@ PairingPopup::PairingPopup(QWidget *parent) : QDialogBase(parent) { title->setWordWrap(true); vlayout->addWidget(title); - QLabel *instructions = new QLabel(tr(R"( + QLabel *instructions = new QLabel(QString(R"(
    -
  1. Go to https://connect.comma.ai on your phone
    2. -
  2. Click "add new device" and scan the QR code on the right
    3. -
  3. Bookmark connect.comma.ai to your home screen to use it like an app
    4. +
  4. %1
    5. +
  5. %2
    6. +
  6. %3
- )"), this); + )").arg(tr("Go to https://connect.comma.ai on your phone")) + .arg(tr("Click \"add new device\" and scan the QR code on the right")) + .arg(tr("Bookmark connect.comma.ai to your home screen to use it like an app")), this); + instructions->setStyleSheet("font-size: 47px; font-weight: bold; color: black;"); instructions->setWordWrap(true); vlayout->addWidget(instructions); diff --git a/selfdrive/ui/translations/main_ko.qm b/selfdrive/ui/translations/main_ko.qm index 40b0bb65a38d65ee901ac7a85257e88868b4513c..d59698e07432f37ed105ada86a1c83bc815e0e0f 100644 GIT binary patch delta 2085 zcmYLJ3s98T89lrE|NHp&1qcfgS@r=c1%WkcK?M{P0~C=K4Mjyk2tp9$p~gJAlTkwq zYBdWLX;|7-Q0vsO$ zsjsu}HQ;BzV4uIE&S_uS7$S8GDtRSrT2dnz$;ODP=3(QME zmi(_=FF{uRtE^_ms*??X6oBlMTAph{&Z(CHXW}`mz1YJ8=kdY>0}b2o&ZR3r(kV1o z<#I}a=$Mj0+PN5gV=MQ2WTw~%Af!zea5RKM?v%~l&*{yMk!5y<0il~^Z}oG1fkSpB zO8`u_WH;rU#I!52dr$8o;X1ig^a&7_BM%)Nh7+?N$&;ljsu&?(<7GR2j|31?|PqbSYe 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zIO)MXrfoOIQyZnGU)3{F%r~ZE52y*>YSX##=PB}2X171_j-26^VfLKBxsJVVwto2- z7^^lO;+4 zX$SeOFQSkxHYV!~79Wq6>is0CV`6hnM^VG+hHluXKMIGh?E1C0&Glf!k6Z=b?!&ch zvrevu^24raN`C%)CC{PQ^Ya!ul*Xgp`?SO4j@*OcEkegEDDeBiR4gd1Q2bmLU(d!J zzPT!=dNCv#{Oy;3QrP+JKqbnMk3<9^g0F&w{cH9oYsJVz1qxAw5`@qr9|hcxqg@1| z>A4i~^h)}N=zVz-XkGLqUSwszYhRMT4>*ryIQT2&dSB3Jgg*`H%Ce20!zf|>asE?= z{~-aATt}4ga}oM~PLgL+Ttk#N=f6qRcgntgJafvYtyDQArTBXAwT%u- z2(uUcOQ(P0qqfET*FJNU6zj8j62eOD136tg6>DRst=u|PdwSUZvS-vTO)n`bS?I{K i+ZETzvEGd - Need at least - 최소 - - - - characters! - 자가 필요합니다! + Need at least %1 characters! + 최소 %1 자가 필요합니다! @@ -481,8 +476,8 @@ location set - for " - 하기위한 " + for "%1" + 하기위한 "%1" @@ -547,52 +542,50 @@ location set 장치를 콤마 계정과 페어링합니다 - - - <ol type='1' style='margin-left: 15px;'> - <li style='margin-bottom: 50px;'>Go to https://connect.comma.ai on your phone</li> - <li style='margin-bottom: 50px;'>Click "add new device" and scan the QR code on the right</li> - <li style='margin-bottom: 50px;'>Bookmark connect.comma.ai to your home screen to use it like an app</li> - </ol> - - - <ol type='1' style='margin-left: 15px;'> - <li style='margin-bottom: 50px;'>https://connect.comma.ai에 접속하세요</li> - <li style='margin-bottom: 50px;'>"새 장치 추가"를 클릭하고 오른쪽 QR 코드를 검색합니다.</li> - <li style='margin-bottom: 50px;'>connect.comma.ai을 앱처럼 사용하려면 홈 화면에 바로가기를 만드십시오.</li> - </ol> - + + Go to https://connect.comma.ai on your phone + https://connect.comma.ai에 접속하세요 + + + + Click "add new device" and scan the QR code on the right + "새 장치 추가"를 클릭하고 오른쪽 QR 코드를 검색합니다 + + + + Bookmark connect.comma.ai to your home screen to use it like an app + connect.comma.ai을 앱처럼 사용하려면 홈 화면에 바로가기를 만드십시오 PrimeAdWidget - + Upgrade Now 지금 업그레이드 - + Become a comma prime member at connect.comma.ai connect.comma.ai에서 comma prime에 가입합니다 - + PRIME FEATURES: PRIME 기능： - + Remote access 원격 접속 - + 1 year of storage 1년간 저장 - + Developer perks 개발자 혜택 @@ -600,22 +593,22 @@ location set PrimeUserWidget - + ✓ SUBSCRIBED ✓ 구독함 - + comma prime comma prime - + CONNECT.COMMA.AI CONNECT.COMMA.AI - + COMMA POINTS COMMA POINTS @@ -857,17 +850,17 @@ location set SetupWidget - + Finish Setup 설정 완료 - + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. 장치를 (connect.comma.ai)에서 페어링하고 comma prime 오퍼를 청구합니다. - + Pair device 장치 페어링 @@ -1023,13 +1016,13 @@ location set - Uninstall - 제거 + UNINSTALL + 제거 - UNINSTALL - 제거 + Uninstall %1 + 제거 %1 @@ -1274,8 +1267,8 @@ location set - Forget Wi-Fi Network " - wifi 네트워크 저장안함 " + Forget Wi-Fi Network "%1"? + wifi 네트워크 저장안함 "%1"? diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm index 2c7963cf17a496e356fb5b0372b565ac82514661..eed52b27788c46e02689a14fb9f11e17c776755a 100644 GIT binary patch delta 2088 zcmYLJ4OCQR8h+-^z4LQt<_;(zBIwKjA%Y-?3OT?L6a5v5t5eF!7x6L%^C2JkbL@>&65@Jm@YFdC+|kFy|E@Y!#6D zDlh&Vc#6q_{ei3qCK)EK06ae)D^25;|zy3gyak-FvU!iE0Nr_76?f~ z^6jHQWDw@+my&A@Qm6A_{H2yBFzee$JFo!ojzmVWi;umA%xk>W^AP5}{4d6pBU|`@ 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a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index d9377054a5..0870ff7028 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -308,13 +308,8 @@ - Need at least - 至少需要 - - - - characters! - 个字符！ + Need at least %1 characters! + 至少需要 %1 个字符！ @@ -479,8 +474,8 @@ location set - for " - 网络名称：" + for "%1" + 网络名称："%1" @@ -545,52 +540,50 @@ location set 将您的设备与comma账号配对 - - - <ol type='1' style='margin-left: 15px;'> - <li style='margin-bottom: 50px;'>Go to https://connect.comma.ai on your phone</li> - <li style='margin-bottom: 50px;'>Click "add new device" and scan the QR code on the right</li> - <li style='margin-bottom: 50px;'>Bookmark connect.comma.ai to your home screen to use it like an app</li> - </ol> - - - <ol type='1' style='margin-left: 15px;'> - <li style='margin-bottom: 50px;'>在手机上访问 https://connect.comma.ai</li> - <li style='margin-bottom: 50px;'>点击“添加新设备”，扫描右侧二维码</li> - <li style='margin-bottom: 50px;'>将 connect.comma.ai 收藏到您的主屏幕，以便像应用程序一样使用它</li> - </ol> - + + Go to https://connect.comma.ai on your phone + 在手机上访问 https://connect.comma.ai + + + + Click "add new device" and scan the QR code on the right + 点击“添加新设备”，扫描右侧二维码 + + + + Bookmark connect.comma.ai to your home screen to use it like an app + 将 connect.comma.ai 收藏到您的主屏幕，以便像应用程序一样使用它 PrimeAdWidget - + Upgrade Now 现在升级 - + Become a comma prime member at connect.comma.ai 打开connect.comma.ai以注册comma prime会员 - + PRIME FEATURES: comma prime特权： - + Remote access 远程访问 - + 1 year of storage 1年数据存储 - + Developer perks 开发者福利 @@ -598,22 +591,22 @@ location set PrimeUserWidget - + ✓ SUBSCRIBED ✓ 已订阅 - + comma prime comma prime - + CONNECT.COMMA.AI CONNECT.COMMA.AI - + COMMA POINTS COMMA POINTS点数 @@ -855,17 +848,17 @@ location set SetupWidget - + Finish Setup 完成设置 - + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. 将您的设备与comma connect （connect.comma.ai）配对并领取您的comma prime优惠。 - + Pair device 配对设备 @@ -1021,13 +1014,13 @@ location set - Uninstall - 卸载 + UNINSTALL + 卸载 - UNINSTALL - 卸载 + Uninstall %1 + 卸载 %1 @@ -1272,8 +1265,8 @@ location set - Forget Wi-Fi Network " - 忘记WiFi网络" + Forget Wi-Fi Network "%1"? + 忘记WiFi网络 "%1"? diff --git a/selfdrive/ui/translations/main_zh-CHT.qm b/selfdrive/ui/translations/main_zh-CHT.qm index 0d448f2080322661cb712bd3c06b4049fabbf935..029332de238d74b5cf8c40073a31d27ea6f0bf4f 100644 GIT binary patch delta 2149 zcmZ`(eNa^Q6}@lwz1@9p-|hol5Y`3u0}RLlqJ#o2GC+iYDK3={Ctxe;x}tn2ELE#< zON}LnQFNsmgG3_)O=1%vV&X@l2Bl(=IGWTBLuw5wX0#gZBoxK;;Lg~;%FNDT-tXSu zJ@?%6yM2w!ku6N4&K*u9D<|?5fMY~2oFtMvf!_jG1D^nQ5rylCSe$F_6LB#_5i@`@ zfxib9A?7z;47p3Bcu3?ENu&${z5+}HqK5J`^5+tXJw(Q*L{qL3z3THZii`&i0uksN zM>P9&qNqni*>9jQey_{}UL?wm#U&t+yNt;12yhb!=!nYpBcCU##-%=6iCj4Me_{K* zV7DoZ*t)lgY)6URJw(K4iS0&(@OEPRJ_SA?wx1<3loPkvNHjHwxWny4>H<=9K?3y# zQX1!@+88M#L08>M(yrszp1!RM6f^#M@|o)=tEIL$4lO zPn7IO3(j0X!7^GihCEF;?eD#W?<3UV`ZcudrS6H))(}rOH`n02n(2GIwUY4#I6R!FdiBTV-K4 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least - 需要至少 - - - - characters! - 個字元！ + Need at least %1 characters! + 需要至少 %1 個字元！ @@ -481,8 +476,8 @@ location set - for " - 給 " + for "%1" + 給 "%1" @@ -547,52 +542,50 @@ location set 將設備與您的 comma 帳號配對 - - - <ol type='1' style='margin-left: 15px;'> - <li style='margin-bottom: 50px;'>Go to https://connect.comma.ai on your phone</li> - <li style='margin-bottom: 50px;'>Click "add new device" and scan the QR code on the right</li> - <li style='margin-bottom: 50px;'>Bookmark connect.comma.ai to your home screen to use it like an app</li> - </ol> - - - <ol type='1' style='margin-left: 15px;'> - <li style='margin-bottom: 50px;'>用手機連至 https://connect.comma.ai</li> - <li style='margin-bottom: 50px;'>點選 "add new device" 後掃描右邊的二維碼</li> - <li style='margin-bottom: 50px;'>將 connect.comma.ai 加入您的主屏幕，以便像手機 App 一樣使用它</li> - </ol> - + + Go to https://connect.comma.ai on your phone + 用手機連至 https://connect.comma.ai + + + + Click "add new device" and scan the QR code on the right + 點選 "add new device" 後掃描右邊的二維碼 + + + + Bookmark connect.comma.ai to your home screen to use it like an app + 將 connect.comma.ai 加入您的主屏幕，以便像手機 App 一樣使用它 PrimeAdWidget - + Upgrade Now 馬上升級 - + Become a comma prime member at connect.comma.ai 成為 connect.comma.ai 的高級會員 - + PRIME FEATURES: 高級會員特點： - + Remote access 遠程訪問 - + 1 year of storage 一年的雲端行車記錄 - + Developer perks 開發者福利 @@ -600,22 +593,22 @@ location set PrimeUserWidget - + ✓ SUBSCRIBED ✓ 已訂閱 - + comma prime comma 高級會員 - + CONNECT.COMMA.AI CONNECT.COMMA.AI - + COMMA POINTS COMMA 積分 @@ -860,17 +853,17 @@ location set SetupWidget - + Finish Setup 完成設置 - + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. 將您的設備與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。 - + Pair device 配對設備 @@ -1026,13 +1019,13 @@ location set - Uninstall - 卸載 + UNINSTALL + 卸載 - UNINSTALL - 卸載 + Uninstall %1 + 卸載 %1 @@ -1277,8 +1270,8 @@ location set - Forget Wi-Fi Network " - 清除 Wi-Fi 網路 " + Forget Wi-Fi Network "%1"? + 清除 Wi-Fi 網路 "%1"? diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index d872be0d86..f06d54b2d5 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -10,7 +10,7 @@ TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations") LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json") -def update_translations(release=False, translations_dir=TRANSLATIONS_DIR): +def update_translations(release=False, vanish=False, translations_dir=TRANSLATIONS_DIR): with open(LANGUAGES_FILE, "r") as f: translation_files = json.load(f) @@ -20,7 +20,10 @@ def update_translations(release=False, translations_dir=TRANSLATIONS_DIR): continue tr_file = os.path.join(translations_dir, f"{file}.ts") - ret = os.system(f"lupdate -recursive {UI_DIR} -ts {tr_file}") + args = f"lupdate -recursive {UI_DIR} -ts {tr_file}" + if vanish: + args += " -no-obsolete" + ret = os.system(args) assert ret == 0 if release: @@ -32,6 +35,7 @@ if __name__ == "__main__": parser = argparse.ArgumentParser(description="Update translation files for UI", formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument("--release", action="store_true", help="Create compiled QM translation files used by UI") + parser.add_argument("--vanish", action="store_true", help="Remove translations with source text no longer found") args = parser.parse_args() - update_translations(args.release) + update_translations(args.release, args.vanish) From 97d7ee369b9b8193fe1580fbaa00e65a26235432 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 12 Jul 2022 23:11:55 -0700 Subject: [PATCH 158/306] Chrysler: send LKAS control bit while above minSteerSpeed (#25150) * Chrysler: send LKAS control bit while above minSteerSpeed * update refs * rework that a bit * little more * update refs --- selfdrive/car/chrysler/carcontroller.py | 11 ++++++----- selfdrive/car/chrysler/chryslercan.py | 4 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 9 insertions(+), 8 deletions(-) diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 8156e7841e..00893b6bc4 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -14,7 +14,7 @@ class CarController: self.hud_count = 0 self.last_lkas_falling_edge = 0 - self.lkas_active_prev = False + self.lkas_control_bit_prev = False self.last_button_frame = 0 self.packer = CANPacker(dbc_name) @@ -24,7 +24,8 @@ class CarController: can_sends = [] # EPS faults if LKAS re-enables too quickly - lkas_active = CC.latActive and not low_speed_alert and (self.frame - self.last_lkas_falling_edge > 200) + lkas_control_bit = not low_speed_alert and (self.frame - self.last_lkas_falling_edge > 200) + lkas_active = CC.latActive and self.lkas_control_bit_prev # *** control msgs *** @@ -59,12 +60,12 @@ class CarController: self.apply_steer_last = apply_steer idx = self.frame // 2 - can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_active, idx)) + can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit, idx)) self.frame += 1 - if not lkas_active and self.lkas_active_prev: + if not lkas_control_bit and self.lkas_control_bit_prev: self.last_lkas_falling_edge = self.frame - self.lkas_active_prev = lkas_active + self.lkas_control_bit_prev = lkas_control_bit new_actuators = CC.actuators.copy() new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py index 632c0d2bcf..1e26a6d275 100644 --- a/selfdrive/car/chrysler/chryslercan.py +++ b/selfdrive/car/chrysler/chryslercan.py @@ -52,12 +52,12 @@ def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, au return packer.make_can_msg("DAS_6", 0, values) -def create_lkas_command(packer, CP, apply_steer, lat_active, frame): +def create_lkas_command(packer, CP, apply_steer, lkas_control_bit, frame): # LKAS_COMMAND Lane-keeping signal to turn the wheel enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1 values = { "STEERING_TORQUE": apply_steer, - "LKAS_CONTROL_BIT": enabled_val if lat_active else 0, + "LKAS_CONTROL_BIT": enabled_val if lkas_control_bit else 0, } return packer.make_can_msg("LKAS_COMMAND", 0, values, frame % 0x10) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index e77a38de5f..c99a1653f4 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -5efbbdf69e16db3d989bfaf62d10e958e80b9ca2 \ No newline at end of file +7fbe776f271ed2d45abe989736133a5cfa0ec826 \ No newline at end of file From e710ba549a3e0b1aba50ba8d4ed47e695a02c538 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 13 Jul 2022 00:20:35 -0700 Subject: [PATCH 159/306] Car docs diff bot: skip PRs from forks (#25151) * check permissions explicitly * fix syntax * Fix * Diff * fix * revert --- .github/workflows/selfdrive_tests.yaml | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 298ea5fb49..fc151cc2e2 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -10,7 +10,6 @@ env: CL_BASE_IMAGE: openpilot-base-cl DOCKER_REGISTRY: ghcr.io/commaai AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }} - HAS_AZURE_TOKEN: $AZURE_TOKEN != '' DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }} BUILD: | @@ -366,7 +365,7 @@ jobs: name: process_replay_diff.txt path: selfdrive/test/process_replay/diff.txt - name: Upload reference logs - if: ${{ failure() && github.event_name == 'pull_request' && github.repository == 'commaai/openpilot' && env.HAS_AZURE_TOKEN }} + if: ${{ failure() && github.event_name == 'pull_request' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }} run: | ${{ env.RUN }} "scons -j$(nproc) && \ CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" @@ -551,22 +550,22 @@ jobs: output="${output//$'\n'/'%0A'}" echo "::set-output name=diff::$output" - name: Find comment - if: env.HAS_AZURE_TOKEN - uses: peter-evans/find-comment@v1 + if: ${{ env.AZURE_TOKEN != '' }} + uses: peter-evans/find-comment@1769778a0c5bd330272d749d12c036d65e70d39d id: fc with: issue-number: ${{ github.event.pull_request.number }} body-includes: This PR makes changes to - name: Update comment - if: steps.save_diff.outputs.diff != '' && env.HAS_AZURE_TOKEN - uses: peter-evans/create-or-update-comment@v1 + if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }} + uses: peter-evans/create-or-update-comment@b95e16d2859ad843a14218d1028da5b2c4cbc4b4 with: comment-id: ${{ steps.fc.outputs.comment-id }} issue-number: ${{ github.event.pull_request.number }} body: "${{ steps.save_diff.outputs.diff }}" edit-mode: replace - name: Delete comment - if: steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.HAS_AZURE_TOKEN + if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }} uses: actions/github-script@v6 with: script: | From a7b778c324bf4eaba7f5db32ec60f88212e2c6fe Mon Sep 17 00:00:00 2001 From: Jafar Al-Gharaibeh Date: Wed, 13 Jul 2022 01:31:52 -0600 Subject: [PATCH 160/306] Mazda: Support CX-9 2022 (#25147) * Mazda: Support CX-9 2022 dongle-id: 8c6e0e30decb68f7 Signed-off-by: Jafar Al-Gharaibeh * update years Co-authored-by: Shane Smiskol --- docs/CARS.md | 2 +- selfdrive/car/mazda/values.py | 5 ++++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index e24672e9bc..754052085d 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -198,7 +198,7 @@ How We Rate The Cars |Lexus|RX 2016-18|All|[3](#footnotes)||||| |Lexus|RX Hybrid 2016-19|All|[3](#footnotes)||||| |Mazda|CX-5 2022|All|||||| -|Mazda|CX-9 2021|All|||||| +|Mazda|CX-9 2021-22|All|||||| |Ram|1500 2019-22|Adaptive Cruise|||||| |Subaru|Crosstrek 2018-19|EyeSight|||||| |Subaru|Impreza 2017-19|EyeSight|||||| diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 12e9eafc4f..e1d6907991 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -40,7 +40,7 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = { CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-17"), CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017"), CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017"), - CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021"), + CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-22"), CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022"), } @@ -267,6 +267,7 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXM4-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM6-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -279,9 +280,11 @@ FW_VERSIONS = { b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.transmission, 0x7e1, None): [ b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], } } From 3a8f17111c3439cb22eb627aec805898d9d9a41a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 13 Jul 2022 01:10:56 -0700 Subject: [PATCH 161/306] Log VIN response address (#25148) * log vin rx addr * clean up --- selfdrive/car/car_helpers.py | 8 ++++---- selfdrive/car/fw_versions.py | 6 +++--- selfdrive/car/isotp_parallel_query.py | 2 +- selfdrive/car/vin.py | 10 +++++----- selfdrive/debug/disable_ecu.py | 2 +- 5 files changed, 14 insertions(+), 14 deletions(-) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index b6bdece676..1a9a5f50f3 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -93,17 +93,17 @@ def fingerprint(logcan, sendcan): if cached_params is not None and len(cached_params.carFw) > 0 and cached_params.carVin is not VIN_UNKNOWN: cloudlog.warning("Using cached CarParams") - vin = cached_params.carVin + vin, vin_rx_addr = cached_params.carVin, 0 car_fw = list(cached_params.carFw) else: cloudlog.warning("Getting VIN & FW versions") - _, vin = get_vin(logcan, sendcan, bus) + _, vin_rx_addr, vin = get_vin(logcan, sendcan, bus) ecu_rx_addrs = get_present_ecus(logcan, sendcan) car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs) exact_fw_match, fw_candidates = match_fw_to_car(car_fw) else: - vin = VIN_UNKNOWN + vin, vin_rx_addr = VIN_UNKNOWN, 0 exact_fw_match, fw_candidates, car_fw = True, set(), [] if len(vin) != 17: @@ -166,7 +166,7 @@ def fingerprint(logcan, sendcan): source = car.CarParams.FingerprintSource.fixed cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, - fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), error=True) + fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, error=True) return car_fingerprint, finger, vin, car_fw, source, exact_match diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index a8f5357f0e..5a33cdf6b7 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -444,7 +444,7 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, if addrs: query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug) - fw_versions.update({(r.brand, addr): (version, r) for addr, version in query.get_data(timeout).items()}) + fw_versions.update({(r.brand, addr): (version, r) for (addr, _), version in query.get_data(timeout).items()}) except Exception: cloudlog.warning(f"FW query exception: {traceback.format_exc()}") @@ -497,8 +497,8 @@ if __name__ == "__main__": t = time.time() print("Getting vin...") - addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug) - print(f"VIN: {vin}") + addr, vin_rx_addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug) + print(f'TX: {hex(addr)}, RX: {hex(vin_rx_addr)}, VIN: {vin}') print(f"Getting VIN took {time.time() - t:.3f} s") print() diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 0e807512cf..bb96572c33 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -126,7 +126,7 @@ class IsoTpParallelQuery: msg.send(self.request[counter + 1]) request_counter[tx_addr] += 1 else: - results[tx_addr] = dat[len(expected_response):] + results[(tx_addr, msg._can_client.rx_addr)] = dat[len(expected_response):] request_done[tx_addr] = True else: error_code = dat[2] if len(dat) > 2 else -1 diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index fd1ca61e66..007c10e772 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -22,18 +22,18 @@ def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False): for request, response in ((UDS_VIN_REQUEST, UDS_VIN_RESPONSE), (OBD_VIN_REQUEST, OBD_VIN_RESPONSE)): try: query = IsoTpParallelQuery(sendcan, logcan, bus, FUNCTIONAL_ADDRS, [request, ], [response, ], functional_addr=True, debug=debug) - for addr, vin in query.get_data(timeout).items(): + for (addr, rx_addr), vin in query.get_data(timeout).items(): # Honda Bosch response starts with a length, trim to correct length if vin.startswith(b'\x11'): vin = vin[1:18] - return addr[0], vin.decode() + return addr[0], rx_addr, vin.decode() print(f"vin query retry ({i+1}) ...") except Exception: cloudlog.warning(f"VIN query exception: {traceback.format_exc()}") - return 0, VIN_UNKNOWN + return 0, 0, VIN_UNKNOWN if __name__ == "__main__": @@ -41,5 +41,5 @@ if __name__ == "__main__": sendcan = messaging.pub_sock('sendcan') logcan = messaging.sub_sock('can') time.sleep(1) - addr, vin = get_vin(logcan, sendcan, 1, debug=False) - print(hex(addr), vin) + addr, vin_rx_addr, vin = get_vin(logcan, sendcan, 1, debug=False) + print(f'TX: {hex(addr)}, RX: {hex(vin_rx_addr)}, VIN: {vin}') diff --git a/selfdrive/debug/disable_ecu.py b/selfdrive/debug/disable_ecu.py index af007207eb..c01c22fdd0 100644 --- a/selfdrive/debug/disable_ecu.py +++ b/selfdrive/debug/disable_ecu.py @@ -16,7 +16,7 @@ def disable_ecu(ecu_addr, logcan, sendcan, bus, timeout=0.5, retry=5, debug=Fals try: # enter extended diagnostic session query = IsoTpParallelQuery(sendcan, logcan, bus, [ecu_addr], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug) - for addr, dat in query.get_data(timeout).items(): # pylint: disable=unused-variable + for _, _ in query.get_data(timeout).items(): # pylint: disable=unused-variable print("ecu communication control disable tx/rx ...") # communication control disable tx and rx query = IsoTpParallelQuery(sendcan, logcan, bus, [ecu_addr], [COM_CONT_REQUEST], [COM_CONT_RESPONSE], debug=debug) From 0edd8201cb8d8f21f361d0be581b02bc43c1b80e Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 13 Jul 2022 15:12:49 +0200 Subject: [PATCH 162/306] README.md: update directory structure --- README.md | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 34b17625f9..3dce9d4475 100755 --- a/README.md +++ b/README.md @@ -105,23 +105,25 @@ Directory Structure ├── third_party # External libraries ├── pyextra # Extra python packages └── system # Generic services + ├── camerad # Driver to capture images from the camera sensors + ├── clocksd # Broadcasts current time + ├── hardware # Hardware abstraction classes ├── logcatd # systemd journal as a service └── proclogd # Logs information from /proc └── selfdrive # Code needed to drive the car ├── assets # Fonts, images, and sounds for UI ├── athena # Allows communication with the app ├── boardd # Daemon to talk to the board - ├── camerad # Driver to capture images from the camera sensors ├── car # Car specific code to read states and control actuators - ├── common # Shared C/C++ code for the daemons ├── controls # Planning and controls ├── debug # Tools to help you debug and do car ports ├── locationd # Precise localization and vehicle parameter estimation ├── loggerd # Logger and uploader of car data + ├── manager # Deamon that starts/stops all other daemons as needed ├── modeld # Driving and monitoring model runners - ├── proclogd # Logs information from proc - ├── sensord # IMU interface code + ├── monitoring # Daemon to determine driver attention ├── navd # Turn-by-turn navigation + ├── sensord # IMU interface code ├── test # Unit tests, system tests, and a car simulator └── ui # The UI From a006cd168ea5a2fec2f03b29460a3a685538b9cf Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 13 Jul 2022 17:55:05 +0200 Subject: [PATCH 163/306] run pre-commit in release CI (#25158) * run pre-commit in release * add pylintrc and init files * build first * add mypy ini * limit amount of debug scripts shipped in release * add python version? * add more missing __init__.py * excluded rednose for cppcheck * remove files before dirty check --- .github/workflows/selfdrive_tests.yaml | 7 +++++++ .pre-commit-config.yaml | 2 +- release/files_common | 16 +++++++++++++++- 3 files changed, 23 insertions(+), 2 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index fc151cc2e2..fbc0d94194 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -58,6 +58,9 @@ jobs: run: | TARGET_DIR=$STRIPPED_DIR release/build_devel.sh cp Dockerfile.openpilot_base $STRIPPED_DIR + cp .pre-commit-config.yaml $STRIPPED_DIR + cp .pylintrc $STRIPPED_DIR + cp mypy.ini $STRIPPED_DIR - name: Build Docker image run: | eval "$BUILD" @@ -66,6 +69,10 @@ jobs: run: | cd $STRIPPED_DIR ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py && \ + pre-commit run --all && \ + rm .pre-commit-config.yaml && \ + rm .pylintrc && \ + rm mypy.ini && \ release/check-dirty.sh && \ python -m unittest discover selfdrive/car" diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index b901e07721..8b8bc1f1b9 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -54,7 +54,7 @@ repos: entry: cppcheck language: system types: [c++] - exclude: '^(third_party/)|(pyextra/)|(cereal/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)/|(installer/)' + exclude: '^(third_party/)|(pyextra/)|(cereal/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)/|(installer/)' args: - --error-exitcode=1 - --language=c++ diff --git a/release/files_common b/release/files_common index fb91170561..954726d967 100644 --- a/release/files_common +++ b/release/files_common @@ -57,6 +57,7 @@ common/api/__init__.py release/* +tools/__init__.py tools/lib/* tools/joystick/* tools/replay/*.cc @@ -128,7 +129,15 @@ system/clocksd/.gitignore system/clocksd/SConscript system/clocksd/clocksd.cc -selfdrive/debug/*.py +selfdrive/debug/can_printer.py +selfdrive/debug/check_freq.py +selfdrive/debug/dump.py +selfdrive/debug/filter_log_message.py +selfdrive/debug/get_fingerprint.py +selfdrive/debug/uiview.py + +selfdrive/debug/hyundai_enable_radar_points.py +selfdrive/debug/vw_mqb_config.py common/SConscript common/version.h @@ -187,6 +196,9 @@ selfdrive/controls/lib/lateral_mpc_lib/* selfdrive/controls/lib/longitudinal_mpc_lib/* selfdrive/hardware + +system/__init__.py + system/hardware/__init__.py system/hardware/base.h system/hardware/base.py @@ -220,6 +232,7 @@ selfdrive/locationd/laikad_helpers.py selfdrive/locationd/locationd.h selfdrive/locationd/locationd.cc selfdrive/locationd/paramsd.py +selfdrive/locationd/models/__init__.py selfdrive/locationd/models/.gitignore selfdrive/locationd/models/car_kf.py selfdrive/locationd/models/gnss_kf.py @@ -330,6 +343,7 @@ selfdrive/manager/process.py selfdrive/manager/test/__init__.py selfdrive/manager/test/test_manager.py +selfdrive/modeld/__init__.py selfdrive/modeld/SConscript selfdrive/modeld/modeld.cc selfdrive/modeld/dmonitoringmodeld.cc From 49dd56fc241d5ea3e0ab37e10175ad545ef4d528 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 13 Jul 2022 17:58:45 +0200 Subject: [PATCH 164/306] nav: draw inactive lanes with 50% opacity (#25157) * nav: draw inactive lanes with 50% opacity * update ts --- 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125 : 75; icon->setPixmap(loadPixmap(fn + ICON_SUFFIX, {wh, wh}, Qt::IgnoreAspectRatio)); diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 2fefa69a80..07d6877463 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -338,27 +338,27 @@ MapETA - + eta 도착 - + min 분 - + hr 시간 - + km km - + mi mi diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 0870ff7028..424488fc56 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -338,27 +338,27 @@ MapETA - + eta 埃塔 - + min 分钟 - + hr 小时 - + km km - + mi mi diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 0620382a63..1eab75a6b4 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -338,27 +338,27 @@ MapETA - + eta 埃塔 - + min 分鐘 - + hr 小時 - + km km - + mi mi From 18f2a50501d67345e2fa2e44b6046d412c3452de Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 13 Jul 2022 12:43:36 -0700 Subject: [PATCH 165/306] disable_ecu.py: remove duplicate file (#25154) * remove duplicate function * make executable --- selfdrive/car/disable_ecu.py | 14 ++++++++++++ selfdrive/debug/disable_ecu.py | 40 ---------------------------------- 2 files changed, 14 insertions(+), 40 deletions(-) mode change 100644 => 100755 selfdrive/car/disable_ecu.py delete mode 100644 selfdrive/debug/disable_ecu.py diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py old mode 100644 new mode 100755 index ac5c6c9f8f..cd3e93fa80 --- a/selfdrive/car/disable_ecu.py +++ b/selfdrive/car/disable_ecu.py @@ -6,6 +6,7 @@ EXT_DIAG_RESPONSE = b'\x50\x03' COM_CONT_RESPONSE = b'' + def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False): """Silence an ECU by disabling sending and receiving messages using UDS 0x28. The ECU will stay silent as long as openpilot keeps sending Tester Present. @@ -26,9 +27,22 @@ def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01' cloudlog.warning("ecu disabled") return True + except Exception: cloudlog.exception("ecu disable exception") print(f"ecu disable retry ({i+1}) ...") cloudlog.warning("ecu disable failed") return False + + +if __name__ == "__main__": + import time + import cereal.messaging as messaging + sendcan = messaging.pub_sock('sendcan') + logcan = messaging.sub_sock('can') + time.sleep(1) + + # honda bosch radar disable + disabled = disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5, debug=False) + print(f"disabled: {disabled}") diff --git a/selfdrive/debug/disable_ecu.py b/selfdrive/debug/disable_ecu.py deleted file mode 100644 index c01c22fdd0..0000000000 --- a/selfdrive/debug/disable_ecu.py +++ /dev/null @@ -1,40 +0,0 @@ -#!/usr/bin/env python3 -import traceback - -import cereal.messaging as messaging -from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from system.swaglog import cloudlog - -EXT_DIAG_REQUEST = b'\x10\x03' -EXT_DIAG_RESPONSE = b'\x50\x03' -COM_CONT_REQUEST = b'\x28\x83\x03' -COM_CONT_RESPONSE = b'' - -def disable_ecu(ecu_addr, logcan, sendcan, bus, timeout=0.5, retry=5, debug=False): - print(f"ecu disable {hex(ecu_addr)} ...") - for i in range(retry): - try: - # enter extended diagnostic session - query = IsoTpParallelQuery(sendcan, logcan, bus, [ecu_addr], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug) - for _, _ in query.get_data(timeout).items(): # pylint: disable=unused-variable - print("ecu communication control disable tx/rx ...") - # communication control disable tx and rx - query = IsoTpParallelQuery(sendcan, logcan, bus, [ecu_addr], [COM_CONT_REQUEST], [COM_CONT_RESPONSE], debug=debug) - query.get_data(0) - return True - print(f"ecu disable retry ({i+1}) ...") - except Exception: - cloudlog.warning(f"ecu disable exception: {traceback.format_exc()}") - - return False - - -if __name__ == "__main__": - import time - sendcan = messaging.pub_sock('sendcan') - logcan = messaging.sub_sock('can') - time.sleep(1) - - # honda bosch radar disable - disabled = disable_ecu(0x18DAB0F1, logcan, sendcan, 1, debug=False) - print(f"disabled: {disabled}") From d5719913a97f7cf3c3fc171d0aa562c7d9cafb15 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 13 Jul 2022 13:22:30 -0700 Subject: [PATCH 166/306] Chrysler: never drop control bit on older models (#25159) * Chrysler: never drop control bit on older models * update refs --- selfdrive/car/chrysler/carcontroller.py | 17 ++++++++++++++--- selfdrive/car/chrysler/interface.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 16 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 00893b6bc4..6d158e7cd0 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -2,7 +2,7 @@ from opendbc.can.packer import CANPacker from common.realtime import DT_CTRL from selfdrive.car import apply_toyota_steer_torque_limits from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons -from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams +from selfdrive.car.chrysler.values import CAR, RAM_CARS, CarControllerParams class CarController: @@ -20,11 +20,22 @@ class CarController: self.packer = CANPacker(dbc_name) self.params = CarControllerParams(CP) - def update(self, CC, CS, low_speed_alert): + def update(self, CC, CS): can_sends = [] + # TODO: can we make this more sane? why is it different for all the cars? + lkas_control_bit = self.lkas_control_bit_prev + if CS.out.vEgo > self.CP.minSteerSpeed: + lkas_control_bit = True + elif self.CP.carFingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019): + if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0): + lkas_control_bit = False + elif self.CP.carFingerprint in RAM_CARS: + if CS.out.vEgo < (self.CP.minSteerSpeed - 0.5): + lkas_control_bit = False + # EPS faults if LKAS re-enables too quickly - lkas_control_bit = not low_speed_alert and (self.frame - self.last_lkas_falling_edge > 200) + lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200) lkas_active = CC.latActive and self.lkas_control_bit_prev # *** control msgs *** diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 8826a92523..acc08954a8 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -93,4 +93,4 @@ class CarInterface(CarInterfaceBase): return ret def apply(self, c): - return self.CC.update(c, self.CS, self.low_speed_alert) + return self.CC.update(c, self.CS) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index c99a1653f4..dff232911e 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -7fbe776f271ed2d45abe989736133a5cfa0ec826 \ No newline at end of file +fa52fa6c6703269e23610b1c6aba8a56b911fbbb \ No newline at end of file From 18c1700f72e9c03750365a302dcb15b5e3d46366 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 13 Jul 2022 14:28:55 -0700 Subject: [PATCH 167/306] RAV4 2022: Add missing engine fw (#25136) Add engine fw from 909a5635aa370818 --- selfdrive/car/toyota/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index f40a58b5a7..63b7240e2f 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1302,6 +1302,7 @@ FW_VERSIONS = { b'\x01896634AA0000\x00\x00\x00\x00', b'\x01896634AA1000\x00\x00\x00\x00', b'\x01896634A88000\x00\x00\x00\x00', + b'\x01896634A89000\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F0R01100\x00\x00\x00\x00', From 5a7c2f90361e72e9c35e88abd2e11acdc4aba354 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 13 Jul 2022 14:44:34 -0700 Subject: [PATCH 168/306] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 2abeab913f..e51aa5ebce 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 2abeab913f6432e4327b07e247b8a46994ac77a1 +Subproject commit e51aa5ebce031c96e802b07d13120a039fa7b82f From c8051154d2a03f94d54f085d491469800c4e915a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 13 Jul 2022 20:03:55 -0700 Subject: [PATCH 169/306] Civic 2022: Add missing fw versions (#25164) Add fingerprints from a918d2895b3210a1 --- selfdrive/car/honda/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index b8417ee19b..c665b1cd03 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -1406,6 +1406,7 @@ FW_VERSIONS = { b'38897-T20-A020\x00\x00', b'38897-T20-A510\x00\x00', b'38897-T21-A010\x00\x00', + b'38897-T20-A210\x00\x00', ], (Ecu.srs, 0x18DA53F1, None): [ b'77959-T20-A970\x00\x00', @@ -1415,6 +1416,7 @@ FW_VERSIONS = { b'78108-T21-A220\x00\x00', b'78108-T21-A620\x00\x00', b'78108-T23-A110\x00\x00', + b'78108-T21-A230\x00\x00', ], (Ecu.vsa, 0x18DA28F1, None): [ b'57114-T20-AB40\x00\x00', @@ -1429,6 +1431,7 @@ FW_VERSIONS = { b'37805-64L-A540\x00\x00', b'37805-64S-A540\x00\x00', b'37805-64S-A720\x00\x00', + b'37805-64A-A540\x00\x00', ], }, } From 93a1ca8351d93adfc18d5a9c99ce2bb908cb43b6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 13 Jul 2022 23:51:32 -0700 Subject: [PATCH 170/306] Multilanguage Contributing README (#25170) * Create README.md * Update README.md * Update README.md * Update README.md * Update README.md * typo --- selfdrive/ui/translations/README.md | 39 +++++++++++++++++++++++++++++ 1 file changed, 39 insertions(+) create mode 100644 selfdrive/ui/translations/README.md diff --git a/selfdrive/ui/translations/README.md b/selfdrive/ui/translations/README.md new file mode 100644 index 0000000000..0ddb03a24c --- /dev/null +++ b/selfdrive/ui/translations/README.md @@ -0,0 +1,39 @@ +# Multilanguage + +![multilanguage_onroad](https://user-images.githubusercontent.com/25857203/178912800-2c798af8-78e3-498e-9e19-35906e0bafff.png) + +## Contributing + +Before getting started, make sure you have set up the openpilot Ubuntu development environment by reading the [tools README.md](/tools/README.md). + +### Adding a New Language + +openpilot provides a few tools to help contributors manage their translations and to ensure quality. To get started: + +1. Add your new language to [languages.json](/selfdrive/ui/translations/languages.json) with the appropriate [language code](https://en.wikipedia.org/wiki/List_of_ISO_639-1_codes) and the localized language name (Simplified Chinese is `中文（繁體）`). +2. Generate the translation file (`*.ts`): + ```shell + selfdrive/ui/update_translations.py + ``` +3. Edit the translation file, marking each translation as completed: + ```shell + linguist selfdrive/ui/translations/your_language_file.ts + ``` +4. Save your file and generate the compiled QM file used by the Qt UI: + ```shell + selfdrive/ui/update_translations.py --release + ``` + +### Improving an Existing Language + +Follow the steps above, omitting steps 1. and 2. Any time you edit translations you'll want to make sure to compile them. + +### Testing + +openpilot has a unit test to make sure all translations are up to date with the text in openpilot and that all translations are completed. + +Run and fix any issues: + +```python +selfdrive/ui/tests/test_translations.py +``` From c7771d1783ef7d7e1efb29e81aae44ad26747c5c Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Thu, 14 Jul 2022 11:49:27 +0200 Subject: [PATCH 171/306] Bump laika and catch Downloadfiles exception. --- laika_repo | 2 +- selfdrive/locationd/laikad.py | 3 ++- selfdrive/locationd/test/test_laikad.py | 14 ++++++++++++-- 3 files changed, 15 insertions(+), 4 deletions(-) diff --git a/laika_repo b/laika_repo index 828612e1b8..3ce2628dfc 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 828612e1b8848ccf70072d5513c0b7977f1707da +Subproject commit 3ce2628dfc8ddba1769c518f90275e3caca9e8c6 diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 4868e8ae52..13829b22a9 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -15,6 +15,7 @@ from cereal import log, messaging from common.params import Params, put_nonblocking from laika import AstroDog from laika.constants import SECS_IN_HR, SECS_IN_MIN +from laika.downloader import DownloadFailed from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_ephem from laika.gps_time import GPSTime from laika.helpers import ConstellationId @@ -212,7 +213,7 @@ def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types, cach astro_dog.get_orbit_data(t, only_predictions=True) cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s") return astro_dog.orbits, astro_dog.orbit_fetched_times, t - except (RuntimeError, ValueError, IOError) as e: + except (DownloadFailed, RuntimeError, ValueError, IOError) as e: cloudlog.warning(f"No orbit data found or parsing failure: {e}") return None, None, t diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index c10a470d1a..bc7a0d7fa4 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -8,6 +8,7 @@ from unittest.mock import Mock, patch from common.params import Params from laika.constants import SECS_IN_DAY +from laika.downloader import DownloadFailed from laika.ephemeris import EphemerisType, GPSEphemeris from laika.gps_time import GPSTime from laika.helpers import ConstellationId, TimeRangeHolder @@ -51,6 +52,9 @@ def get_measurement_mock(gpstime, sat_ephemeris): return meas +GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC = GPSTime.from_datetime(datetime(2022, month=1, day=29, hour=12)) + + class TestLaikad(unittest.TestCase): @classmethod @@ -109,7 +113,7 @@ class TestLaikad(unittest.TestCase): data_mock = defaultdict(str) data_mock['sv_id'] = 1 - gpstime = GPSTime.from_datetime(datetime(2022, month=3, day=1)) + gpstime = GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC laikad = Laikad() laikad.fetch_orbits(gpstime, block=True) meas = get_measurement_mock(gpstime, laikad.astro_dog.orbits['R01'][0]) @@ -165,7 +169,13 @@ class TestLaikad(unittest.TestCase): @mock.patch('laika.downloader.download_and_cache_file') def test_laika_offline(self, downloader_mock): - downloader_mock.side_effect = IOError + downloader_mock.side_effect = DownloadFailed("Mock download failed") + laikad = Laikad(auto_update=False) + laikad.fetch_orbits(GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC, block=True) + + @mock.patch('laika.downloader.download_and_cache_file') + def test_download_failed_russian_source(self, downloader_mock): + downloader_mock.side_effect = DownloadFailed laikad = Laikad(auto_update=False) correct_msgs = verify_messages(self.logs, laikad) self.assertEqual(16, len(correct_msgs)) From 3160f86aa085c300204a5d3e1c37d72ea5fd3051 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 14 Jul 2022 10:18:16 -0700 Subject: [PATCH 172/306] bump version to 0.8.16 --- RELEASES.md | 3 +++ common/version.h | 2 +- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index b87bd2ee7d..b47a18a3de 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,3 +1,6 @@ +Version 0.8.16 (2022-XX-XX) +======================== + Version 0.8.15 (2022-07-20) ======================== * New driving model diff --git a/common/version.h b/common/version.h index de550d6be5..bf1c58df1e 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.8.15" +#define COMMA_VERSION "0.8.16" From f38204ad260f2af6a01b71191850178d0af03e8e Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 14 Jul 2022 19:21:40 +0200 Subject: [PATCH 173/306] camerad: cleanup unused RGB code (#25172) * camerad: cleanup unused RGB code * hdr is unused * more cleanup * remove envs * remove from sconsfile * fix docs --- cereal | 2 +- common/modeldata.h | 5 +- docs/c_docs.rst | 2 - release/files_common | 5 - system/camerad/SConscript | 2 - system/camerad/cameras/camera_common.cc | 54 +----- system/camerad/cameras/camera_common.h | 16 +- system/camerad/cameras/camera_qcom2.cc | 26 +-- system/camerad/cameras/camera_qcom2.h | 2 +- system/camerad/transforms/rgb_to_yuv.cc | 36 ---- system/camerad/transforms/rgb_to_yuv.h | 14 -- system/camerad/transforms/rgb_to_yuv_test.cc | 191 ------------------- 12 files changed, 20 insertions(+), 335 deletions(-) delete mode 100644 system/camerad/transforms/rgb_to_yuv.cc delete mode 100644 system/camerad/transforms/rgb_to_yuv.h delete mode 100644 system/camerad/transforms/rgb_to_yuv_test.cc diff --git a/cereal b/cereal index cda60ec965..3ed1b8c51a 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit cda60ec9652c05de4ccfcad1fae7936e708434a3 +Subproject commit 3ed1b8c51afb616880565e5868806cef82bbc835 diff --git a/common/modeldata.h b/common/modeldata.h index b193841416..e13840d53e 100644 --- a/common/modeldata.h +++ b/common/modeldata.h @@ -34,12 +34,13 @@ const mat3 ecam_intrinsic_matrix = (mat3){{567.0, 0.0, 1928.0 / 2, 0.0, 567.0, 1208.0 / 2, 0.0, 0.0, 1.0}}; -static inline mat3 get_model_yuv_transform(bool bayer = true) { +static inline mat3 get_model_yuv_transform() { float db_s = 1.0; const mat3 transform = (mat3){{ 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 }}; - return bayer ? transform_scale_buffer(transform, db_s) : transform; + // Can this be removed since scale is 1? + return transform_scale_buffer(transform, db_s); } diff --git a/docs/c_docs.rst b/docs/c_docs.rst index 5638b40bf0..94d0adb560 100644 --- a/docs/c_docs.rst +++ b/docs/c_docs.rst @@ -29,8 +29,6 @@ camerad ^^^^^^^ .. autodoxygenindex:: :project: system_camerad_cameras -.. autodoxygenindex:: - :project: system_camerad_transforms .. autodoxygenindex:: :project: system_camerad_imgproc diff --git a/release/files_common b/release/files_common index 954726d967..38f86d247a 100644 --- a/release/files_common +++ b/release/files_common @@ -324,11 +324,6 @@ system/camerad/cameras/camera_common.h system/camerad/cameras/camera_common.cc system/camerad/cameras/sensor2_i2c.h -system/camerad/transforms/rgb_to_yuv.cc -system/camerad/transforms/rgb_to_yuv.h -system/camerad/transforms/rgb_to_yuv.cl -system/camerad/transforms/rgb_to_yuv_test.cc - system/camerad/imgproc/conv.cl system/camerad/imgproc/pool.cl system/camerad/imgproc/utils.cc diff --git a/system/camerad/SConscript b/system/camerad/SConscript index b181fbab75..25e366210f 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -10,7 +10,6 @@ if arch == "larch64": env.Program('camerad', [ 'main.cc', 'cameras/camera_common.cc', - 'transforms/rgb_to_yuv.cc', 'imgproc/utils.cc', cameras, ], LIBS=libs) @@ -19,5 +18,4 @@ if GetOption("test"): env.Program('test/ae_gray_test', [ 'test/ae_gray_test.cc', 'cameras/camera_common.cc', - 'transforms/rgb_to_yuv.cc', ], LIBS=libs) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 04f3136485..1d4ecd526a 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -32,15 +32,14 @@ public: Debayer(cl_device_id device_id, cl_context context, const CameraBuf *b, const CameraState *s, int buf_width, int uv_offset) { char args[4096]; const CameraInfo *ci = &s->ci; - hdr_ = ci->hdr; snprintf(args, sizeof(args), "-cl-fast-relaxed-math -cl-denorms-are-zero " "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d " "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DRGB_STRIDE=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d " - "-DBAYER_FLIP=%d -DHDR=%d -DCAM_NUM=%d%s", + "-DCAM_NUM=%d%s", ci->frame_width, ci->frame_height, ci->frame_stride, ci->frame_offset, b->rgb_width, b->rgb_height, b->rgb_stride, buf_width, uv_offset, - ci->bayer_flip, ci->hdr, s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : ""); + s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : ""); const char *cl_file = "cameras/real_debayer.cl"; cl_program prg_debayer = cl_program_from_file(context, device_id, cl_file, args); krnl_ = CL_CHECK_ERR(clCreateKernel(prg_debayer, "debayer10", &err)); @@ -63,12 +62,10 @@ public: private: cl_kernel krnl_; - bool hdr_; }; -void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_rgb_type, VisionStreamType init_yuv_type) { +void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_yuv_type) { vipc_server = v; - this->rgb_type = init_rgb_type; this->yuv_type = init_yuv_type; const CameraInfo *ci = &s->ci; @@ -89,11 +86,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, rgb_width = ci->frame_width; rgb_height = ci->frame_height; - yuv_transform = get_model_yuv_transform(ci->bayer); - - vipc_server->create_buffers(rgb_type, UI_BUF_COUNT, true, rgb_width, rgb_height); - rgb_stride = vipc_server->get_buffer(rgb_type)->stride; - LOGD("created %d UI vipc buffers with size %dx%d", UI_BUF_COUNT, rgb_width, rgb_height); + yuv_transform = get_model_yuv_transform(); int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, rgb_width); int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, rgb_height); @@ -104,10 +97,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, vipc_server->create_buffers_with_sizes(yuv_type, YUV_BUFFER_COUNT, false, rgb_width, rgb_height, nv12_size, nv12_width, nv12_uv_offset); LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height); - if (ci->bayer) { - debayer = new Debayer(device_id, context, this, s, nv12_width, nv12_uv_offset); - } - rgb2yuv = std::make_unique(context, device_id, rgb_width, rgb_height, rgb_stride); + debayer = new Debayer(device_id, context, this, s, nv12_width, nv12_uv_offset); #ifdef __APPLE__ q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err)); @@ -135,7 +125,6 @@ bool CameraBuf::acquire() { } cur_frame_data = camera_bufs_metadata[cur_buf_idx]; - cur_rgb_buf = vipc_server->get_buffer(rgb_type); cur_yuv_buf = vipc_server->get_buffer(yuv_type); cl_mem camrabuf_cl = camera_bufs[cur_buf_idx].buf_cl; cl_event event; @@ -144,12 +133,7 @@ bool CameraBuf::acquire() { cur_camera_buf = &camera_bufs[cur_buf_idx]; - if (debayer) { - debayer->queue(q, camrabuf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, &event); - } else { - assert(rgb_stride == camera_state->ci.frame_stride); - rgb2yuv->queue(q, camrabuf_cl, cur_rgb_buf->buf_cl); - } + debayer->queue(q, camrabuf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, &event); clWaitForEvents(1, &event); CL_CHECK(clReleaseEvent(event)); @@ -193,32 +177,6 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr framed.setProcessingTime(frame_data.processing_time); } -kj::Array get_frame_image(const CameraBuf *b) { - static const int x_min = util::getenv("XMIN", 0); - static const int y_min = util::getenv("YMIN", 0); - static const int env_xmax = util::getenv("XMAX", -1); - static const int env_ymax = util::getenv("YMAX", -1); - static const int scale = util::getenv("SCALE", 1); - - assert(b->cur_rgb_buf); - - const int x_max = env_xmax != -1 ? env_xmax : b->rgb_width - 1; - const int y_max = env_ymax != -1 ? env_ymax : b->rgb_height - 1; - const int new_width = (x_max - x_min + 1) / scale; - const int new_height = (y_max - y_min + 1) / scale; - const uint8_t *dat = (const uint8_t *)b->cur_rgb_buf->addr; - - kj::Array frame_image = kj::heapArray(new_width*new_height*3); - uint8_t *resized_dat = frame_image.begin(); - int goff = x_min*3 + y_min*b->rgb_stride; - for (int r=0;rrgb_stride*scale+c*3*scale], 3*sizeof(uint8_t)); - } - } - return kj::mv(frame_image); -} - kj::Array get_raw_frame_image(const CameraBuf *b) { const uint8_t *dat = (const uint8_t *)b->cur_camera_buf->addr; diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 4695d4e2c9..2a56052559 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -9,7 +9,6 @@ #include "cereal/visionipc/visionbuf.h" #include "cereal/visionipc/visionipc.h" #include "cereal/visionipc/visionipc_server.h" -#include "system/camerad/transforms/rgb_to_yuv.h" #include "common/mat.h" #include "common/queue.h" #include "common/swaglog.h" @@ -27,7 +26,6 @@ #define CAMERA_ID_IMX390 9 #define CAMERA_ID_MAX 10 -const int UI_BUF_COUNT = 4; const int YUV_BUFFER_COUNT = 40; enum CameraType { @@ -36,11 +34,6 @@ enum CameraType { WideRoadCam }; -// TODO: remove these once all the internal tools are moved to vipc -const bool env_send_driver = getenv("SEND_DRIVER") != NULL; -const bool env_send_road = getenv("SEND_ROAD") != NULL; -const bool env_send_wide_road = getenv("SEND_WIDE_ROAD") != NULL; - // for debugging const bool env_disable_road = getenv("DISABLE_ROAD") != NULL; const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL; @@ -51,9 +44,6 @@ const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL; typedef struct CameraInfo { uint32_t frame_width, frame_height; uint32_t frame_stride; - bool bayer; - int bayer_flip; - bool hdr; uint32_t frame_offset = 0; uint32_t extra_height = 0; int registers_offset = -1; @@ -92,9 +82,8 @@ private: VisionIpcServer *vipc_server; CameraState *camera_state; Debayer *debayer = nullptr; - std::unique_ptr rgb2yuv; - VisionStreamType rgb_type, yuv_type; + VisionStreamType yuv_type; int cur_buf_idx; @@ -116,7 +105,7 @@ public: CameraBuf() = default; ~CameraBuf(); - void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType rgb_type, VisionStreamType yuv_type); + void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType yuv_type); bool acquire(); void release(); void queue(size_t buf_idx); @@ -125,7 +114,6 @@ public: typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt); void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data); -kj::Array get_frame_image(const CameraBuf *b); kj::Array get_raw_frame_image(const CameraBuf *b); float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip); std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback); diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index f001009b9a..31af284d52 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -46,19 +46,11 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = { .registers_offset = 0, .frame_offset = AR0231_REGISTERS_HEIGHT, .stats_offset = AR0231_REGISTERS_HEIGHT + FRAME_HEIGHT, - - .bayer = true, - .bayer_flip = 1, - .hdr = false, }, [CAMERA_ID_IMX390] = { .frame_width = FRAME_WIDTH, .frame_height = FRAME_HEIGHT, .frame_stride = FRAME_STRIDE, - - .bayer = true, - .bayer_flip = 1, - .hdr = false, }, }; @@ -614,7 +606,7 @@ void CameraState::enqueue_req_multi(int start, int n, bool dp) { // ******************* camera ******************* -void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServer * v, int camera_id_, int camera_num_, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type, bool enabled_) { +void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServer * v, int camera_id_, int camera_num_, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, bool enabled_) { multi_cam_state = multi_cam_state_; camera_id = camera_id_; camera_num = camera_num_; @@ -638,7 +630,7 @@ void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServe exposure_time = 5; cur_ev[0] = cur_ev[1] = cur_ev[2] = (dc_gain_enabled ? DC_GAIN : 1) * sensor_analog_gains[gain_idx] * exposure_time; - buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, rgb_type, yuv_type); + buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, yuv_type); } void CameraState::camera_open() { @@ -833,9 +825,9 @@ void CameraState::camera_open() { } void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) { - s->driver_cam.camera_init(s, v, CAMERA_ID_AR0231, 2, 20, device_id, ctx, VISION_STREAM_RGB_DRIVER, VISION_STREAM_DRIVER, !env_disable_driver); - s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_RGB_ROAD, VISION_STREAM_ROAD, !env_disable_road); - s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_RGB_WIDE_ROAD, VISION_STREAM_WIDE_ROAD, !env_disable_wide_road); + s->driver_cam.camera_init(s, v, CAMERA_ID_AR0231, 2, 20, device_id, ctx, VISION_STREAM_DRIVER, !env_disable_driver); + s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_ROAD, !env_disable_road); + s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_WIDE_ROAD, !env_disable_wide_road); s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"}); } @@ -1233,9 +1225,7 @@ static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) auto framed = msg.initEvent().initDriverCameraState(); framed.setFrameType(cereal::FrameData::FrameType::FRONT); fill_frame_data(framed, c->buf.cur_frame_data); - if (env_send_driver) { - framed.setImage(get_frame_image(&c->buf)); - } + if (c->camera_id == CAMERA_ID_AR0231) { ar0231_process_registers(s, c, framed); } @@ -1248,9 +1238,7 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) { MessageBuilder msg; auto framed = c == &s->road_cam ? msg.initEvent().initRoadCameraState() : msg.initEvent().initWideRoadCameraState(); fill_frame_data(framed, b->cur_frame_data); - if ((c == &s->road_cam && env_send_road) || (c == &s->wide_road_cam && env_send_wide_road)) { - framed.setImage(get_frame_image(b)); - } else if (env_log_raw_frames && c == &s->road_cam && cnt % 100 == 5) { // no overlap with qlog decimation + if (env_log_raw_frames && c == &s->road_cam && cnt % 100 == 5) { // no overlap with qlog decimation framed.setImage(get_raw_frame_image(b)); } LOGT(c->buf.cur_frame_data.frame_id, "%s: Image set", c == &s->road_cam ? "RoadCamera" : "WideRoadCamera"); diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h index 57fef8d49a..03d3d1a823 100644 --- a/system/camerad/cameras/camera_qcom2.h +++ b/system/camerad/cameras/camera_qcom2.h @@ -55,7 +55,7 @@ public: void sensors_start(); void camera_open(); - void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type, bool enabled); + void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, bool enabled); void camera_close(); std::map ar0231_parse_registers(uint8_t *data, std::initializer_list addrs); diff --git a/system/camerad/transforms/rgb_to_yuv.cc b/system/camerad/transforms/rgb_to_yuv.cc deleted file mode 100644 index 5e51579cf9..0000000000 --- a/system/camerad/transforms/rgb_to_yuv.cc +++ /dev/null @@ -1,36 +0,0 @@ -#include "system/camerad/transforms/rgb_to_yuv.h" - -#include -#include - -Rgb2Yuv::Rgb2Yuv(cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride) { - assert(width % 2 == 0 && height % 2 == 0); - char args[1024]; - snprintf(args, sizeof(args), - "-cl-fast-relaxed-math -cl-denorms-are-zero " -#ifdef CL_DEBUG - "-DCL_DEBUG " -#endif - "-DWIDTH=%d -DHEIGHT=%d -DUV_WIDTH=%d -DUV_HEIGHT=%d -DRGB_STRIDE=%d -DRGB_SIZE=%d", - width, height, width / 2, height / 2, rgb_stride, width * height); - - cl_program prg = cl_program_from_file(ctx, device_id, "transforms/rgb_to_yuv.cl", args); - krnl = CL_CHECK_ERR(clCreateKernel(prg, "rgb_to_yuv", &err)); - CL_CHECK(clReleaseProgram(prg)); - - work_size[0] = (width + (width % 4 == 0 ? 0 : (4 - width % 4))) / 4; - work_size[1] = (height + (height % 4 == 0 ? 0 : (4 - height % 4))) / 4; -} - -Rgb2Yuv::~Rgb2Yuv() { - CL_CHECK(clReleaseKernel(krnl)); -} - -void Rgb2Yuv::queue(cl_command_queue q, cl_mem rgb_cl, cl_mem yuv_cl) { - CL_CHECK(clSetKernelArg(krnl, 0, sizeof(cl_mem), &rgb_cl)); - CL_CHECK(clSetKernelArg(krnl, 1, sizeof(cl_mem), &yuv_cl)); - cl_event event; - CL_CHECK(clEnqueueNDRangeKernel(q, krnl, 2, NULL, &work_size[0], NULL, 0, 0, &event)); - CL_CHECK(clWaitForEvents(1, &event)); - CL_CHECK(clReleaseEvent(event)); -} diff --git a/system/camerad/transforms/rgb_to_yuv.h b/system/camerad/transforms/rgb_to_yuv.h deleted file mode 100644 index e1de180d40..0000000000 --- a/system/camerad/transforms/rgb_to_yuv.h +++ /dev/null @@ -1,14 +0,0 @@ -#pragma once - -#include "common/clutil.h" - -class Rgb2Yuv { -public: - Rgb2Yuv(cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride); - ~Rgb2Yuv(); - void queue(cl_command_queue q, cl_mem rgb_cl, cl_mem yuv_cl); -private: - size_t work_size[2]; - cl_kernel krnl; -}; - diff --git a/system/camerad/transforms/rgb_to_yuv_test.cc b/system/camerad/transforms/rgb_to_yuv_test.cc deleted file mode 100644 index 2f909e3b73..0000000000 --- a/system/camerad/transforms/rgb_to_yuv_test.cc +++ /dev/null @@ -1,191 +0,0 @@ -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#ifdef ANDROID - -#define MAXE 0 -#include - -#else -// The libyuv implementation on ARM is slightly different than on x86 -// Our implementation matches the ARM version, so accept errors of 1 -#define MAXE 1 - -#endif - -#include - -#include "libyuv.h" -#include "system/camerad/transforms/rgb_to_yuv.h" -#include "common/clutil.h" - -static inline double millis_since_boot() { - struct timespec t; - clock_gettime(CLOCK_BOOTTIME, &t); - return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6; -} - -void cl_init(cl_device_id &device_id, cl_context &context) { - device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT); - context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); -} - - -bool compare_results(uint8_t *a, uint8_t *b, int len, int stride, int width, int height, uint8_t *rgb) { - int min_diff = 0., max_diff = 0., max_e = 0.; - int e1 = 0, e0 = 0; - int e0y = 0, e0u = 0, e0v = 0, e1y = 0, e1u = 0, e1v = 0; - int max_e_i = 0; - for (int i = 0;i < len;i++) { - int e = ((int)a[i]) - ((int)b[i]); - if(e < min_diff) { - min_diff = e; - } - if(e > max_diff) { - max_diff = e; - } - int e_abs = std::abs(e); - if(e_abs > max_e) { - max_e = e_abs; - max_e_i = i; - } - if(e_abs < 1) { - e0++; - if(i < stride * height) - e0y++; - else if(i < stride * height + stride * height / 4) - e0u++; - else - e0v++; - } else { - e1++; - if(i < stride * height) - e1y++; - else if(i < stride * height + stride * height / 4) - e1u++; - else - e1v++; - } - } - //printf("max diff : %d, min diff : %d, e < 1: %d, e >= 1: %d\n", max_diff, min_diff, e0, e1); - //printf("Y: e < 1: %d, e >= 1: %d, U: e < 1: %d, e >= 1: %d, V: e < 1: %d, e >= 1: %d\n", e0y, e1y, e0u, e1u, e0v, e1v); - if(max_e <= MAXE) { - return true; - } - int row = max_e_i / stride; - if(row < height) { - printf("max error is Y: %d = (libyuv: %u - cl: %u), row: %d, col: %d\n", max_e, a[max_e_i], b[max_e_i], row, max_e_i % stride); - } else if(row >= height && row < (height + height / 4)) { - printf("max error is U: %d = %u - %u, row: %d, col: %d\n", max_e, a[max_e_i], b[max_e_i], (row - height) / 2, max_e_i % stride / 2); - } else { - printf("max error is V: %d = %u - %u, row: %d, col: %d\n", max_e, a[max_e_i], b[max_e_i], (row - height - height / 4) / 2, max_e_i % stride / 2); - } - return false; -} - -int main(int argc, char** argv) { - srand(1337); - - cl_device_id device_id; - cl_context context; - cl_init(device_id, context) ; - - int err; - const cl_queue_properties props[] = {0}; //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0}; - cl_command_queue q = clCreateCommandQueueWithProperties(context, device_id, props, &err); - if(err != 0) { - std::cout << "clCreateCommandQueueWithProperties error: " << err << std::endl; - } - - int width = 1164; - int height = 874; - - int opt = 0; - while ((opt = getopt(argc, argv, "f")) != -1) - { - switch (opt) - { - case 'f': - std::cout << "Using front camera dimensions" << std::endl; - int width = 1152; - int height = 846; - } - } - - std::cout << "Width: " << width << " Height: " << height << std::endl; - uint8_t *rgb_frame = new uint8_t[width * height * 3]; - - - RGBToYUVState rgb_to_yuv_state; - rgb_to_yuv_init(&rgb_to_yuv_state, context, device_id, width, height, width * 3); - - int frame_yuv_buf_size = width * height * 3 / 2; - cl_mem yuv_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, frame_yuv_buf_size, (void*)NULL, &err)); - uint8_t *frame_yuv_buf = new uint8_t[frame_yuv_buf_size]; - uint8_t *frame_yuv_ptr_y = frame_yuv_buf; - uint8_t *frame_yuv_ptr_u = frame_yuv_buf + (width * height); - uint8_t *frame_yuv_ptr_v = frame_yuv_ptr_u + ((width/2) * (height/2)); - - cl_mem rgb_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, width * height * 3, (void*)NULL, &err)); - int mismatched = 0; - int counter = 0; - srand (time(NULL)); - - for (int i = 0; i < 100; i++) { - for (int i = 0; i < width * height * 3; i++) { - rgb_frame[i] = (uint8_t)rand(); - } - - double t1 = millis_since_boot(); - libyuv::RGB24ToI420((uint8_t*)rgb_frame, width * 3, - frame_yuv_ptr_y, width, - frame_yuv_ptr_u, width/2, - frame_yuv_ptr_v, width/2, - width, height); - double t2 = millis_since_boot(); - //printf("Libyuv: rgb to yuv: %.2fms\n", t2-t1); - - clEnqueueWriteBuffer(q, rgb_cl, CL_TRUE, 0, width * height * 3, (void *)rgb_frame, 0, NULL, NULL); - t1 = millis_since_boot(); - rgb_to_yuv_queue(&rgb_to_yuv_state, q, rgb_cl, yuv_cl); - t2 = millis_since_boot(); - - //printf("OpenCL: rgb to yuv: %.2fms\n", t2-t1); - uint8_t *yyy = (uint8_t *)clEnqueueMapBuffer(q, yuv_cl, CL_TRUE, - CL_MAP_READ, 0, frame_yuv_buf_size, - 0, NULL, NULL, &err); - if(!compare_results(frame_yuv_ptr_y, yyy, frame_yuv_buf_size, width, width, height, (uint8_t*)rgb_frame)) - mismatched++; - clEnqueueUnmapMemObject(q, yuv_cl, yyy, 0, NULL, NULL); - - // std::this_thread::sleep_for(std::chrono::milliseconds(20)); - if(counter++ % 100 == 0) - printf("Matched: %d, Mismatched: %d\n", counter - mismatched, mismatched); - - } - printf("Matched: %d, Mismatched: %d\n", counter - mismatched, mismatched); - - delete[] frame_yuv_buf; - rgb_to_yuv_destroy(&rgb_to_yuv_state); - clReleaseContext(context); - delete[] rgb_frame; - - if (mismatched == 0) - return 0; - else - return -1; -} From 811bb1b762cb6a58c9bd28387c44de21a02a86f9 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 14 Jul 2022 19:24:30 +0200 Subject: [PATCH 174/306] bump cereal --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index 3ed1b8c51a..a4c1afa3bf 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 3ed1b8c51afb616880565e5868806cef82bbc835 +Subproject commit a4c1afa3bfcbba989c128ec9b5092f6c91f4da22 From 98676fb3b05630bf6e62b0a1fbfc8804948a578c Mon Sep 17 00:00:00 2001 From: cydia2020 <12470297+cydia2020@users.noreply.github.com> Date: Fri, 15 Jul 2022 04:34:27 +1000 Subject: [PATCH 175/306] Toyota: don't send UI on Prius V (#25036) * Toyota: don't send UI on Prius V * Update selfdrive/car/toyota/carcontroller.py Co-authored-by: Adeeb Shihadeh --- selfdrive/car/toyota/carcontroller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 33e3fe118e..61a41b9c51 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -126,7 +126,7 @@ class CarController: # forcing the pcm to disengage causes a bad fault sound so play a good sound instead send_ui = True - if self.frame % 100 == 0 or send_ui: + if (self.frame % 100 == 0 or send_ui) and (self.CP.carFingerprint != CAR.PRIUS_V): can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart, CC.enabled)) From e203794b2d2341d5b3c0e39b6ae2b08da30ea203 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Thu, 14 Jul 2022 16:41:20 -0400 Subject: [PATCH 176/306] VW MQB: Update supported models and model-years (#25123) * updates for Atlas * updates for Arteon * regen CARS.md * consolidate wagons, update Golfs * update Jetta and Passat * harness footnotes for Jetta and Passat * update Polo * regen CARS.md --- docs/CARS.md | 45 ++++++++++++++++----------- selfdrive/car/volkswagen/values.py | 49 +++++++++++++++++++++--------- 2 files changed, 63 insertions(+), 31 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 754052085d..3e35782b2a 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -70,7 +70,7 @@ How We Rate The Cars |Toyota|RAV4 2019-21|All|||||| |Toyota|RAV4 Hybrid 2019-21|All|||||| -# Silver - 70 cars +# Silver - 77 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| @@ -133,19 +133,26 @@ How We Rate The Cars |Toyota|RAV4 2022|All|||||| |Toyota|RAV4 Hybrid 2016-18|TSS-P|[3](#footnotes)||||| |Toyota|RAV4 Hybrid 2022|All|||||| -|Volkswagen|Atlas 2018-19, 2022[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|||||| -|Volkswagen|Golf 2015-20|Driver Assistance|||||| -|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|||||| -|Volkswagen|Golf GTE 2016|Driver Assistance|||||| -|Volkswagen|Golf GTI 2018-21|Driver Assistance|||||| -|Volkswagen|Golf R 2016-19|Driver Assistance|||||| -|Volkswagen|Golf SportsVan 2016|Driver Assistance|||||| -|Volkswagen|Golf SportWagen 2015|Driver Assistance|||||| -|Volkswagen|Passat 2015-19[6](#footnotes)|Driver Assistance|||||| -|Volkswagen|Polo 2020|Driver Assistance|||||| - -# Bronze - 80 cars +|Volkswagen|Atlas 2018-22[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|Atlas Cross Sport 2021-22[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|e-Golf 2014-20|Driver Assistance|||||| +|Volkswagen|Golf 2015-20[8](#footnotes)|Driver Assistance|||||| +|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|||||| +|Volkswagen|Golf GTD 2015-20|Driver Assistance|||||| +|Volkswagen|Golf GTE 2015-20|Driver Assistance|||||| +|Volkswagen|Golf GTI 2015-21|Driver Assistance|||||| +|Volkswagen|Golf R 2015-19[8](#footnotes)|Driver Assistance|||||| +|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|||||| +|Volkswagen|Passat 2015-22[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|Passat Alltrack 2015-22[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|Passat GTE 2015-22[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|Polo 2020-22[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|Polo GTI 2020-22[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|Teramont 2018-22[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|Teramont Cross Sport 2021-22[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|Teramont X 2021-22[7](#footnotes)|Driver Assistance|||||| + +# Bronze - 83 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| @@ -219,11 +226,14 @@ How We Rate The Cars |Toyota|Prius v 2017|TSS-P|[3](#footnotes)||||| |Toyota|RAV4 2016-18|TSS-P|[3](#footnotes)||||| |Toyota|Sienna 2018-20|All|[3](#footnotes)||||| -|Volkswagen|Arteon 2018, 2021[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|Arteon 2018-22[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|Arteon eHybrid 2020-22[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|Arteon R 2020-22[7](#footnotes)|Driver Assistance|||||| |Volkswagen|California 2021[7](#footnotes)|Driver Assistance|||||| |Volkswagen|Caravelle 2020[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|Jetta 2018-21|Driver Assistance|||||| -|Volkswagen|Jetta GLI 2021|Driver Assistance|||||| +|Volkswagen|CC 2018-22[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|Jetta 2018-22[7](#footnotes)|Driver Assistance|||||| +|Volkswagen|Jetta GLI 2021-22[7](#footnotes)|Driver Assistance|||||| |Volkswagen|T-Cross 2021[7](#footnotes)|Driver Assistance|||||| |Volkswagen|T-Roc 2021[7](#footnotes)|Driver Assistance|||||| |Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance|||||| @@ -239,6 +249,7 @@ How We Rate The Cars 5Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
6Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform.
7Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.
+8Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)
## Community Maintained Cars Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/). \ No newline at end of file diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 6e64f705b0..8f38a00d4d 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -109,6 +109,9 @@ class Footnote(Enum): "(older design) or light brown (newer design). For the newer design, in the interim, choose \"VW J533 Development\" " + "from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.", Column.MODEL) + VW_VARIANT = CarFootnote( + "Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)", + Column.MODEL) @dataclass @@ -118,24 +121,42 @@ class VWCarInfo(CarInfo): CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { - CAR.ARTEON_MK1: VWCarInfo("Volkswagen Arteon 2018, 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), - CAR.ATLAS_MK1: VWCarInfo("Volkswagen Atlas 2018-19, 2022", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + CAR.ARTEON_MK1: [ + VWCarInfo("Volkswagen Arteon 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533), + VWCarInfo("Volkswagen Arteon R 2020-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533), + VWCarInfo("Volkswagen Arteon eHybrid 2020-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533), + VWCarInfo("Volkswagen CC 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533), + ], + CAR.ATLAS_MK1: [ + VWCarInfo("Volkswagen Atlas 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + VWCarInfo("Volkswagen Atlas Cross Sport 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + VWCarInfo("Volkswagen Teramont 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + VWCarInfo("Volkswagen Teramont Cross Sport 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + VWCarInfo("Volkswagen Teramont X 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + ], CAR.GOLF_MK7: [ - VWCarInfo("Volkswagen e-Golf 2014, 2018-20"), - VWCarInfo("Volkswagen Golf 2015-20"), - VWCarInfo("Volkswagen Golf Alltrack 2017-18"), - VWCarInfo("Volkswagen Golf GTE 2016"), - VWCarInfo("Volkswagen Golf GTI 2018-21"), - VWCarInfo("Volkswagen Golf R 2016-19"), - VWCarInfo("Volkswagen Golf SportsVan 2016"), - VWCarInfo("Volkswagen Golf SportWagen 2015"), + VWCarInfo("Volkswagen e-Golf 2014-20"), + VWCarInfo("Volkswagen Golf 2015-20", footnotes=[Footnote.VW_VARIANT]), + VWCarInfo("Volkswagen Golf Alltrack 2015-19"), + VWCarInfo("Volkswagen Golf GTD 2015-20"), + VWCarInfo("Volkswagen Golf GTE 2015-20"), + VWCarInfo("Volkswagen Golf GTI 2015-21"), + VWCarInfo("Volkswagen Golf R 2015-19", footnotes=[Footnote.VW_VARIANT]), + VWCarInfo("Volkswagen Golf SportsVan 2015-20"), ], CAR.JETTA_MK7: [ - VWCarInfo("Volkswagen Jetta 2018-21"), - VWCarInfo("Volkswagen Jetta GLI 2021"), + VWCarInfo("Volkswagen Jetta 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + VWCarInfo("Volkswagen Jetta GLI 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + ], + CAR.PASSAT_MK8: [ + VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.VW_HARNESS, Footnote.PASSAT, Footnote.VW_VARIANT], harness=Harness.j533), + VWCarInfo("Volkswagen Passat Alltrack 2015-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + VWCarInfo("Volkswagen Passat GTE 2015-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533), + ], + CAR.POLO_MK6: [ + VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), ], - CAR.PASSAT_MK8: VWCarInfo("Volkswagen Passat 2015-19", footnotes=[Footnote.PASSAT]), - CAR.POLO_MK6: VWCarInfo("Volkswagen Polo 2020"), CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2019-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), From 70678bb772ecec78c174b3a71632045f2f6a8806 Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Thu, 14 Jul 2022 15:55:08 -0500 Subject: [PATCH 177/306] Update Corolla Cross Hybrid f/w & doc (#25178) --- docs/CARS.md | 3 ++- selfdrive/car/toyota/values.py | 8 ++++++-- 2 files changed, 8 insertions(+), 3 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 3e35782b2a..cf5853ff4c 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -70,7 +70,7 @@ How We Rate The Cars |Toyota|RAV4 2019-21|All|||||| |Toyota|RAV4 Hybrid 2019-21|All|||||| -# Silver - 77 cars +# Silver - 78 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| @@ -126,6 +126,7 @@ How We Rate The Cars |Toyota|Camry 2018-20|All||[4](#footnotes)|||| |Toyota|Camry Hybrid 2018-20|All||[4](#footnotes)|||| |Toyota|Corolla Cross 2020-21 (Non-US only)|All|||||| +|Toyota|Corolla Cross Hybrid 2020-22 (Non-US only)|All|||||| |Toyota|Highlander 2017-19|All|[3](#footnotes)||||| |Toyota|Highlander Hybrid 2017-19|All|[3](#footnotes)||||| |Toyota|Prius 2016-20|TSS-P|[3](#footnotes)||||| diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 63b7240e2f..49aa3c9a94 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -124,6 +124,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ], CAR.COROLLAH_TSS2: [ ToyotaCarInfo("Toyota Corolla Hybrid 2020-22"), + ToyotaCarInfo("Toyota Corolla Cross Hybrid 2020-22 (Non-US only)", min_enable_speed=7.5), ToyotaCarInfo("Lexus UX Hybrid 2019-22"), ], CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo", footnotes=[Footnote.DSU]), @@ -788,6 +789,7 @@ FW_VERSIONS = { (Ecu.eps, 0x7a1, None): [ b'8965B12361\x00\x00\x00\x00\x00\x00', b'8965B12451\x00\x00\x00\x00\x00\x00', + b'8965B16011\x00\x00\x00\x00\x00\x00', b'8965B76012\x00\x00\x00\x00\x00\x00', b'8965B76050\x00\x00\x00\x00\x00\x00', b'\x018965B12350\x00\x00\x00\x00\x00\x00', @@ -808,15 +810,16 @@ FW_VERSIONS = { b'F152612800\x00\x00\x00\x00\x00\x00', b'F152612820\x00\x00\x00\x00\x00\x00', b'F152612840\x00\x00\x00\x00\x00\x00', + b'F152612842\x00\x00\x00\x00\x00\x00', b'F152612890\x00\x00\x00\x00\x00\x00', b'F152612A00\x00\x00\x00\x00\x00\x00', b'F152612A10\x00\x00\x00\x00\x00\x00', + b'F152612D00\x00\x00\x00\x00\x00\x00', + b'F152616011\x00\x00\x00\x00\x00\x00', b'F152642540\x00\x00\x00\x00\x00\x00', b'F152676293\x00\x00\x00\x00\x00\x00', b'F152676303\x00\x00\x00\x00\x00\x00', b'F152676304\x00\x00\x00\x00\x00\x00', - b'F152612D00\x00\x00\x00\x00\x00\x00', - b'F152612842\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F3301100\x00\x00\x00\x00', @@ -832,6 +835,7 @@ FW_VERSIONS = { b'\x028646F1202000\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', b'\x028646F1202100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', b'\x028646F1202200\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', + b'\x028646F1601100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', b"\x028646F1601300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00", b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', b'\x028646F76020C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', From 505bbce29d45c246be177d81e618f9289e78aa16 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 14 Jul 2022 19:55:18 -0700 Subject: [PATCH 178/306] controlsd: handle radar missing + cleanup system error handling (#25179) * controlsd: handle radar missing + cleanup system erorr handling * fix carla * update refs --- selfdrive/controls/controlsd.py | 25 +++++++++++-------- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/regen.py | 2 +- .../test/process_replay/test_processes.py | 12 ++++----- tools/sim/start_carla.sh | 1 + 5 files changed, 24 insertions(+), 18 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index b344705f9d..a20a3a9f37 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -96,7 +96,11 @@ class Controls: self.sm = sm if self.sm is None: - ignore = ['driverCameraState', 'managerState'] if SIMULATION else None + ignore = [] + if SIMULATION: + ignore += ['driverCameraState', 'managerState'] + if params.get_bool('WideCameraOnly'): + ignore += ['roadCameraState'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', 'managerState', 'liveParameters', 'radarState'] + self.camera_packets + joystick_packet, @@ -224,12 +228,8 @@ class Controls: if not self.CP.notCar: self.events.add_from_msg(self.sm['driverMonitoringState'].events) - # Handle car events. Ignore when CAN is invalid - if CS.canTimeout: - self.events.add(EventName.canBusMissing) - elif not CS.canValid: - self.events.add(EventName.canError) - else: + # Add car events, ignore if CAN isn't valid + if CS.canValid: self.events.add_from_msg(CS.events) # Create events for temperature, disk space, and memory @@ -309,14 +309,19 @@ class Controls: self.events.add(EventName.cameraFrameRate) if self.rk.lagging: self.events.add(EventName.controlsdLagging) - if len(self.sm['radarState'].radarErrors): + if len(self.sm['radarState'].radarErrors) or not self.sm.all_checks(['radarState']): self.events.add(EventName.radarFault) if not self.sm.valid['pandaStates']: self.events.add(EventName.usbError) + if CS.canTimeout: + self.events.add(EventName.canBusMissing) + elif not CS.canValid: + self.events.add(EventName.canError) # generic catch-all. ideally, a more specific event should be added above instead - no_system_errors = len(self.events) != num_events - if (not self.sm.all_checks() or self.can_rcv_error) and no_system_errors and CS.canValid and not CS.canTimeout: + has_disable_events = self.events.any(ET.NO_ENTRY) and (self.events.any(ET.SOFT_DISABLE) or self.events.any(ET.IMMEDIATE_DISABLE)) + no_system_errors = (not has_disable_events) or (len(self.events) == num_events) + if (not self.sm.all_checks() or self.can_rcv_error) and no_system_errors: if not self.sm.all_alive(): self.events.add(EventName.commIssue) elif not self.sm.all_freq_ok(): diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index dff232911e..00bf28ed83 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -fa52fa6c6703269e23610b1c6aba8a56b911fbbb \ No newline at end of file +7c1168af0311d2fef67b82812cd863a0e97c030e \ No newline at end of file diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index 1a2d436f1a..39f75ce428 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -263,7 +263,7 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False): seg_path = os.path.join(outdir, segment) # check to make sure openpilot is engaged in the route if not check_enabled(LogReader(os.path.join(seg_path, "rlog"))): - raise Exception(f"Route never enabled: {segment}") + raise Exception(f"Route did not engage for long enough: {segment}") return seg_path diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 4ebb0701dd..08933d143f 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -38,18 +38,18 @@ original_segments = [ segments = [ ("BODY", "regen660D86654BA|2022-07-06--14-27-15--0"), - ("HYUNDAI", "regen657E25856BB|2022-07-06--14-26-51--0"), + ("HYUNDAI", "regen114E5FF24D8|2022-07-14--17-08-47--0"), ("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--0"), ("TOYOTA", "regenBA97410FBEC|2022-07-06--14-26-49--0"), ("TOYOTA2", "regenDEDB1D9C991|2022-07-06--14-54-08--0"), ("TOYOTA3", "regenDDC1FE60734|2022-07-06--14-32-06--0"), - ("HONDA", "regen17B09D158B8|2022-07-06--14-31-46--0"), - ("HONDA2", "regen041739C3E9A|2022-07-06--15-08-02--0"), - ("CHRYSLER", "regenBB2F9C1425C|2022-07-06--14-31-41--0"), + ("HONDA", "regenE62960EEC38|2022-07-14--19-33-24--0"), + ("HONDA2", "regenC3EBD92F029|2022-07-14--19-29-47--0"), + ("CHRYSLER", "regen38346FB33D0|2022-07-14--18-05-26--0"), ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--3"), - ("SUBARU", "regen732B69F33B1|2022-07-06--14-36-18--0"), + ("SUBARU", "regen54A1E2BE5AA|2022-07-14--18-07-50--0"), ("GM", "regen01D09D915B5|2022-07-06--14-36-20--0"), - ("NISSAN", "regenEA6FB2773F5|2022-07-06--14-58-23--0"), + ("NISSAN", "regenCA0B0DC946E|2022-07-14--18-10-17--0"), ("VOLKSWAGEN", "regen007098CA0EF|2022-07-06--15-01-26--0"), ("MAZDA", "regen61BA413D53B|2022-07-06--14-39-42--0"), ] diff --git a/tools/sim/start_carla.sh b/tools/sim/start_carla.sh index 67ced7eb21..7ead6699f0 100755 --- a/tools/sim/start_carla.sh +++ b/tools/sim/start_carla.sh @@ -22,6 +22,7 @@ if [[ "$DETACH" ]]; then EXTRA_ARGS="-d" fi +docker kill carla_sim || true docker run \ --name carla_sim \ --rm \ From 5ccc2b89213f37649440984b8b660504a2c7fc29 Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Fri, 15 Jul 2022 13:18:52 +0200 Subject: [PATCH 179/306] Laikad: improve logging + posfix every 2 sec (#25184) * Improve logging for pos fix and caching * Set to debug --- selfdrive/locationd/laikad.py | 20 ++++++++++++++------ 1 file changed, 14 insertions(+), 6 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 13829b22a9..b67c483497 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -79,8 +79,8 @@ class Laikad: cloudlog.exception("Error parsing cache") timestamp = self.last_fetch_orbits_t.as_datetime() if self.last_fetch_orbits_t is not None else 'Nan' cloudlog.debug( - f"Loaded nav and orbits cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['orbits'].keys())} {list(cache['nav'].keys())} " + - f"Total: {sum([len(v) for v in cache['orbits']])} and {sum([len(v) for v in cache['nav']])}") + f"Loaded nav ({sum([len(v) for v in cache['nav']])}) and orbits ({sum([len(v) for v in cache['orbits']])}) cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['orbits'].keys())} {list(cache['nav'].keys())} " + + f"With time range: {[f'{start.as_datetime()}, {end.as_datetime()}' for (start,end) in self.astro_dog.orbit_fetched_times._ranges]}") def cache_ephemeris(self, t: GPSTime): if self.save_ephemeris and (self.last_cached_t is None or t - self.last_cached_t > SECS_IN_MIN): @@ -94,10 +94,15 @@ class Laikad: if self.last_pos_fix_t is None or abs(self.last_pos_fix_t - t) >= 2: min_measurements = 6 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 5 pos_fix, pos_fix_residual = calc_pos_fix_gauss_newton(processed_measurements, self.posfix_functions, min_measurements=min_measurements) - if len(pos_fix) > 0 and np.median(np.abs(pos_fix_residual)) < POS_FIX_RESIDUAL_THRESHOLD: - self.last_pos_fix = pos_fix[:3] - self.last_pos_residual = pos_fix_residual + if len(pos_fix) > 0: self.last_pos_fix_t = t + residual_median = np.median(np.abs(pos_fix_residual)) + if np.median(np.abs(pos_fix_residual)) < POS_FIX_RESIDUAL_THRESHOLD: + cloudlog.debug(f"Pos fix is within threshold with median: {residual_median.round()}") + self.last_pos_fix = pos_fix[:3] + self.last_pos_residual = pos_fix_residual + else: + cloudlog.debug(f"Pos fix failed with median: {residual_median.round()}. All residuals: {np.round(pos_fix_residual)}") return self.last_pos_fix def process_ublox_msg(self, ublox_msg, ublox_mono_time: int, block=False): @@ -115,10 +120,11 @@ class Laikad: new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7] processed_measurements = process_measurements(new_meas, self.astro_dog) - est_pos = self.get_est_pos(t, processed_measurements) corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) if len(est_pos) > 0 else [] + if ublox_mono_time % 10 == 0: + cloudlog.debug(f"Measurements Incoming/Processed/Corrected: {len(new_meas), len(processed_measurements), len(corrected_measurements)}") self.update_localizer(est_pos, t, corrected_measurements) kf_valid = all(self.kf_valid(t)) @@ -212,6 +218,8 @@ def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types, cach try: astro_dog.get_orbit_data(t, only_predictions=True) cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s") + cloudlog.debug(f"Downloaded orbits ({sum([len(v) for v in astro_dog.orbits])}): {list(astro_dog.orbits.keys())}" + + f"With time range: {[f'{start.as_datetime()}, {end.as_datetime()}' for (start,end) in astro_dog.orbit_fetched_times._ranges]}") return astro_dog.orbits, astro_dog.orbit_fetched_times, t except (DownloadFailed, RuntimeError, ValueError, IOError) as e: cloudlog.warning(f"No orbit data found or parsing failure: {e}") From 91eb096ac98b46605c283c637ed1e6b15598dc52 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 16 Jul 2022 01:53:10 +0800 Subject: [PATCH 180/306] replay: add support for reading from plain logs (#25053) * read from plain log * reduce memory copies * cleanup * fix test_replay --- tools/replay/logreader.cc | 22 +++++++++++----------- tools/replay/logreader.h | 2 +- tools/replay/route.cc | 4 ++-- tools/replay/tests/test_replay.cc | 1 + 4 files changed, 15 insertions(+), 14 deletions(-) diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc index f27224ac53..9b7a07a83f 100644 --- a/tools/replay/logreader.cc +++ b/tools/replay/logreader.cc @@ -47,22 +47,22 @@ LogReader::~LogReader() { } bool LogReader::load(const std::string &url, std::atomic *abort, bool local_cache, int chunk_size, int retries) { - FileReader f(local_cache, chunk_size, retries); - std::string data = f.read(url, abort); - if (data.empty()) return false; + raw_ = FileReader(local_cache, chunk_size, retries).read(url, abort); + if (raw_.empty()) return false; - return load((std::byte*)data.data(), data.size(), abort); + if (url.find(".bz2") != std::string::npos) { + raw_ = decompressBZ2(raw_, abort); + if (raw_.empty()) return false; + } + return parse(abort); } bool LogReader::load(const std::byte *data, size_t size, std::atomic *abort) { - raw_ = decompressBZ2(data, size, abort); - if (raw_.empty()) { - if (!(abort && *abort)) { - rWarning("failed to decompress log"); - } - return false; - } + raw_.assign((const char *)data, size); + return parse(abort); +} +bool LogReader::parse(std::atomic *abort) { try { kj::ArrayPtr words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word)); while (words.size() > 0 && !(abort && *abort)) { diff --git a/tools/replay/logreader.h b/tools/replay/logreader.h index fb63bf3913..bd666d0a74 100644 --- a/tools/replay/logreader.h +++ b/tools/replay/logreader.h @@ -52,10 +52,10 @@ public: ~LogReader(); bool load(const std::string &url, std::atomic *abort = nullptr, bool local_cache = false, int chunk_size = -1, int retries = 0); bool load(const std::byte *data, size_t size, std::atomic *abort = nullptr); - std::vector events; private: + bool parse(std::atomic *abort); std::string raw_; #ifdef HAS_MEMORY_RESOURCE std::pmr::monotonic_buffer_resource *mbr_ = nullptr; diff --git a/tools/replay/route.cc b/tools/replay/route.cc index 5b47090229..c91b27ae81 100644 --- a/tools/replay/route.cc +++ b/tools/replay/route.cc @@ -82,9 +82,9 @@ void Route::addFileToSegment(int n, const QString &file) { const int pos = name.lastIndexOf("--"); name = pos != -1 ? name.mid(pos + 2) : name; - if (name == "rlog.bz2") { + if (name == "rlog.bz2" || name == "rlog") { segments_[n].rlog = file; - } else if (name == "qlog.bz2") { + } else if (name == "qlog.bz2" || name == "qlog") { segments_[n].qlog = file; } else if (name == "fcamera.hevc") { segments_[n].road_cam = file; diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc index bd5dee013c..d6482c3ca2 100644 --- a/tools/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -71,6 +71,7 @@ TEST_CASE("LogReader") { FileReader reader(true); std::string corrupt_content = reader.read(TEST_RLOG_URL); corrupt_content.resize(corrupt_content.length() / 2); + corrupt_content = decompressBZ2(corrupt_content); LogReader log; REQUIRE(log.load((std::byte *)corrupt_content.data(), corrupt_content.size())); REQUIRE(log.events.size() > 0); From 98a0cd9455ad4ae02145d0653c0dabdfab0b3f0f Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 15 Jul 2022 19:42:13 +0100 Subject: [PATCH 181/306] Ford: FPv2 firmware request (#24211) --- selfdrive/car/fw_versions.py | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 5a33cdf6b7..c7256e7438 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -99,6 +99,11 @@ CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x CHRYSLER_RX_OFFSET = -0x280 +FORD_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) +FORD_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) + @dataclass class Request: @@ -207,6 +212,13 @@ REQUESTS: List[Request] = [ [CHRYSLER_VERSION_REQUEST], [CHRYSLER_VERSION_RESPONSE], ), + # Ford + Request( + "ford", + [TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST], + [TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE], + bus=0, + ), ] From 93cd0285ac014427cdd137fa2c8852c58bdef4db Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Mon, 18 Jul 2022 04:57:21 -0700 Subject: [PATCH 182/306] nav: toggle to show on left side of onroad ui (#25169) * nav: show on left side of onroad ui * add toggle * capitalization * update translations * single params object * skip unfinished translations test Co-authored-by: Willem Melching --- common/params.cc | 1 + selfdrive/ui/qt/offroad/settings.cc | 6 ++ selfdrive/ui/qt/onroad.cc | 8 +- selfdrive/ui/tests/test_translations.py | 1 + selfdrive/ui/translations/main_ko.ts | 132 ++++++++++++----------- selfdrive/ui/translations/main_zh-CHS.ts | 132 ++++++++++++----------- selfdrive/ui/translations/main_zh-CHT.ts | 132 ++++++++++++----------- selfdrive/ui/ui.cc | 4 +- selfdrive/ui/ui.h | 2 +- 9 files changed, 232 insertions(+), 186 deletions(-) diff --git a/common/params.cc b/common/params.cc index c4f65a9e02..77be6f36b1 100644 --- a/common/params.cc +++ b/common/params.cc @@ -140,6 +140,7 @@ std::unordered_map keys = { {"LiveParameters", PERSISTENT}, {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, {"NavSettingTime24h", PERSISTENT}, + {"NavSettingLeftSide", PERSISTENT}, {"NavdRender", PERSISTENT}, {"OpenpilotEnabledToggle", PERSISTENT}, {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 9a6e203966..7b6be919e0 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -71,6 +71,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { tr("Use 24h format instead of am/pm"), "../assets/offroad/icon_metric.png", }, + { + "NavSettingLeftSide", + tr("Show Map on Left Side of UI"), + tr("Show map on left side when in split screen view."), + "../assets/offroad/icon_road.png", + }, #endif }; diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index ca39a89ae4..fe39cd0cfc 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -52,6 +52,12 @@ void OnroadWindow::updateState(const UIState &s) { alerts->updateAlert(alert, bgColor); } + if (s.scene.map_on_left) { + split->setDirection(QBoxLayout::LeftToRight); + } else { + split->setDirection(QBoxLayout::RightToLeft); + } + nvg->updateState(s); if (bg != bgColor) { @@ -80,7 +86,7 @@ void OnroadWindow::offroadTransition(bool offroad) { QObject::connect(uiState(), &UIState::offroadTransition, m, &MapWindow::offroadTransition); m->setFixedWidth(topWidget(this)->width() / 2); - split->addWidget(m, 0, Qt::AlignRight); + split->insertWidget(0, m); // Make map visible after adding to split m->offroadTransition(offroad); diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index 3230a99543..d5409dd416 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -61,6 +61,7 @@ class TestTranslations(unittest.TestCase): self.assertEqual(cur_translations, new_translations, f"{file} ({name}) {file_ext.upper()} translation file out of date. Run selfdrive/ui/update_translations.py --release to update the translation files") + @unittest.skip("Only test unfinished translations before going to release") def test_unfinished_translations(self): for name, file in self.translation_files.items(): with self.subTest(name=name, file=file): diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 07d6877463..d737a9ce33 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -108,152 +108,152 @@ DevicePanel - + Dongle ID Dongle ID - + N/A N/A - + Serial Serial - + Driver Camera 운전자 카메라 - + PREVIEW 미리보기 - + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 운전자 모니터링이 좋은 가시성을 갖도록 운전자를 향한 카메라를 미리 봅니다. (차량연결은 해제되어있어야 합니다) - + Reset Calibration 캘리브레이션 재설정 - + RESET 재설정 - + Are you sure you want to reset calibration? 캘리브레이션을 재설정하시겠습니까? - + Review Training Guide 트레이닝 가이드 다시보기 - + REVIEW 다시보기 - + Review the rules, features, and limitations of openpilot openpilot의 규칙, 기능 및 제한 다시보기 - + Are you sure you want to review the training guide? 트레이닝 가이드를 다시보시겠습니까? - + Regulatory 규제 - + VIEW 보기 - + Change Language 언어 변경 - + CHANGE 변경 - + Select a language 언어를 선택하세요 - + Reboot 재부팅 - + Power Off 전원 종료 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot은 장치를 좌측 또는 우측은 4° 이내, 위쪽 5° 또는 아래쪽은 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다. - + Your device is pointed %1° %2 and %3° %4. 사용자의 장치가 %1° %2 및 %3° %4를 가리키고 있습니다. - + down 아래로 - + up 위로 - + left 좌측으로 - + right 우측으로 - + Are you sure you want to reboot? 재부팅 하시겠습니까? - + Disengage to Reboot 재부팅 하려면 해제하세요 - + Are you sure you want to power off? 전원을 종료하시겠습니까? - + Disengage to Power Off 전원을 종료하려면 해제하세요 @@ -488,30 +488,30 @@ location set NvgWindow - + km/h km/h - + mph mph - - + + MAX MAX - - + + SPEED SPEED - - + + LIMIT LIMIT @@ -710,33 +710,33 @@ location set SettingsWindow - + × × - + Device 장치 - - + + Network 네트워크 - + Toggles 토글 - + Software 소프트웨어 - + Navigation 네비게이션 @@ -975,68 +975,68 @@ location set SoftwarePanel - + Git Branch Git 브렌치 - + Git Commit Git 커밋 - + OS Version OS 버전 - + Version 버전 - + Last Update Check 최신 업데이트 검사 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 최근에 openpilot이 업데이트를 성공적으로 확인했습니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다. - + Check for Update 업데이트 확인 - + CHECKING 확인중 - + UNINSTALL 제거 - + Uninstall %1 제거 %1 - + Are you sure you want to uninstall? 제거하시겠습니까? - + failed to fetch update 업데이트를 가져올수없습니다 - - + + CHECK 확인 @@ -1194,12 +1194,22 @@ location set 오전/오후 대신 24시간 형식 사용 - + + Show Map on Left Side of UI + + + + + Show map on left side when in split screen view. + + + + 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! diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 424488fc56..682d1a05cf 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -108,152 +108,152 @@ DevicePanel - + Dongle ID 设备ID（Dongle ID） - + N/A N/A - + Serial 序列号 - + Driver Camera 驾驶员摄像头 - + PREVIEW 预览 - + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 打开并预览驾驶员摄像头，以确保驾驶员监控具有良好视野。仅熄火时可用。 - + Reset Calibration 重置设备校准 - + RESET 重置 - + Are you sure you want to reset calibration? 您确定要重置设备校准吗？ - + Review Training Guide 新手指南 - + REVIEW 查看 - + Review the rules, features, and limitations of openpilot 查看openpilot的使用规则，以及其功能和限制。 - + Are you sure you want to review the training guide? 您确定要查看新手指南吗？ - + Regulatory 监管信息 - + VIEW 查看 - + Change Language 切换语言 - + CHANGE 切换 - + Select a language 选择语言 - + Reboot 重启 - + Power Off 关机 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下8°之间。一般来说，openpilot会持续更新校准，很少需要重置。 - + Your device is pointed %1° %2 and %3° %4. 您的设备校准为%1° %2、%3° %4。 - + down 朝下 - + up 朝上 - + left 朝左 - + right 朝右 - + Are you sure you want to reboot? 您确定要重新启动吗？ - + Disengage to Reboot 取消openpilot以重新启动 - + Are you sure you want to power off? 您确定要关机吗？ - + Disengage to Power Off 取消openpilot以关机 @@ -486,30 +486,30 @@ location set NvgWindow - + km/h km/h - + mph mph - - + + MAX 最高定速 - - + + SPEED SPEED - - + + LIMIT LIMIT @@ -708,33 +708,33 @@ location set SettingsWindow - + × × - + Device 设备 - - + + Network 网络 - + Toggles 设定 - + Software 软件 - + Navigation 导航 @@ -973,68 +973,68 @@ location set SoftwarePanel - + Git Branch Git Branch - + Git Commit Git Commit - + OS Version 系统版本 - + Version 软件版本 - + Last Update Check 上次检查更新 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 上一次成功检查更新的时间。更新程序仅在汽车熄火时运行。 - + Check for Update 检查更新 - + CHECKING 正在检查更新 - + UNINSTALL 卸载 - + Uninstall %1 卸载 %1 - + Are you sure you want to uninstall? 您确定要卸载吗？ - + failed to fetch update 获取更新失败 - - + + CHECK 查看 @@ -1192,12 +1192,22 @@ location set 使用24小时制代替am/pm - + + Show Map on Left Side of UI + + + + + Show map on left side when in split screen view. + + + + 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！ diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 1eab75a6b4..c04a305355 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -108,152 +108,152 @@ DevicePanel - + Dongle ID Dongle ID - + N/A 無法使用 - + Serial 序號 - + Driver Camera 駕駛員攝像頭 - + PREVIEW 預覽 - + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 預覽駕駛員監控鏡頭畫面，以確保其具有良好視野。僅在熄火時可用。 - + Reset Calibration 重置校準 - + RESET 重置 - + Are you sure you want to reset calibration? 您確定要重置校準嗎？ - + Review Training Guide 觀看使用教學 - + REVIEW 觀看 - + Review the rules, features, and limitations of openpilot 觀看 openpilot 的使用規則、功能和限制 - + Are you sure you want to review the training guide? 您確定要觀看使用教學嗎？ - + Regulatory 法規/監管 - + VIEW 觀看 - + Change Language 更改語言 - + CHANGE 更改 - + Select a language 選擇語言 - + Reboot 重新啟動 - + Power Off 關機 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。 - + Your device is pointed %1° %2 and %3° %4. 你的設備目前朝%2 %1° 以及朝%4 %3° 。 - + down 下 - + up 上 - + left 左 - + right 右 - + Are you sure you want to reboot? 您確定要重新啟動嗎？ - + Disengage to Reboot 請先取消控車才能重新啟動 - + Are you sure you want to power off? 您確定您要關機嗎？ - + Disengage to Power Off 請先取消控車才能關機 @@ -488,30 +488,30 @@ location set NvgWindow - + km/h km/h - + mph mph - - + + MAX 最高 - - + + SPEED 速度 - - + + LIMIT 速限 @@ -713,33 +713,33 @@ location set SettingsWindow - + × × - + Device 設備 - - + + Network 網路 - + Toggles 設定 - + Software 軟體 - + Navigation 導航 @@ -978,68 +978,68 @@ location set SoftwarePanel - + Git Branch Git 分支 - + Git Commit Git 提交 - + OS Version 系統版本 - + Version 版本 - + Last Update Check 上次檢查時間 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 上次成功檢查更新的時間。更新系統只會在車子熄火時執行。 - + Check for Update 檢查更新 - + CHECKING 檢查中 - + UNINSTALL 卸載 - + Uninstall %1 卸載 %1 - + Are you sure you want to uninstall? 您確定您要卸載嗎？ - + failed to fetch update 下載更新失敗 - - + + CHECK 檢查 @@ -1197,12 +1197,22 @@ location set 使用 24 小時制。(預設值為 12 小時制) - + + Show Map on Left Side of UI + + + + + Show map on left side when in split screen view. + + + + 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！ diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 7922714c17..317ef497a5 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -192,7 +192,9 @@ static void update_state(UIState *s) { } void ui_update_params(UIState *s) { - s->scene.is_metric = Params().getBool("IsMetric"); + auto params = Params(); + s->scene.is_metric = params.getBool("IsMetric"); + s->scene.map_on_left = params.getBool("NavSettingLeftSide"); } void UIState::updateStatus() { diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 1aee3df9a1..16f78cdef4 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -101,7 +101,7 @@ typedef struct UIScene { QPointF lead_vertices[2]; float light_sensor, accel_sensor, gyro_sensor; - bool started, ignition, is_metric, longitudinal_control; + bool started, ignition, is_metric, map_on_left, longitudinal_control; uint64_t started_frame; } UIScene; From 2a5da48a7cd39d5289fbc933d4b89fd75fd453fa Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 18 Jul 2022 15:07:56 -0700 Subject: [PATCH 183/306] 2021 pacifica is supported --- docs/CARS.md | 3 ++- selfdrive/car/chrysler/values.py | 7 +++++-- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index cf5853ff4c..78044d9fb5 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -153,7 +153,7 @@ How We Rate The Cars |Volkswagen|Teramont Cross Sport 2021-22[7](#footnotes)|Driver Assistance|||||| |Volkswagen|Teramont X 2021-22[7](#footnotes)|Driver Assistance|||||| -# Bronze - 83 cars +# Bronze - 84 cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |---|---|---|:---:|:---:|:---:|:---:|:---:| @@ -165,6 +165,7 @@ How We Rate The Cars |Cadillac|Escalade ESV 2016[1](#footnotes)|ACC + LKAS|||||| |Chrysler|Pacifica 2017-18|Adaptive Cruise|||||| |Chrysler|Pacifica 2019-20|Adaptive Cruise|||||| +|Chrysler|Pacifica 2021|All|||||| |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|||||| |Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|||||| |Genesis|G90 2017-18|All|||||| diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 80baba9bd6..5a979776ec 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -14,7 +14,7 @@ class CAR: PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017" PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018" PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019" - PACIFICA_2018 = "CHRYSLER PACIFICA 2018" # includes 2017 Pacifica + PACIFICA_2018 = "CHRYSLER PACIFICA 2018" PACIFICA_2020 = "CHRYSLER PACIFICA 2020" # Jeep @@ -51,7 +51,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { CAR.PACIFICA_2018_HYBRID: None, # same platforms CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-22"), CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"), - CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2019-20"), + CAR.PACIFICA_2020: [ + ChryslerCarInfo("Chrysler Pacifica 2019-20"), + ChryslerCarInfo("Chrysler Pacifica 2021", package="All"), + ], CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22"), From ee081f278b090b5bd4a06f12749fffeb780c6162 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 18 Jul 2022 17:05:16 -0700 Subject: [PATCH 184/306] FPv2: fingerprint on all FW combinations (#25204) * Try to fingerprint on all possible combinations * build_fw_dict creates set dict, tries each fw version for addr, subaddr * clean up * static analysis * comment * fix comment * revert changes to test_fw_query_on_routes * remove comment --- selfdrive/car/fw_versions.py | 52 +++++++++++----------- selfdrive/debug/test_fw_query_on_routes.py | 21 ++------- 2 files changed, 29 insertions(+), 44 deletions(-) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index c7256e7438..9db03390b2 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -228,13 +228,13 @@ def chunks(l, n=128): def build_fw_dict(fw_versions, filter_brand=None): - fw_versions_dict = {} + fw_versions_dict = defaultdict(set) for fw in fw_versions: if filter_brand is None or fw.brand == filter_brand: addr = fw.address sub_addr = fw.subAddress if fw.subAddress != 0 else None - fw_versions_dict[(addr, sub_addr)] = fw.fwVersion - return fw_versions_dict + fw_versions_dict[(addr, sub_addr)].add(fw.fwVersion) + return dict(fw_versions_dict) def get_brand_addrs(): @@ -271,17 +271,18 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None): match_count = 0 candidate = None - for addr, version in fw_versions_dict.items(): - # All cars that have this FW response on the specified address - candidates = all_fw_versions[(addr[0], addr[1], version)] - - if len(candidates) == 1: - match_count += 1 - if candidate is None: - candidate = candidates[0] - # We uniquely matched two different cars. No fuzzy match possible - elif candidate != candidates[0]: - return set() + for addr, versions in fw_versions_dict.items(): + for version in versions: + # All cars that have this FW response on the specified address + candidates = all_fw_versions[(addr[0], addr[1], version)] + + if len(candidates) == 1: + match_count += 1 + if candidate is None: + candidate = candidates[0] + # We uniquely matched two different cars. No fuzzy match possible + elif candidate != candidates[0]: + return set() if match_count >= 2: if log: @@ -303,23 +304,23 @@ def match_fw_to_car_exact(fw_versions_dict): for ecu, expected_versions in fws.items(): ecu_type = ecu[0] addr = ecu[1:] - found_version = fw_versions_dict.get(addr, None) - if ecu_type == Ecu.esp and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and found_version is None: + found_versions = fw_versions_dict.get(addr, set()) + if ecu_type == Ecu.esp and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and not len(found_versions): continue # On some Toyota models, the engine can show on two different addresses - if ecu_type == Ecu.engine and candidate in (TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS) and found_version is None: + if ecu_type == Ecu.engine and candidate in (TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS) and not len(found_versions): continue # Ignore non essential ecus - if ecu_type not in ESSENTIAL_ECUS and found_version is None: + if ecu_type not in ESSENTIAL_ECUS and not len(found_versions): continue # Virtual debug ecu doesn't need to match the database if ecu_type == Ecu.debug: continue - if found_version not in expected_versions: + if not any([found_version in expected_versions for found_version in found_versions]): invalid.append(candidate) break @@ -327,19 +328,16 @@ def match_fw_to_car_exact(fw_versions_dict): def match_fw_to_car(fw_versions, allow_fuzzy=True): - versions = get_interface_attr('FW_VERSIONS', ignore_none=True) - # Try exact matching first exact_matches = [(True, match_fw_to_car_exact)] if allow_fuzzy: exact_matches.append((False, match_fw_to_car_fuzzy)) for exact_match, match_func in exact_matches: - # For each brand, attempt to fingerprint using FW returned from its queries + # TODO: For each brand, attempt to fingerprint using only FW returned from its queries matches = set() - for brand in versions.keys(): - fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand) - matches |= match_func(fw_versions_dict) + fw_versions_dict = build_fw_dict(fw_versions, filter_brand=None) + matches |= match_func(fw_versions_dict) if len(matches): return exact_match, matches @@ -408,7 +406,9 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True): car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, debug=debug, progress=progress) all_car_fw.extend(car_fw) - matches = match_fw_to_car_exact(build_fw_dict(car_fw)) + + # TODO: Until erroneous FW versions are removed, try to fingerprint on all possible combinations so far + _, matches = match_fw_to_car(all_car_fw, allow_fuzzy=False) if len(matches) == 1: break diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index 9ce0ebb3f5..191411f45a 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -89,24 +89,9 @@ if __name__ == "__main__": print("not in supported cars") break - # Older routes only have carFw from their brand - old_route = not any([len(fw.brand) for fw in car_fw]) - brands = SUPPORTED_BRANDS if not old_route else [None] - - # Exact match - exact_matches, fuzzy_matches = [], [] - for brand in brands: - fw_versions_dict = build_fw_dict(car_fw, filter_brand=brand) - exact_matches = match_fw_to_car_exact(fw_versions_dict) - if len(exact_matches) == 1: - break - - # Fuzzy match - for brand in brands: - fw_versions_dict = build_fw_dict(car_fw, filter_brand=brand) - fuzzy_matches = match_fw_to_car_fuzzy(fw_versions_dict) - if len(fuzzy_matches) == 1: - break + fw_versions_dict = build_fw_dict(car_fw) + exact_matches = match_fw_to_car_exact(fw_versions_dict) + fuzzy_matches = match_fw_to_car_fuzzy(fw_versions_dict) if (len(exact_matches) == 1) and (list(exact_matches)[0] == live_fingerprint): good_exact += 1 From 54e168fce2b98d573ad5924a31e7014dec1656cd Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 18 Jul 2022 17:19:33 -0700 Subject: [PATCH 185/306] Honda Civic 2022: add missing FW versions (#25206) Add missing 2022 Civic FW versions --- selfdrive/car/honda/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index c665b1cd03..3ce467e298 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -1407,6 +1407,7 @@ FW_VERSIONS = { b'38897-T20-A510\x00\x00', b'38897-T21-A010\x00\x00', b'38897-T20-A210\x00\x00', + b'38897-T20-A310\x00\x00', ], (Ecu.srs, 0x18DA53F1, None): [ b'77959-T20-A970\x00\x00', @@ -1417,6 +1418,7 @@ FW_VERSIONS = { b'78108-T21-A620\x00\x00', b'78108-T23-A110\x00\x00', b'78108-T21-A230\x00\x00', + b'78108-T22-A020\x00\x00', ], (Ecu.vsa, 0x18DA28F1, None): [ b'57114-T20-AB40\x00\x00', @@ -1426,12 +1428,14 @@ FW_VERSIONS = { b'28101-65D-A020\x00\x00', b'28101-65D-A120\x00\x00', b'28101-65H-A020\x00\x00', + b'28101-65H-A120\x00\x00', ], (Ecu.programmedFuelInjection, 0x18da10f1, None): [ b'37805-64L-A540\x00\x00', b'37805-64S-A540\x00\x00', b'37805-64S-A720\x00\x00', b'37805-64A-A540\x00\x00', + b'37805-64A-A620\x00\x00', ], }, } From a80324528942e2df1a6f27df65583976c0b1bdbc Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 19 Jul 2022 01:29:16 +0100 Subject: [PATCH 186/306] Ford FPv2: send engine FW request to OBD port (#25202) * ford fw request on OBD port too * Ford: whitelist fw query for ecu type --- selfdrive/car/fw_versions.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 9db03390b2..ee2c0f31d4 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -213,11 +213,18 @@ REQUESTS: List[Request] = [ [CHRYSLER_VERSION_RESPONSE], ), # Ford + Request( + "ford", + [TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST], + [TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE], + whitelist_ecus=[Ecu.engine], + ), Request( "ford", [TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST], [TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE], bus=0, + whitelist_ecus=[Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera], ), ] From 500d16622c2c2a60d11539f20f7dda5205bb0915 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 18 Jul 2022 17:53:00 -0700 Subject: [PATCH 187/306] simplify compatibility docs (#25190) * simplify tiers * little more * cleanup * fix test --- docs/CARS.md | 422 ++++++++++++++---------------- selfdrive/car/CARS_template.md | 16 +- selfdrive/car/docs.py | 31 +-- selfdrive/car/docs_definitions.py | 48 ++-- selfdrive/car/tests/test_docs.py | 8 +- 5 files changed, 239 insertions(+), 286 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 78044d9fb5..0fee4ddc84 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -2,20 +2,9 @@ A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system. -Cars are organized into three tiers: - -- Gold - The best openpilot experience. Great highway driving and beyond. -- Silver - A solid highway driving experience, but is limited by stock longitudinal. May be upgraded in the future. -- Bronze - A good highway experience, but may have limited performance in traffic and on sharp turns. - How We Rate The Cars --- -### openpilot Adaptive Cruise Control (ACC) -- - openpilot is able to control the gas and brakes. -- - openpilot is able to control the gas and brakes with some restrictions. -- - The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system. - ### Stop and Go - - Adaptive Cruise Control (ACC) operates down to 0 mph. - - Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed. @@ -25,223 +14,206 @@ How We Rate The Cars - - No steering control below certain speeds. ### Steering Torque -- - Car has enough steering torque to take tighter turns. -- - Car has enough steering torque for comfortable highway driving. +- - Car has enough steering torque to take tight turns. - - Limited ability to make turns. -### Actively Maintained -- - Mainline software support, harness hardware sold by comma, lots of users, primary development target. -- - Low user count, community maintained, harness hardware not sold by comma. - -**All supported cars can move between the tiers as support changes.** - -# Gold - 30 cars - -|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| -|---|---|---|:---:|:---:|:---:|:---:|:---:| -|comma|body|All|||||| -|Genesis|G70 2020|All|||||| -|Hyundai|Palisade 2020-21|All|||||| -|Hyundai|Santa Fe 2019-20|All|||||| -|Hyundai|Sonata 2020-22|All|||||| -|Hyundai|Sonata Hybrid 2020-22|All|||||| -|Kia|Niro Electric 2019-20|All|||||| -|Kia|Niro Electric 2021|All|||||| -|Kia|Niro Electric 2022|All|||||| -|Kia|Telluride 2020|SCC + LKAS|||||| -|Lexus|ES 2019-22|All|||||| -|Lexus|ES Hybrid 2019-22|All|||||| -|Lexus|NX 2020-21|All|||||| -|Lexus|NX Hybrid 2020-21|All|||||| -|Lexus|RX 2020-22|All|||||| -|Lexus|UX Hybrid 2019-22|All|||||| -|Toyota|Avalon 2022|All|||||| -|Toyota|Avalon Hybrid 2022|All|||||| -|Toyota|Camry 2021-22|All||[4](#footnotes)|||| -|Toyota|Camry Hybrid 2021-22|All|||||| -|Toyota|Corolla 2020-22|All|||||| -|Toyota|Corolla Hatchback 2019-22|All|||||| -|Toyota|Corolla Hybrid 2020-22|All|||||| -|Toyota|Highlander 2020-22|All|||||| -|Toyota|Highlander Hybrid 2020-22|All|||||| -|Toyota|Mirai 2021|All|||||| -|Toyota|Prius 2021-22|All|||||| -|Toyota|Prius Prime 2021-22|All|||||| -|Toyota|RAV4 2019-21|All|||||| -|Toyota|RAV4 Hybrid 2019-21|All|||||| - -# Silver - 78 cars - -|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| -|---|---|---|:---:|:---:|:---:|:---:|:---:| -|Audi|A3 2014-19|ACC + Lane Assist|||||| -|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|||||| -|Audi|RS3 2018|ACC + Lane Assist|||||| -|Audi|S3 2015-17|ACC + Lane Assist|||||| -|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise|||||| -|Genesis|G70 2018-19|All|||||| -|Genesis|G80 2017-19|All|||||| -|Hyundai|Elantra 2021-22|SCC + LKAS|||||| -|Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|||||| -|Hyundai|Ioniq Electric 2020|SCC + LKAS|||||| -|Hyundai|Ioniq Hybrid 2020-22|SCC + LFA|||||| -|Hyundai|Ioniq Plug-in Hybrid 2020-21|SCC + LKAS|||||| -|Hyundai|Kona 2020|SCC + LKAS|||||| -|Hyundai|Kona Electric 2018-21|SCC + LKAS|||||| -|Hyundai|Kona Hybrid 2020|SCC + LKAS|||||| -|Hyundai|Santa Fe 2021-22|All|||||| -|Hyundai|Santa Fe Hybrid 2022|All|||||| -|Hyundai|Santa Fe Plug-in Hybrid 2022|All|||||| -|Hyundai|Tucson Diesel 2019|SCC + LKAS|||||| -|Kia|Ceed 2019|SCC + LKAS|||||| -|Kia|EV6 2022|All|||||| -|Kia|Forte 2018|SCC + LKAS|||||| -|Kia|Forte 2019-21|SCC + LKAS|||||| -|Kia|K5 2021-22|SCC|||||| -|Kia|Niro Hybrid 2021|SCC + LKAS|||||| -|Kia|Niro Hybrid 2022|SCC + LKAS|||||| -|Kia|Optima 2019|SCC + LKAS|||||| -|Kia|Seltos 2021|SCC + LKAS|||||| -|Kia|Sorento 2018|SCC + LKAS|||||| -|Kia|Sorento 2019|SCC + LKAS|||||| -|Kia|Stinger 2018-20|SCC + LKAS|||||| -|Lexus|CT Hybrid 2017-18|LSS|[3](#footnotes)||||| -|Lexus|ES Hybrid 2017-18|LSS|[3](#footnotes)||||| -|Lexus|NX 2018-19|All|[3](#footnotes)||||| -|Lexus|NX Hybrid 2018-19|All|[3](#footnotes)||||| -|Lexus|RX Hybrid 2020-21|All|||||| -|Nissan|Altima 2019-20|ProPILOT|||||| -|Nissan|Leaf 2018-22|ProPILOT|||||| -|Nissan|Rogue 2018-20|ProPILOT|||||| -|Nissan|X-Trail 2017|ProPILOT|||||| -|SEAT|Ateca 2018|Driver Assistance|||||| -|SEAT|Leon 2014-20|Driver Assistance|||||| -|Subaru|Ascent 2019-21|All|||||| -|Subaru|Crosstrek 2020-21|EyeSight|||||| -|Subaru|Forester 2019-22|All|||||| -|Subaru|Impreza 2020-22|EyeSight|||||| -|Subaru|XV 2020-21|EyeSight|||||| -|Toyota|Alphard 2019-20|All|||||| -|Toyota|Alphard Hybrid 2021|All|||||| -|Toyota|Camry 2018-20|All||[4](#footnotes)|||| -|Toyota|Camry Hybrid 2018-20|All||[4](#footnotes)|||| -|Toyota|Corolla Cross 2020-21 (Non-US only)|All|||||| -|Toyota|Corolla Cross Hybrid 2020-22 (Non-US only)|All|||||| -|Toyota|Highlander 2017-19|All|[3](#footnotes)||||| -|Toyota|Highlander Hybrid 2017-19|All|[3](#footnotes)||||| -|Toyota|Prius 2016-20|TSS-P|[3](#footnotes)||||| -|Toyota|Prius Prime 2017-20|All|[3](#footnotes)||||| -|Toyota|RAV4 2022|All|||||| -|Toyota|RAV4 Hybrid 2016-18|TSS-P|[3](#footnotes)||||| -|Toyota|RAV4 Hybrid 2022|All|||||| -|Volkswagen|Atlas 2018-22[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|Atlas Cross Sport 2021-22[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|e-Golf 2014-20|Driver Assistance|||||| -|Volkswagen|Golf 2015-20[8](#footnotes)|Driver Assistance|||||| -|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|||||| -|Volkswagen|Golf GTD 2015-20|Driver Assistance|||||| -|Volkswagen|Golf GTE 2015-20|Driver Assistance|||||| -|Volkswagen|Golf GTI 2015-21|Driver Assistance|||||| -|Volkswagen|Golf R 2015-19[8](#footnotes)|Driver Assistance|||||| -|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|||||| -|Volkswagen|Passat 2015-22[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|Passat Alltrack 2015-22[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|Passat GTE 2015-22[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|Polo 2020-22[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|Polo GTI 2020-22[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|Teramont 2018-22[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|Teramont Cross Sport 2021-22[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|Teramont X 2021-22[7](#footnotes)|Driver Assistance|||||| - -# Bronze - 84 cars - -|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| -|---|---|---|:---:|:---:|:---:|:---:|:---:| -|Acura|ILX 2016-19|AcuraWatch Plus|||||| -|Acura|RDX 2016-18|AcuraWatch Plus|||||| -|Acura|RDX 2019-22|All|||||| -|Audi|Q2 2018|ACC + Lane Assist|||||| -|Audi|Q3 2020-21|ACC + Lane Assist|||||| -|Cadillac|Escalade ESV 2016[1](#footnotes)|ACC + LKAS|||||| -|Chrysler|Pacifica 2017-18|Adaptive Cruise|||||| -|Chrysler|Pacifica 2019-20|Adaptive Cruise|||||| -|Chrysler|Pacifica 2021|All|||||| -|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|||||| -|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|||||| -|Genesis|G90 2017-18|All|||||| -|GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise|||||| -|Honda|Accord 2018-22|All|||||| -|Honda|Accord Hybrid 2018-22|All|||||| -|Honda|Civic 2016-18|Honda Sensing|||||| -|Honda|Civic 2019-21|All|||[2](#footnotes)||| -|Honda|Civic 2022|All|||||| -|Honda|Civic Hatchback 2017-21|Honda Sensing|||||| -|Honda|Civic Hatchback 2022|All|||||| -|Honda|CR-V 2015-16|Touring|||||| -|Honda|CR-V 2017-22|Honda Sensing|||||| -|Honda|CR-V Hybrid 2017-19|Honda Sensing|||||| -|Honda|e 2020|All|||||| -|Honda|Fit 2018-20|Honda Sensing|||||| -|Honda|Freed 2020|Honda Sensing|||||| -|Honda|HR-V 2019-22|Honda Sensing|||||| -|Honda|Insight 2019-22|All|||||| -|Honda|Inspire 2018|All|||||| -|Honda|Odyssey 2018-22|Honda Sensing|||||| -|Honda|Passport 2019-21|All|||||| -|Honda|Pilot 2016-22|Honda Sensing|||||| -|Honda|Ridgeline 2017-22|Honda Sensing|||||| -|Hyundai|Elantra 2017-19|SCC + LKAS|||||| -|Hyundai|Genesis 2015-16|SCC + LKAS|||||| -|Hyundai|Ioniq Electric 2019|SCC + LKAS|||||| -|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|||||| -|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|||||| -|Hyundai|Sonata 2018-19|SCC + LKAS|||||| -|Hyundai|Tucson 2021|SCC + LKAS|||||| -|Hyundai|Veloster 2019-20|SCC + LKAS|||||| -|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|||||| -|Jeep|Grand Cherokee 2019-21|Adaptive Cruise|||||| -|Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|||||| -|Kia|Optima 2017|SCC + LKAS|||||| -|Lexus|IS 2017-19|All|||||| -|Lexus|RC 2017-2020|All|||||| -|Lexus|RX 2016-18|All|[3](#footnotes)||||| -|Lexus|RX Hybrid 2016-19|All|[3](#footnotes)||||| -|Mazda|CX-5 2022|All|||||| -|Mazda|CX-9 2021-22|All|||||| -|Ram|1500 2019-22|Adaptive Cruise|||||| -|Subaru|Crosstrek 2018-19|EyeSight|||||| -|Subaru|Impreza 2017-19|EyeSight|||||| -|Subaru|XV 2018-19|EyeSight|||||| -|Škoda|Kamiq 2021[5](#footnotes)|Driver Assistance|||||| -|Škoda|Karoq 2019|Driver Assistance|||||| -|Škoda|Kodiaq 2018-19|Driver Assistance|||||| -|Škoda|Octavia 2015, 2018-19|Driver Assistance|||||| -|Škoda|Octavia RS 2016|Driver Assistance|||||| -|Škoda|Scala 2020|Driver Assistance|||||| -|Škoda|Superb 2015-18|Driver Assistance|||||| -|Toyota|Avalon 2016-18|TSS-P|[3](#footnotes)||||| -|Toyota|Avalon 2019-21|TSS-P|[3](#footnotes)||||| -|Toyota|Avalon Hybrid 2019-21|TSS-P|[3](#footnotes)||||| -|Toyota|C-HR 2017-21|All|||||| -|Toyota|C-HR Hybrid 2017-19|All|||||| -|Toyota|Corolla 2017-19|All|[3](#footnotes)||||| -|Toyota|Prius v 2017|TSS-P|[3](#footnotes)||||| -|Toyota|RAV4 2016-18|TSS-P|[3](#footnotes)||||| -|Toyota|Sienna 2018-20|All|[3](#footnotes)||||| -|Volkswagen|Arteon 2018-22[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|Arteon eHybrid 2020-22[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|Arteon R 2020-22[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|California 2021[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|Caravelle 2020[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|CC 2018-22[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|Jetta 2018-22[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|Jetta GLI 2021-22[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|T-Cross 2021[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|T-Roc 2021[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|Tiguan 2019-22[7](#footnotes)|Driver Assistance|||||| -|Volkswagen|Touran 2017|Driver Assistance|||||| +# 192 Supported Cars + +|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque| +|---|---|---|:---:|:---:|:---:|:---:| +|Acura|ILX 2016-19|AcuraWatch Plus||||| +|Acura|RDX 2016-18|AcuraWatch Plus||||| +|Acura|RDX 2019-22|All||||| +|Audi|A3 2014-19|ACC + Lane Assist||||| +|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist||||| +|Audi|Q2 2018|ACC + Lane Assist||||| +|Audi|Q3 2020-21|ACC + Lane Assist||||| +|Audi|RS3 2018|ACC + Lane Assist||||| +|Audi|S3 2015-17|ACC + Lane Assist||||| +|Cadillac|Escalade ESV 2016[1](#footnotes)|ACC + LKAS||||| +|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise||||| +|Chrysler|Pacifica 2017-18|Adaptive Cruise||||| +|Chrysler|Pacifica 2019-20|Adaptive Cruise||||| +|Chrysler|Pacifica 2021|All||||| +|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise||||| +|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise||||| +|comma|body|All||||| +|Genesis|G70 2018-19|All||||| +|Genesis|G70 2020|All||||| +|Genesis|G80 2017-19|All||||| +|Genesis|G90 2017-18|All||||| +|GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise||||| +|Honda|Accord 2018-22|All||||| +|Honda|Accord Hybrid 2018-22|All||||| +|Honda|Civic 2016-18|Honda Sensing||||| +|Honda|Civic 2019-21|All|||[2](#footnotes)|| +|Honda|Civic 2022|All||||| +|Honda|Civic Hatchback 2017-21|Honda Sensing||||| +|Honda|Civic Hatchback 2022|All||||| +|Honda|CR-V 2015-16|Touring||||| +|Honda|CR-V 2017-22|Honda Sensing||||| +|Honda|CR-V Hybrid 2017-19|Honda Sensing||||| +|Honda|e 2020|All||||| +|Honda|Fit 2018-20|Honda Sensing||||| +|Honda|Freed 2020|Honda Sensing||||| +|Honda|HR-V 2019-22|Honda Sensing||||| +|Honda|Insight 2019-22|All||||| +|Honda|Inspire 2018|All||||| +|Honda|Odyssey 2018-22|Honda Sensing||||| +|Honda|Passport 2019-21|All||||| +|Honda|Pilot 2016-22|Honda Sensing||||| +|Honda|Ridgeline 2017-22|Honda Sensing||||| +|Hyundai|Elantra 2017-19|SCC + LKAS||||| +|Hyundai|Elantra 2021-22|SCC + LKAS||||| +|Hyundai|Elantra Hybrid 2021-22|SCC + LKAS||||| +|Hyundai|Genesis 2015-16|SCC + LKAS||||| +|Hyundai|Ioniq Electric 2019|SCC + LKAS||||| +|Hyundai|Ioniq Electric 2020|SCC + LKAS||||| +|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS||||| +|Hyundai|Ioniq Hybrid 2020-22|SCC + LFA||||| +|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS||||| +|Hyundai|Ioniq Plug-in Hybrid 2020-21|SCC + LKAS||||| +|Hyundai|Kona 2020|SCC + LKAS||||| +|Hyundai|Kona Electric 2018-21|SCC + LKAS||||| +|Hyundai|Kona Hybrid 2020|SCC + LKAS||||| +|Hyundai|Palisade 2020-21|All||||| +|Hyundai|Santa Fe 2019-20|All||||| +|Hyundai|Santa Fe 2021-22|All||||| +|Hyundai|Santa Fe Hybrid 2022|All||||| +|Hyundai|Santa Fe Plug-in Hybrid 2022|All||||| +|Hyundai|Sonata 2018-19|SCC + LKAS||||| +|Hyundai|Sonata 2020-22|All||||| +|Hyundai|Sonata Hybrid 2020-22|All||||| +|Hyundai|Tucson 2021|SCC + LKAS||||| +|Hyundai|Tucson Diesel 2019|SCC + LKAS||||| +|Hyundai|Veloster 2019-20|SCC + LKAS||||| +|Jeep|Grand Cherokee 2016-18|Adaptive Cruise||||| +|Jeep|Grand Cherokee 2019-21|Adaptive Cruise||||| +|Kia|Ceed 2019|SCC + LKAS||||| +|Kia|EV6 2022|All||||| +|Kia|Forte 2018|SCC + LKAS||||| +|Kia|Forte 2019-21|SCC + LKAS||||| +|Kia|K5 2021-22|SCC||||| +|Kia|Niro Electric 2019-20|All||||| +|Kia|Niro Electric 2021|All||||| +|Kia|Niro Electric 2022|All||||| +|Kia|Niro Hybrid 2021|SCC + LKAS||||| +|Kia|Niro Hybrid 2022|SCC + LKAS||||| +|Kia|Niro Plug-in Hybrid 2019|SCC + LKAS||||| +|Kia|Optima 2017|SCC + LKAS||||| +|Kia|Optima 2019|SCC + LKAS||||| +|Kia|Seltos 2021|SCC + LKAS||||| +|Kia|Sorento 2018|SCC + LKAS||||| +|Kia|Sorento 2019|SCC + LKAS||||| +|Kia|Stinger 2018-20|SCC + LKAS||||| +|Kia|Telluride 2020|SCC + LKAS||||| +|Lexus|CT Hybrid 2017-18|LSS|[3](#footnotes)|||| +|Lexus|ES 2019-22|All||||| +|Lexus|ES Hybrid 2017-18|LSS|[3](#footnotes)|||| +|Lexus|ES Hybrid 2019-22|All||||| +|Lexus|IS 2017-19|All||||| +|Lexus|NX 2018-19|All|[3](#footnotes)|||| +|Lexus|NX 2020-21|All||||| +|Lexus|NX Hybrid 2018-19|All|[3](#footnotes)|||| +|Lexus|NX Hybrid 2020-21|All||||| +|Lexus|RC 2017-2020|All||||| +|Lexus|RX 2016-18|All|[3](#footnotes)|||| +|Lexus|RX 2020-22|All||||| +|Lexus|RX Hybrid 2016-19|All|[3](#footnotes)|||| +|Lexus|RX Hybrid 2020-21|All||||| +|Lexus|UX Hybrid 2019-22|All||||| +|Mazda|CX-5 2022|All||||| +|Mazda|CX-9 2021-22|All||||| +|Nissan|Altima 2019-20|ProPILOT||||| +|Nissan|Leaf 2018-22|ProPILOT||||| +|Nissan|Rogue 2018-20|ProPILOT||||| +|Nissan|X-Trail 2017|ProPILOT||||| +|Ram|1500 2019-22|Adaptive Cruise||||| +|SEAT|Ateca 2018|Driver Assistance||||| +|SEAT|Leon 2014-20|Driver Assistance||||| +|Subaru|Ascent 2019-21|All||||| +|Subaru|Crosstrek 2018-19|EyeSight||||| +|Subaru|Crosstrek 2020-21|EyeSight||||| +|Subaru|Forester 2019-22|All||||| +|Subaru|Impreza 2017-19|EyeSight||||| +|Subaru|Impreza 2020-22|EyeSight||||| +|Subaru|XV 2018-19|EyeSight||||| +|Subaru|XV 2020-21|EyeSight||||| +|Škoda|Kamiq 2021[5](#footnotes)|Driver Assistance||||| +|Škoda|Karoq 2019|Driver Assistance||||| +|Škoda|Kodiaq 2018-19|Driver Assistance||||| +|Škoda|Octavia 2015, 2018-19|Driver Assistance||||| +|Škoda|Octavia RS 2016|Driver Assistance||||| +|Škoda|Scala 2020|Driver Assistance||||| +|Škoda|Superb 2015-18|Driver Assistance||||| +|Toyota|Alphard 2019-20|All||||| +|Toyota|Alphard Hybrid 2021|All||||| +|Toyota|Avalon 2016-18|TSS-P|[3](#footnotes)|||| +|Toyota|Avalon 2019-21|TSS-P|[3](#footnotes)|||| +|Toyota|Avalon 2022|All||||| +|Toyota|Avalon Hybrid 2019-21|TSS-P|[3](#footnotes)|||| +|Toyota|Avalon Hybrid 2022|All||||| +|Toyota|C-HR 2017-21|All||||| +|Toyota|C-HR Hybrid 2017-19|All||||| +|Toyota|Camry 2018-20|All||[4](#footnotes)||| +|Toyota|Camry 2021-22|All||[4](#footnotes)||| +|Toyota|Camry Hybrid 2018-20|All||[4](#footnotes)||| +|Toyota|Camry Hybrid 2021-22|All||||| +|Toyota|Corolla 2017-19|All|[3](#footnotes)|||| +|Toyota|Corolla 2020-22|All||||| +|Toyota|Corolla Cross 2020-21 (Non-US only)|All||||| +|Toyota|Corolla Cross Hybrid 2020-22 (Non-US only)|All||||| +|Toyota|Corolla Hatchback 2019-22|All||||| +|Toyota|Corolla Hybrid 2020-22|All||||| +|Toyota|Highlander 2017-19|All|[3](#footnotes)|||| +|Toyota|Highlander 2020-22|All||||| +|Toyota|Highlander Hybrid 2017-19|All|[3](#footnotes)|||| +|Toyota|Highlander Hybrid 2020-22|All||||| +|Toyota|Mirai 2021|All||||| +|Toyota|Prius 2016-20|TSS-P|[3](#footnotes)|||| +|Toyota|Prius 2021-22|All||||| +|Toyota|Prius Prime 2017-20|All|[3](#footnotes)|||| +|Toyota|Prius Prime 2021-22|All||||| +|Toyota|Prius v 2017|TSS-P|[3](#footnotes)|||| +|Toyota|RAV4 2016-18|TSS-P|[3](#footnotes)|||| +|Toyota|RAV4 2019-21|All||||| +|Toyota|RAV4 2022|All||||| +|Toyota|RAV4 Hybrid 2016-18|TSS-P|[3](#footnotes)|||| +|Toyota|RAV4 Hybrid 2019-21|All||||| +|Toyota|RAV4 Hybrid 2022|All||||| +|Toyota|Sienna 2018-20|All|[3](#footnotes)|||| +|Volkswagen|Arteon 2018-22[7](#footnotes)|Driver Assistance||||| +|Volkswagen|Arteon eHybrid 2020-22[7](#footnotes)|Driver Assistance||||| +|Volkswagen|Arteon R 2020-22[7](#footnotes)|Driver Assistance||||| +|Volkswagen|Atlas 2018-22[7](#footnotes)|Driver Assistance||||| +|Volkswagen|Atlas Cross Sport 2021-22[7](#footnotes)|Driver Assistance||||| +|Volkswagen|California 2021[7](#footnotes)|Driver Assistance||||| +|Volkswagen|Caravelle 2020[7](#footnotes)|Driver Assistance||||| +|Volkswagen|CC 2018-22[7](#footnotes)|Driver Assistance||||| +|Volkswagen|e-Golf 2014-20|Driver Assistance||||| +|Volkswagen|Golf 2015-20[8](#footnotes)|Driver Assistance||||| +|Volkswagen|Golf Alltrack 2015-19|Driver Assistance||||| +|Volkswagen|Golf GTD 2015-20|Driver Assistance||||| +|Volkswagen|Golf GTE 2015-20|Driver Assistance||||| +|Volkswagen|Golf GTI 2015-21|Driver Assistance||||| +|Volkswagen|Golf R 2015-19[8](#footnotes)|Driver Assistance||||| +|Volkswagen|Golf SportsVan 2015-20|Driver Assistance||||| +|Volkswagen|Jetta 2018-22[7](#footnotes)|Driver Assistance||||| +|Volkswagen|Jetta GLI 2021-22[7](#footnotes)|Driver Assistance||||| +|Volkswagen|Passat 2015-22[7](#footnotes)|Driver Assistance||||| +|Volkswagen|Passat Alltrack 2015-22[7](#footnotes)|Driver Assistance||||| +|Volkswagen|Passat GTE 2015-22[7](#footnotes)|Driver Assistance||||| +|Volkswagen|Polo 2020-22[7](#footnotes)|Driver Assistance||||| +|Volkswagen|Polo GTI 2020-22[7](#footnotes)|Driver Assistance||||| +|Volkswagen|T-Cross 2021[7](#footnotes)|Driver Assistance||||| +|Volkswagen|T-Roc 2021[7](#footnotes)|Driver Assistance||||| +|Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance||||| +|Volkswagen|Teramont 2018-22[7](#footnotes)|Driver Assistance||||| +|Volkswagen|Teramont Cross Sport 2021-22[7](#footnotes)|Driver Assistance||||| +|Volkswagen|Teramont X 2021-22[7](#footnotes)|Driver Assistance||||| +|Volkswagen|Tiguan 2019-22[7](#footnotes)|Driver Assistance||||| +|Volkswagen|Touran 2017|Driver Assistance||||| 1Requires an OBD-II car harness and community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md index 891445a558..8603f31434 100644 --- a/selfdrive/car/CARS_template.md +++ b/selfdrive/car/CARS_template.md @@ -5,12 +5,6 @@ A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system. -Cars are organized into three tiers: - -{% for tier in tiers %} -- {{tier.name.title()}} - {{tier.value}} -{% endfor %} - How We Rate The Cars --- @@ -23,20 +17,16 @@ How We Rate The Cars {% endfor %} {% endfor %} -**All supported cars can move between the tiers as support changes.** -{% for tier, cars in tiers.items() %} -# {{tier.name.title()}} - {{cars | length}} cars +# {{all_car_info | length}} Supported Cars |{{Column | map(attribute='value') | join('|')}}| -|---|---|---|:---:|:---:|:---:|:---:|:---:| -{% for car_info in cars %} +|---|---|---|:---:|:---:|:---:|:---:| +{% for car_info in all_car_info %} |{% for column in Column %}{{car_info.get_column(column, star_icon, footnote_tag)}}|{% endfor %} {% endfor %} -{% endfor %} - {% for footnote in footnotes %} {{loop.index}}{{footnote}}
diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py index 860503dbdd..5831916039 100755 --- a/selfdrive/car/docs.py +++ b/selfdrive/car/docs.py @@ -7,7 +7,7 @@ from natsort import natsorted from typing import Dict, List from common.basedir import BASEDIR -from selfdrive.car.docs_definitions import STAR_DESCRIPTIONS, CarInfo, Column, Star, Tier +from selfdrive.car.docs_definitions import STAR_DESCRIPTIONS, StarColumns, TierColumns, CarInfo, Column, Star 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 from selfdrive.car.tests.routes import non_tested_cars @@ -47,25 +47,21 @@ def get_all_car_info() -> List[CarInfo]: return sorted_cars -def sort_by_tier(all_car_info: List[CarInfo]) -> Dict[Tier, List[CarInfo]]: - tier_car_info: Dict[Tier, List[CarInfo]] = {tier: [] for tier in Tier} - for car_info in all_car_info: - tier_car_info[car_info.tier].append(car_info) - - # Sort cars by make and model + year - for tier, cars in tier_car_info.items(): - tier_car_info[tier] = natsorted(cars, key=lambda car: (car.make + car.model).lower()) - - return tier_car_info - - -def generate_cars_md(all_car_info: List[CarInfo], template_fn: str) -> str: +def generate_cars_md(all_car_info: List[CarInfo], template_fn: str, only_tier_cols: bool) -> str: with open(template_fn, "r") as f: template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True) + cols = list(Column) + if only_tier_cols: + hide_cols = set(StarColumns) - set(TierColumns) + cols = [c for c in cols if c not in hide_cols] + for car in all_car_info: + for c in hide_cols: + del car.row[c] + footnotes = [fn.value.text for fn in ALL_FOOTNOTES] - cars_md: str = template.render(tiers=sort_by_tier(all_car_info), all_car_info=all_car_info, - footnotes=footnotes, Star=Star, Column=Column, star_descriptions=STAR_DESCRIPTIONS) + cars_md: str = template.render(all_car_info=all_car_info, + footnotes=footnotes, Star=Star, Column=cols, star_descriptions=STAR_DESCRIPTIONS) return cars_md @@ -73,10 +69,11 @@ if __name__ == "__main__": parser = argparse.ArgumentParser(description="Auto generates supported cars documentation", formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser.add_argument("--tier-columns", action="store_true", help="Include only columns that count in the tier") parser.add_argument("--template", default=CARS_MD_TEMPLATE, help="Override default template filename") parser.add_argument("--out", default=CARS_MD_OUT, help="Override default generated filename") args = parser.parse_args() with open(args.out, 'w') as f: - f.write(generate_cars_md(get_all_car_info(), args.template)) + f.write(generate_cars_md(get_all_car_info(), args.template, args.tier_columns)) print(f"Generated and written to {args.out}") diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 1efa23037f..99873a9c23 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -1,5 +1,3 @@ -import math - from cereal import car from collections import namedtuple from dataclasses import dataclass @@ -12,9 +10,9 @@ GOOD_TORQUE_THRESHOLD = 1.0 # m/s^2 class Tier(Enum): - GOLD = "The best openpilot experience. Great highway driving and beyond." - SILVER = "A solid highway driving experience, but is limited by stock longitudinal. May be upgraded in the future." - BRONZE = "A good highway experience, but may have limited performance in traffic and on sharp turns." + GOLD = 0 + SILVER = 1 + BRONZE = 2 class Column(Enum): @@ -25,7 +23,6 @@ class Column(Enum): FSR_LONGITUDINAL = "Stop and Go" FSR_STEERING = "Steer to 0" STEERING_TORQUE = "Steering Torque" - MAINTAINED = "Actively Maintained" class Star(Enum): @@ -35,6 +32,7 @@ class Star(Enum): StarColumns = list(Column)[3:] +TierColumns = (Column.FSR_LONGITUDINAL, Column.FSR_STEERING, Column.STEERING_TORQUE) CarFootnote = namedtuple("CarFootnote", ["text", "column", "star"], defaults=[None]) @@ -72,6 +70,7 @@ class CarInfo: min_enable_speed = self.min_enable_speed self.car_name = CP.carName + self.car_fingerprint = CP.carFingerprint self.make, self.model = self.name.split(' ', 1) self.row = { Column.MAKE: self.make, @@ -82,17 +81,14 @@ class CarInfo: Column.FSR_LONGITUDINAL: Star.FULL if min_enable_speed <= 0. else Star.EMPTY, Column.FSR_STEERING: Star.FULL if min_steer_speed <= 0. else Star.EMPTY, # Column.STEERING_TORQUE set below - Column.MAINTAINED: Star.FULL if CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none else Star.EMPTY, } # Set steering torque star from max lateral acceleration - if not math.isnan(CP.maxLateralAccel): - if CP.maxLateralAccel >= GREAT_TORQUE_THRESHOLD: - self.row[Column.STEERING_TORQUE] = Star.FULL - elif CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD: - self.row[Column.STEERING_TORQUE] = Star.HALF - else: - self.row[Column.STEERING_TORQUE] = Star.EMPTY + assert CP.maxLateralAccel > 0.1 + if CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD: + self.row[Column.STEERING_TORQUE] = Star.FULL + else: + self.row[Column.STEERING_TORQUE] = Star.EMPTY if CP.notCar: for col in StarColumns: @@ -105,7 +101,15 @@ class CarInfo: if footnote is not None and footnote.value.star is not None: self.row[column] = footnote.value.star - self.tier = {5: Tier.GOLD, 4: Tier.SILVER}.get(list(self.row.values()).count(Star.FULL), Tier.BRONZE) + # openpilot ACC star doesn't count for tiers + full_stars = [s for col, s in self.row.items() if col in TierColumns].count(Star.FULL) + if full_stars == len(TierColumns): + self.tier = Tier.GOLD + elif full_stars == (len(TierColumns)-1): + self.tier = Tier.SILVER + else: + self.tier = Tier.BRONZE + return self @no_type_check @@ -156,11 +160,6 @@ class Harness(Enum): STAR_DESCRIPTIONS = { "Gas & Brakes": { # icon and row name - "openpilot Adaptive Cruise Control (ACC)": [ # star column - [Star.FULL.value, "openpilot is able to control the gas and brakes."], - [Star.HALF.value, "openpilot is able to control the gas and brakes with some restrictions."], - [Star.EMPTY.value, "The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system."], - ], Column.FSR_LONGITUDINAL.value: [ [Star.FULL.value, "Adaptive Cruise Control (ACC) operates down to 0 mph."], [Star.EMPTY.value, "Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed."], @@ -172,15 +171,8 @@ STAR_DESCRIPTIONS = { [Star.EMPTY.value, "No steering control below certain speeds."], ], Column.STEERING_TORQUE.value: [ - [Star.FULL.value, "Car has enough steering torque to take tighter turns."], - [Star.HALF.value, "Car has enough steering torque for comfortable highway driving."], + [Star.FULL.value, "Car has enough steering torque to take tight turns."], [Star.EMPTY.value, "Limited ability to make turns."], ], }, - "Support": { - Column.MAINTAINED.value: [ - [Star.FULL.value, "Mainline software support, harness hardware sold by comma, lots of users, primary development target."], - [Star.EMPTY.value, "Low user count, community maintained, harness hardware not sold by comma."], - ], - }, } diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py index 98c909a9be..dbdd9769de 100755 --- a/selfdrive/car/tests/test_docs.py +++ b/selfdrive/car/tests/test_docs.py @@ -4,6 +4,7 @@ import unittest from selfdrive.car.car_helpers import interfaces, get_interface_attr from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info from selfdrive.car.docs_definitions import Column, Star +from selfdrive.car.honda.values import CAR as HONDA class TestCarDocs(unittest.TestCase): @@ -11,7 +12,7 @@ class TestCarDocs(unittest.TestCase): self.all_cars = get_all_car_info() def test_generator(self): - generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE) + generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE, False) with open(CARS_MD_OUT, "r") as f: current_cars_md = f.read() @@ -43,8 +44,9 @@ class TestCarDocs(unittest.TestCase): # Asserts brand-specific assumptions around steering torque star for car in self.all_cars: with self.subTest(car=car): - if car.car_name == "honda": - self.assertIn(car.row[Column.STEERING_TORQUE], (Star.EMPTY, Star.HALF), f"{car.name} has full torque star") + # honda sanity check, it's the definition of a no torque star + if car.car_fingerprint in (HONDA.ACCORD, HONDA.CIVIC, HONDA.CRV, HONDA.ODYSSEY, HONDA.PILOT): + self.assertEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has full torque star") elif car.car_name in ("toyota", "hyundai"): self.assertNotEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has no torque star") From cc3857eb62cd169be05a4cb22c844a8b2ec94139 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 18 Jul 2022 21:18:10 -0700 Subject: [PATCH 188/306] updated: add branch switching (#25200) * switch param * add to ui * fix that * fetch for new branch Co-authored-by: Comma Device --- common/params.cc | 2 ++ selfdrive/manager/manager.py | 3 ++- selfdrive/ui/qt/offroad/settings.cc | 20 ++++++++++++++++++-- selfdrive/ui/qt/offroad/settings.h | 1 + selfdrive/ui/qt/widgets/controls.h | 4 ++-- selfdrive/updated.py | 20 ++++++++++++++------ 6 files changed, 39 insertions(+), 11 deletions(-) diff --git a/common/params.cc b/common/params.cc index 77be6f36b1..1ead28d6cd 100644 --- a/common/params.cc +++ b/common/params.cc @@ -126,6 +126,7 @@ std::unordered_map keys = { {"IsOnroad", PERSISTENT}, {"IsRHD", PERSISTENT}, {"IsTakingSnapshot", CLEAR_ON_MANAGER_START}, + {"IsTestedBranch", CLEAR_ON_MANAGER_START}, {"IsUpdateAvailable", CLEAR_ON_MANAGER_START}, {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, {"LaikadEphemeris", PERSISTENT | DONT_LOG}, @@ -154,6 +155,7 @@ std::unordered_map keys = { {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, {"SshEnabled", PERSISTENT}, {"SubscriberInfo", PERSISTENT}, + {"SwitchToBranch", CLEAR_ON_MANAGER_START}, {"TermsVersion", PERSISTENT}, {"Timezone", PERSISTENT}, {"TrainingVersion", PERSISTENT}, diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 140c7f1d44..9c370cb3d8 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -20,7 +20,7 @@ from selfdrive.manager.process_config import managed_processes from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID from system.swaglog import cloudlog, add_file_handler from system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \ - terms_version, training_version + terms_version, training_version, is_tested_branch sys.path.append(os.path.join(BASEDIR, "pyextra")) @@ -78,6 +78,7 @@ def manager_init() -> None: params.put("GitCommit", get_commit(default="")) params.put("GitBranch", get_short_branch(default="")) params.put("GitRemote", get_origin(default="")) + params.put_bool("IsTestedBranch", is_tested_branch()) # set dongle id reg_res = register(show_spinner=True) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 7b6be919e0..65b9e3e4cc 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -24,6 +24,7 @@ #include "selfdrive/ui/ui.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/qt_window.h" +#include "selfdrive/ui/qt/widgets/input.h" TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { // param, title, desc, icon @@ -253,7 +254,19 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { } std::system("pkill -1 -f selfdrive.updated"); }); - + connect(uiState(), &UIState::offroadTransition, updateBtn, &QPushButton::setEnabled); + + branchSwitcherBtn = new ButtonControl(tr("Switch Branch"), tr("ENTER")); + connect(branchSwitcherBtn, &ButtonControl::clicked, [=]() { + QString branch = InputDialog::getText(tr("Enter name of new branch"), this); + if (branch.isEmpty()) { + params.remove("SwitchToBranch"); + } else { + params.put("SwitchToBranch", branch.toStdString()); + } + std::system("pkill -1 -f selfdrive.updated"); + }); + connect(uiState(), &UIState::offroadTransition, branchSwitcherBtn, &QPushButton::setEnabled); auto uninstallBtn = new ButtonControl(tr("Uninstall %1").arg(getBrand()), tr("UNINSTALL")); connect(uninstallBtn, &ButtonControl::clicked, [&]() { @@ -263,8 +276,11 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { }); connect(uiState(), &UIState::offroadTransition, uninstallBtn, &QPushButton::setEnabled); - QWidget *widgets[] = {versionLbl, lastUpdateLbl, updateBtn, gitBranchLbl, gitCommitLbl, osVersionLbl, uninstallBtn}; + QWidget *widgets[] = {versionLbl, lastUpdateLbl, updateBtn, branchSwitcherBtn, gitBranchLbl, gitCommitLbl, osVersionLbl, uninstallBtn}; for (QWidget* w : widgets) { + if (w == branchSwitcherBtn && params.getBool("IsTestedBranch")) { + continue; + } addItem(w); } diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h index 160f10f99f..45efe255cf 100644 --- a/selfdrive/ui/qt/offroad/settings.h +++ b/selfdrive/ui/qt/offroad/settings.h @@ -71,6 +71,7 @@ private: LabelControl *versionLbl; LabelControl *lastUpdateLbl; ButtonControl *updateBtn; + ButtonControl *branchSwitcherBtn; Params params; QFileSystemWatcher *fs_watch; diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index aed99edae8..4245a9c04a 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -24,9 +24,9 @@ signals: protected: void paintEvent(QPaintEvent *event) override; void resizeEvent(QResizeEvent* event) override; - void mouseReleaseEvent(QMouseEvent *event) override { + void mouseReleaseEvent(QMouseEvent *event) override { if (rect().contains(event->pos())) { - emit clicked(); + emit clicked(); } } QString lastText_, elidedText_; diff --git a/selfdrive/updated.py b/selfdrive/updated.py index bdec383f52..34ab338bb1 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -311,21 +311,29 @@ def fetch_update(wait_helper: WaitTimeHelper) -> bool: cur_hash = run(["git", "rev-parse", "HEAD"], OVERLAY_MERGED).rstrip() upstream_hash = run(["git", "rev-parse", "@{u}"], OVERLAY_MERGED).rstrip() - new_version: bool = cur_hash != upstream_hash + new_version = cur_hash != upstream_hash git_fetch_result = check_git_fetch_result(git_fetch_output) + new_branch = Params().get("SwitchToBranch", encoding='utf8') + if new_branch is not None: + new_version = True + cloudlog.info(f"comparing {cur_hash} to {upstream_hash}") if new_version or git_fetch_result: cloudlog.info("Running update") if new_version: cloudlog.info("git reset in progress") - r = [ - run(["git", "reset", "--hard", "@{u}"], OVERLAY_MERGED, low_priority=True), - run(["git", "clean", "-xdf"], OVERLAY_MERGED, low_priority=True ), - run(["git", "submodule", "init"], OVERLAY_MERGED, low_priority=True), - run(["git", "submodule", "update"], OVERLAY_MERGED, low_priority=True), + cmds = [ + ["git", "reset", "--hard", "@{u}"], + ["git", "clean", "-xdf"], + ["git", "submodule", "init"], + ["git", "submodule", "update"], ] + if new_branch is not None: + cloudlog.info(f"switching to branch {repr(new_branch)}") + cmds.insert(0, ["git", "checkout", "-f", new_branch]) + r = [run(cmd, OVERLAY_MERGED, low_priority=True) for cmd in cmds] cloudlog.info("git reset success: %s", '\n'.join(r)) if AGNOS: From 758069464cfcc2d0c3c991533aa800707aa823c1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 18 Jul 2022 22:05:11 -0700 Subject: [PATCH 189/306] Fix release tests --- selfdrive/ui/translations/main_ko.ts | 153 +++++++++++++---------- selfdrive/ui/translations/main_zh-CHS.ts | 153 +++++++++++++---------- selfdrive/ui/translations/main_zh-CHT.ts | 153 +++++++++++++---------- selfdrive/updated.py | 2 +- 4 files changed, 253 insertions(+), 208 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index d737a9ce33..4662a862bc 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -108,152 +108,152 @@ DevicePanel - + Dongle ID Dongle ID - + N/A N/A - + Serial Serial - + Driver Camera 운전자 카메라 - + PREVIEW 미리보기 - + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 운전자 모니터링이 좋은 가시성을 갖도록 운전자를 향한 카메라를 미리 봅니다. (차량연결은 해제되어있어야 합니다) - + Reset Calibration 캘리브레이션 재설정 - + RESET 재설정 - + Are you sure you want to reset calibration? 캘리브레이션을 재설정하시겠습니까? - + Review Training Guide 트레이닝 가이드 다시보기 - + REVIEW 다시보기 - + Review the rules, features, and limitations of openpilot openpilot의 규칙, 기능 및 제한 다시보기 - + Are you sure you want to review the training guide? 트레이닝 가이드를 다시보시겠습니까? - + Regulatory 규제 - + VIEW 보기 - + Change Language 언어 변경 - + CHANGE 변경 - + Select a language 언어를 선택하세요 - + Reboot 재부팅 - + Power Off 전원 종료 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot은 장치를 좌측 또는 우측은 4° 이내, 위쪽 5° 또는 아래쪽은 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다. - + Your device is pointed %1° %2 and %3° %4. 사용자의 장치가 %1° %2 및 %3° %4를 가리키고 있습니다. - + down 아래로 - + up 위로 - + left 좌측으로 - + right 우측으로 - + Are you sure you want to reboot? 재부팅 하시겠습니까? - + Disengage to Reboot 재부팅 하려면 해제하세요 - + Are you sure you want to power off? 전원을 종료하시겠습니까? - + Disengage to Power Off 전원을 종료하려면 해제하세요 @@ -710,33 +710,33 @@ location set SettingsWindow - + × × - + Device 장치 - - + + Network 네트워크 - + Toggles 토글 - + Software 소프트웨어 - + Navigation 네비게이션 @@ -975,68 +975,83 @@ location set SoftwarePanel - + Git Branch Git 브렌치 - + Git Commit Git 커밋 - + OS Version OS 버전 - + Version 버전 - + Last Update Check 최신 업데이트 검사 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 최근에 openpilot이 업데이트를 성공적으로 확인했습니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다. - + Check for Update 업데이트 확인 - + CHECKING 확인중 - + + Switch Branch + + + + + ENTER + + + + + Enter name of new branch + + + + UNINSTALL 제거 - + Uninstall %1 제거 %1 - + Are you sure you want to uninstall? 제거하시겠습니까? - + failed to fetch update 업데이트를 가져올수없습니다 - - + + CHECK 확인 @@ -1124,92 +1139,92 @@ location set TogglesPanel - + Enable openpilot openpilot 사용 - + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. 어댑티브 크루즈 컨트롤 및 차선 유지 운전자 보조를 위해 openpilot 시스템을 사용하십시오. 이 기능을 사용하려면 항상 주의를 기울여야 합니다. 이 설정을 변경하면 차량 전원이 꺼질 때 적용됩니다. - + Enable Lane Departure Warnings 차선 이탈 경고 사용 - + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). 차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향 지시등이 활성화되지 않은 상태에서 감지된 차선 위를 주행할 경우 차선이탈 경고를 사용합니다. - + Enable Right-Hand Drive 우측핸들 사용 - + Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat. openpilot이 좌측 교통 규칙을 준수하고 우측 운전석에서 운전자 모니터링을 수행합니다. - + Use Metric System 미터법 사용 - + Display speed in km/h instead of mph. mph 대신 km/h로 속도를 표시합니다. - + Record and Upload Driver Camera 운전자 카메라 녹화 및 업로드 - + Upload data from the driver facing camera and help improve the driver monitoring algorithm. 운전자 카메라에서 데이터를 업로드하고 운전자 모니터링 알고리즘을 개선합니다. - + Disengage On Accelerator Pedal 가속페달 조작시 해제 - + When enabled, pressing the accelerator pedal will disengage openpilot. 활성화된 경우 가속 페달을 누르면 openpilot이 해제됩니다. - + Show ETA in 24h format 24시간 형식으로 도착예정시간 표시 - + Use 24h format instead of am/pm 오전/오후 대신 24시간 형식 사용 - + Show Map on Left Side of UI - + Show map on left side when in split screen view. - + 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! diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 682d1a05cf..744cf90345 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -108,152 +108,152 @@ DevicePanel - + Dongle ID 设备ID（Dongle ID） - + N/A N/A - + Serial 序列号 - + Driver Camera 驾驶员摄像头 - + PREVIEW 预览 - + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 打开并预览驾驶员摄像头，以确保驾驶员监控具有良好视野。仅熄火时可用。 - + Reset Calibration 重置设备校准 - + RESET 重置 - + Are you sure you want to reset calibration? 您确定要重置设备校准吗？ - + Review Training Guide 新手指南 - + REVIEW 查看 - + Review the rules, features, and limitations of openpilot 查看openpilot的使用规则，以及其功能和限制。 - + Are you sure you want to review the training guide? 您确定要查看新手指南吗？ - + Regulatory 监管信息 - + VIEW 查看 - + Change Language 切换语言 - + CHANGE 切换 - + Select a language 选择语言 - + Reboot 重启 - + Power Off 关机 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下8°之间。一般来说，openpilot会持续更新校准，很少需要重置。 - + Your device is pointed %1° %2 and %3° %4. 您的设备校准为%1° %2、%3° %4。 - + down 朝下 - + up 朝上 - + left 朝左 - + right 朝右 - + Are you sure you want to reboot? 您确定要重新启动吗？ - + Disengage to Reboot 取消openpilot以重新启动 - + Are you sure you want to power off? 您确定要关机吗？ - + Disengage to Power Off 取消openpilot以关机 @@ -708,33 +708,33 @@ location set SettingsWindow - + × × - + Device 设备 - - + + Network 网络 - + Toggles 设定 - + Software 软件 - + Navigation 导航 @@ -973,68 +973,83 @@ location set SoftwarePanel - + Git Branch Git Branch - + Git Commit Git Commit - + OS Version 系统版本 - + Version 软件版本 - + Last Update Check 上次检查更新 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 上一次成功检查更新的时间。更新程序仅在汽车熄火时运行。 - + Check for Update 检查更新 - + CHECKING 正在检查更新 - + + Switch Branch + + + + + ENTER + + + + + Enter name of new branch + + + + UNINSTALL 卸载 - + Uninstall %1 卸载 %1 - + Are you sure you want to uninstall? 您确定要卸载吗？ - + failed to fetch update 获取更新失败 - - + + CHECK 查看 @@ -1122,92 +1137,92 @@ location set TogglesPanel - + Enable openpilot 启用openpilot - + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. 使用openpilot进行自适应巡航和车道保持辅助。使用此功能时您必须时刻保持注意力。该设置的更改在熄火时生效。 - + Enable Lane Departure Warnings 启用车道偏离警告 - + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). 车速超过31mph（50km/h）时，若检测到车辆越过车道线且未打转向灯，系统将发出警告以提醒您返回车道。 - + Enable Right-Hand Drive 启用右舵模式 - + Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat. 允许openpilot遵守左侧交通惯例并在右侧驾驶座上执行驾驶员监控。 - + Use Metric System 使用公制单位 - + Display speed in km/h instead of mph. 显示车速时，以km/h代替mph。 - + Record and Upload Driver Camera 录制并上传驾驶员摄像头 - + Upload data from the driver facing camera and help improve the driver monitoring algorithm. 上传驾驶员摄像头的数据，帮助改进驾驶员监控算法。 - + Disengage On Accelerator Pedal 踩油门时取消控制 - + When enabled, pressing the accelerator pedal will disengage openpilot. 启用后，踩下油门踏板将取消openpilot。 - + Show ETA in 24h format 以24小时格式显示预计到达时间 - + Use 24h format instead of am/pm 使用24小时制代替am/pm - + Show Map on Left Side of UI - + Show map on left side when in split screen view. - + 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！ diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index c04a305355..30fd666edd 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -108,152 +108,152 @@ DevicePanel - + Dongle ID Dongle ID - + N/A 無法使用 - + Serial 序號 - + Driver Camera 駕駛員攝像頭 - + PREVIEW 預覽 - + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 預覽駕駛員監控鏡頭畫面，以確保其具有良好視野。僅在熄火時可用。 - + Reset Calibration 重置校準 - + RESET 重置 - + Are you sure you want to reset calibration? 您確定要重置校準嗎？ - + Review Training Guide 觀看使用教學 - + REVIEW 觀看 - + Review the rules, features, and limitations of openpilot 觀看 openpilot 的使用規則、功能和限制 - + Are you sure you want to review the training guide? 您確定要觀看使用教學嗎？ - + Regulatory 法規/監管 - + VIEW 觀看 - + Change Language 更改語言 - + CHANGE 更改 - + Select a language 選擇語言 - + Reboot 重新啟動 - + Power Off 關機 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。 - + Your device is pointed %1° %2 and %3° %4. 你的設備目前朝%2 %1° 以及朝%4 %3° 。 - + down 下 - + up 上 - + left 左 - + right 右 - + Are you sure you want to reboot? 您確定要重新啟動嗎？ - + Disengage to Reboot 請先取消控車才能重新啟動 - + Are you sure you want to power off? 您確定您要關機嗎？ - + Disengage to Power Off 請先取消控車才能關機 @@ -713,33 +713,33 @@ location set SettingsWindow - + × × - + Device 設備 - - + + Network 網路 - + Toggles 設定 - + Software 軟體 - + Navigation 導航 @@ -978,68 +978,83 @@ location set SoftwarePanel - + Git Branch Git 分支 - + Git Commit Git 提交 - + OS Version 系統版本 - + Version 版本 - + Last Update Check 上次檢查時間 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 上次成功檢查更新的時間。更新系統只會在車子熄火時執行。 - + Check for Update 檢查更新 - + CHECKING 檢查中 - + + Switch Branch + + + + + ENTER + + + + + Enter name of new branch + + + + UNINSTALL 卸載 - + Uninstall %1 卸載 %1 - + Are you sure you want to uninstall? 您確定您要卸載嗎？ - + failed to fetch update 下載更新失敗 - - + + CHECK 檢查 @@ -1127,92 +1142,92 @@ location set TogglesPanel - + Enable openpilot 啟用 openpilot - + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. 使用 openpilot 的主動式巡航和車道保持功能，開啟後您需要持續集中注意力，設定變更在重新啟動車輛後生效。 - + Enable Lane Departure Warnings 啟用車道偏離警告 - + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). 車速在時速 50 公里 (31 英里) 以上且未打方向燈的情況下，如果偵測到車輛駛出目前車道線時，發出車道偏離警告。 - + Enable Right-Hand Drive 啟用右駕模式 - + Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat. openpilot 將對右側駕駛進行監控 (但仍遵守靠左駕的交通慣例)。 - + Use Metric System 使用公制單位 - + Display speed in km/h instead of mph. 啟用後，速度單位顯示將從 mp/h 改為 km/h。 - + Record and Upload Driver Camera 記錄並上傳駕駛監控影像 - + Upload data from the driver facing camera and help improve the driver monitoring algorithm. 上傳駕駛監控的錄像來協助我們提升駕駛監控的準確率。 - + Disengage On Accelerator Pedal 油門取消控車 - + When enabled, pressing the accelerator pedal will disengage openpilot. 啟用後，踩踏油門將會取消 openpilot 控制。 - + Show ETA in 24h format 預計到達時間單位改用 24 小時制 - + Use 24h format instead of am/pm 使用 24 小時制。(預設值為 12 小時制) - + Show Map on Left Side of UI - + Show map on left side when in split screen view. - + 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！ diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 34ab338bb1..e8905962b2 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -311,7 +311,7 @@ def fetch_update(wait_helper: WaitTimeHelper) -> bool: cur_hash = run(["git", "rev-parse", "HEAD"], OVERLAY_MERGED).rstrip() upstream_hash = run(["git", "rev-parse", "@{u}"], OVERLAY_MERGED).rstrip() - new_version = cur_hash != upstream_hash + new_version: bool = cur_hash != upstream_hash git_fetch_result = check_git_fetch_result(git_fetch_output) new_branch = Params().get("SwitchToBranch", encoding='utf8') From b30871daada85f63558518daa3157aae0b5fb79f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 18 Jul 2022 22:34:50 -0700 Subject: [PATCH 190/306] CarInfo: parse out model years (#25208) * add function * split model and years * typing and clean uop * one function to split into make, model, years * add test for bad years * simpler re * don't match only numbers * clean up * we can just use name * clean up --- docs/CARS.md | 6 +++--- selfdrive/car/docs.py | 5 ++--- selfdrive/car/docs_definitions.py | 29 ++++++++++++++++++++--------- selfdrive/car/tests/test_docs.py | 6 ++++++ selfdrive/car/toyota/values.py | 6 +++--- 5 files changed, 34 insertions(+), 18 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 0fee4ddc84..834e8e402f 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -117,7 +117,7 @@ How We Rate The Cars |Lexus|NX 2020-21|All||||| |Lexus|NX Hybrid 2018-19|All|[3](#footnotes)|||| |Lexus|NX Hybrid 2020-21|All||||| -|Lexus|RC 2017-2020|All||||| +|Lexus|RC 2017-20|All||||| |Lexus|RX 2016-18|All|[3](#footnotes)|||| |Lexus|RX 2020-22|All||||| |Lexus|RX Hybrid 2016-19|All|[3](#footnotes)|||| @@ -162,8 +162,8 @@ How We Rate The Cars |Toyota|Camry Hybrid 2021-22|All||||| |Toyota|Corolla 2017-19|All|[3](#footnotes)|||| |Toyota|Corolla 2020-22|All||||| -|Toyota|Corolla Cross 2020-21 (Non-US only)|All||||| -|Toyota|Corolla Cross Hybrid 2020-22 (Non-US only)|All||||| +|Toyota|Corolla Cross (Non-US only) 2020-21|All||||| +|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All||||| |Toyota|Corolla Hatchback 2019-22|All||||| |Toyota|Corolla Hybrid 2020-22|All||||| |Toyota|Highlander 2017-19|All|[3](#footnotes)|||| diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py index 5831916039..eb2f1923c8 100755 --- a/selfdrive/car/docs.py +++ b/selfdrive/car/docs.py @@ -10,7 +10,6 @@ from common.basedir import BASEDIR from selfdrive.car.docs_definitions import STAR_DESCRIPTIONS, StarColumns, TierColumns, CarInfo, Column, Star 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 -from selfdrive.car.tests.routes import non_tested_cars def get_all_footnotes() -> Dict[Enum, int]: @@ -40,10 +39,10 @@ def get_all_car_info() -> List[CarInfo]: car_info = (car_info,) for _car_info in car_info: - all_car_info.append(_car_info.init(CP, non_tested_cars, ALL_FOOTNOTES)) + all_car_info.append(_car_info.init(CP, ALL_FOOTNOTES)) # Sort cars by make and model + year - sorted_cars: List[CarInfo] = natsorted(all_car_info, key=lambda car: (car.make + car.model).lower()) + sorted_cars: List[CarInfo] = natsorted(all_car_info, key=lambda car: car.name.lower()) return sorted_cars diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 99873a9c23..3c58b30436 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -1,12 +1,13 @@ +import re + from cereal import car from collections import namedtuple from dataclasses import dataclass from enum import Enum -from typing import Dict, List, Optional, Union, no_type_check +from typing import Dict, List, Optional, Tuple, Union, no_type_check -TACO_TORQUE_THRESHOLD = 2.5 # m/s^2 -GREAT_TORQUE_THRESHOLD = 1.4 # m/s^2 GOOD_TORQUE_THRESHOLD = 1.0 # m/s^2 +MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)" class Tier(Enum): @@ -45,6 +46,16 @@ def get_footnote(footnotes: Optional[List[Enum]], column: Column) -> Optional[En return None +def split_name(name: str) -> Tuple[str, str, str]: + make, model = name.split(" ", 1) + years = "" + match = re.search(MODEL_YEARS_RE, model) + if match is not None: + years = model[match.start():] + model = model[:match.start() - 1] + return make, model, years + + @dataclass class CarInfo: name: str @@ -55,7 +66,7 @@ class CarInfo: min_enable_speed: Optional[float] = None harness: Optional[Enum] = None - def init(self, CP: car.CarParams, non_tested_cars: List[str], all_footnotes: Dict[Enum, int]): + def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]): # TODO: set all the min steer speeds in carParams and remove this min_steer_speed = CP.minSteerSpeed if self.min_steer_speed is not None: @@ -71,7 +82,7 @@ class CarInfo: self.car_name = CP.carName self.car_fingerprint = CP.carFingerprint - self.make, self.model = self.name.split(' ', 1) + self.make, self.model, self.years = split_name(self.name) self.row = { Column.MAKE: self.make, Column.MODEL: self.model, @@ -80,15 +91,13 @@ class CarInfo: Column.LONGITUDINAL: Star.FULL if CP.openpilotLongitudinalControl and not CP.radarOffCan else Star.EMPTY, Column.FSR_LONGITUDINAL: Star.FULL if min_enable_speed <= 0. else Star.EMPTY, Column.FSR_STEERING: Star.FULL if min_steer_speed <= 0. else Star.EMPTY, - # Column.STEERING_TORQUE set below + Column.STEERING_TORQUE: Star.EMPTY, } # Set steering torque star from max lateral acceleration assert CP.maxLateralAccel > 0.1 if CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD: self.row[Column.STEERING_TORQUE] = Star.FULL - else: - self.row[Column.STEERING_TORQUE] = Star.EMPTY if CP.notCar: for col in StarColumns: @@ -105,7 +114,7 @@ class CarInfo: full_stars = [s for col, s in self.row.items() if col in TierColumns].count(Star.FULL) if full_stars == len(TierColumns): self.tier = Tier.GOLD - elif full_stars == (len(TierColumns)-1): + elif full_stars == len(TierColumns) - 1: self.tier = Tier.SILVER else: self.tier = Tier.BRONZE @@ -117,6 +126,8 @@ class CarInfo: item: Union[str, Star] = self.row[column] if column in StarColumns: item = star_icon.format(item.value) + elif column == Column.MODEL and len(self.years): + item += f" {self.years}" footnote = get_footnote(self.footnotes, column) if footnote is not None: diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py index dbdd9769de..e31ad0d5c1 100755 --- a/selfdrive/car/tests/test_docs.py +++ b/selfdrive/car/tests/test_docs.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +import re import unittest from selfdrive.car.car_helpers import interfaces, get_interface_attr @@ -50,6 +51,11 @@ class TestCarDocs(unittest.TestCase): elif car.car_name in ("toyota", "hyundai"): self.assertNotEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has no torque star") + def test_year_format(self): + for car in self.all_cars: + with self.subTest(car=car): + self.assertIsNone(re.search(r"\d{4}-\d{4}", car.name), f"Format years correctly: {car.name}") + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 49aa3c9a94..08ee9593c6 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -119,12 +119,12 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19", footnotes=[Footnote.DSU]), CAR.COROLLA_TSS2: [ ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), - ToyotaCarInfo("Toyota Corolla Cross 2020-21 (Non-US only)", min_enable_speed=7.5), + ToyotaCarInfo("Toyota Corolla Cross (Non-US only) 2020-21", min_enable_speed=7.5), ToyotaCarInfo("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), ], CAR.COROLLAH_TSS2: [ ToyotaCarInfo("Toyota Corolla Hybrid 2020-22"), - ToyotaCarInfo("Toyota Corolla Cross Hybrid 2020-22 (Non-US only)", 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"), ], CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo", footnotes=[Footnote.DSU]), @@ -159,7 +159,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19", footnotes=[Footnote.DSU]), CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"), CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"), - CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-2020"), + CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-20"), CAR.LEXUS_RX: ToyotaCarInfo("Lexus RX 2016-18", footnotes=[Footnote.DSU]), CAR.LEXUS_RXH: ToyotaCarInfo("Lexus RX Hybrid 2016-19", footnotes=[Footnote.DSU]), CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"), From 777b090b4e41974f83a9de56c795e2560dba6de1 Mon Sep 17 00:00:00 2001 From: ridgewayer25 <76834151+ridgewayer25@users.noreply.github.com> Date: Tue, 19 Jul 2022 02:16:09 -0400 Subject: [PATCH 191/306] Car docs: add video for 2016 RAV4 Hybrid (#25209) * Video for 16-18 rav4 hybrid https://youtu.be/LhT5VzJVfNI * Update selfdrive/car/toyota/values.py * Update selfdrive/car/toyota/values.py Co-authored-by: Shane Smiskol --- selfdrive/car/toyota/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 08ee9593c6..2bbf951d78 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -141,7 +141,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), ], CAR.RAV4: ToyotaCarInfo("Toyota RAV4 2016-18", "TSS-P", footnotes=[Footnote.DSU]), - CAR.RAV4H: ToyotaCarInfo("Toyota RAV4 Hybrid 2016-18", "TSS-P", footnotes=[Footnote.DSU]), + CAR.RAV4H: ToyotaCarInfo("Toyota RAV4 Hybrid 2016-18", "TSS-P", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU]), CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"), CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"), CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"), From 7351384f155a767d8db809e538946a54cb376a9b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 18 Jul 2022 23:17:12 -0700 Subject: [PATCH 192/306] Hyundai: add missing 2022 Santa Fe FW versions (#25205) Add missing 2022 Santa Fe FW versions --- selfdrive/car/hyundai/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index ffa29c60d4..1567544745 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -617,6 +617,7 @@ FW_VERSIONS = { b'\xf1\x82TACVN5GSI3XXXH0A', b'\xf1\x82TMCFD5MMCXXXXG0A', b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A', + b'\xf1\x81HM6M2_0a0_G00', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00TM MDPS C 1.00 1.02 56370-S2AA0 0B19', @@ -635,6 +636,7 @@ FW_VERSIONS = { b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7', b'\xf1\x87KMMYBU034207SB72x\x89\x88\x98h\x88\x98\x89\x87fhvvfWf33_\xff\x87\xff\x8f\xfa\x81\xe5\xf1\x89HT6TAF00A1\xf1\x82STM0M25GS1\x00\x00\x00\x00\x00\x00', b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6', + b'\xf1\x00HT6TA290BLHT6TAF00A1STM0M25GS1\x00\x00\x00\x00\x00\x006\xd8\x97\x15', ], }, CAR.SANTA_FE_HEV_2022: { From b5e3678245cfbe29041593742f94acc4f7e057cc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 18 Jul 2022 23:17:29 -0700 Subject: [PATCH 193/306] Car info diff comment: don't fail if car info structure changes (#25193) Don't fail if car info structure changes --- .github/workflows/selfdrive_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index fbc0d94194..7800323198 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -553,7 +553,7 @@ jobs: id: save_diff run: | ${{ env.RUN }} "scons -j$(nproc)" - output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info") + output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info") || true output="${output//$'\n'/'%0A'}" echo "::set-output name=diff::$output" - name: Find comment From 5ea641b79aaa57115b71313eee4cb47b78394c28 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 18 Jul 2022 23:54:45 -0700 Subject: [PATCH 194/306] Highlander: merge params (#25210) * merge highlander params * weight is average of tss normal/hybrid and tss2 normal/hybrid --- selfdrive/car/toyota/interface.py | 14 +++----------- 1 file changed, 3 insertions(+), 11 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 337c039565..21a5d47f62 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -93,20 +93,12 @@ class CarInterface(CarInterfaceBase): if candidate not in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): set_lat_tune(ret.lateralTuning, LatTunes.PID_C) - elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2): + elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2): stop_and_go = True - ret.wheelbase = 2.84988 # 112.2 in = 2.84988 m + ret.wheelbase = 2.8194 # average of 109.8 and 112.2 in ret.steerRatio = 16.0 tire_stiffness_factor = 0.8 - ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people - set_lat_tune(ret.lateralTuning, LatTunes.PID_G) - - elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH): - stop_and_go = True - ret.wheelbase = 2.78 - ret.steerRatio = 16.0 - tire_stiffness_factor = 0.8 - ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid limited + ret.mass = 4516. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid set_lat_tune(ret.lateralTuning, LatTunes.PID_G) elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2): From 06acb1234f3df9fae833d5e99e4a07e8c95fd9bf Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 19 Jul 2022 15:56:13 +0200 Subject: [PATCH 195/306] bump cereal --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index a4c1afa3bf..1c2cba75d6 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit a4c1afa3bfcbba989c128ec9b5092f6c91f4da22 +Subproject commit 1c2cba75d66383fb0d0957f9cb2f6ffebb4f8915 From 86c1e8164ab6b1c3363f7833b7dc0ea735dd26db Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 19 Jul 2022 16:57:13 +0200 Subject: [PATCH 196/306] navd: add back VisionIPC map renderer (#25212) * builds standalone * process live msg * render into nv12a * VISION_STREAM_RGB_MAP -> VISION_STREAM_MAP * cleanup sconscript * main include cleanup --- SConstruct | 1 + release/files_common | 4 +- selfdrive/navd/.gitignore | 5 + selfdrive/navd/SConscript | 20 +++ selfdrive/navd/main.cc | 31 ++++ selfdrive/navd/map_renderer.cc | 236 ++++++++++++++++++++++++++++ selfdrive/navd/map_renderer.h | 53 +++++++ selfdrive/navd/map_renderer.py | 78 +++++++++ selfdrive/ui/qt/maps/map_helpers.cc | 42 +++++ selfdrive/ui/qt/maps/map_helpers.h | 1 + selfdrive/ui/watch3.cc | 1 + 11 files changed, 471 insertions(+), 1 deletion(-) create mode 100644 selfdrive/navd/.gitignore create mode 100644 selfdrive/navd/SConscript create mode 100644 selfdrive/navd/main.cc create mode 100644 selfdrive/navd/map_renderer.cc create mode 100644 selfdrive/navd/map_renderer.h create mode 100755 selfdrive/navd/map_renderer.py diff --git a/SConstruct b/SConstruct index 1209894ba4..940b2367fa 100644 --- a/SConstruct +++ b/SConstruct @@ -415,6 +415,7 @@ SConscript(['selfdrive/loggerd/SConscript']) SConscript(['selfdrive/locationd/SConscript']) SConscript(['selfdrive/sensord/SConscript']) SConscript(['selfdrive/ui/SConscript']) +SConscript(['selfdrive/navd/SConscript']) SConscript(['tools/replay/SConscript']) diff --git a/release/files_common b/release/files_common index 38f86d247a..411e4ff6dc 100644 --- a/release/files_common +++ b/release/files_common @@ -380,7 +380,9 @@ selfdrive/modeld/runners/run.h selfdrive/monitoring/dmonitoringd.py selfdrive/monitoring/driver_monitor.py -selfdrive/navd/*.py +selfdrive/navd/__init__.py +selfdrive/navd/navd.py +selfdrive/navd/helpers.py selfdrive/assets/.gitignore selfdrive/assets/assets.qrc diff --git a/selfdrive/navd/.gitignore b/selfdrive/navd/.gitignore new file mode 100644 index 0000000000..a070fe32bb --- /dev/null +++ b/selfdrive/navd/.gitignore @@ -0,0 +1,5 @@ +moc_* +*.moc + +map_renderer +libmap_renderer.so diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript new file mode 100644 index 0000000000..4fbe41e80b --- /dev/null +++ b/selfdrive/navd/SConscript @@ -0,0 +1,20 @@ +Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'transformations') + +base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq', + 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] + +if arch == 'larch64': + base_libs.append('EGL') + +if arch in ['larch64', 'x86_64']: + if arch == 'x86_64': + rpath = [Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath] + qt_env["RPATH"] += rpath + + qt_libs = ["qt_widgets", "qt_util", "qmapboxgl"] + base_libs + + nav_src = ["main.cc", "map_renderer.cc"] + qt_env.Program("map_renderer", nav_src, LIBS=qt_libs + ['common', 'json11']) + + if GetOption('extras'): + qt_env.SharedLibrary("map_renderer", ["map_renderer.cc"], LIBS=qt_libs + ['common', 'messaging']) diff --git a/selfdrive/navd/main.cc b/selfdrive/navd/main.cc new file mode 100644 index 0000000000..3a2fedb7d2 --- /dev/null +++ b/selfdrive/navd/main.cc @@ -0,0 +1,31 @@ +#include +#include +#include + +#include "selfdrive/ui/qt/util.h" +#include "selfdrive/ui/qt/maps/map_helpers.h" +#include "selfdrive/navd/map_renderer.h" +#include "selfdrive/hardware/hw.h" + + + +void sigHandler(int s) { + qInfo() << "Shutting down"; + std::signal(s, SIG_DFL); + + qApp->quit(); +} + + +int main(int argc, char *argv[]) { + qInstallMessageHandler(swagLogMessageHandler); + + QApplication app(argc, argv); + std::signal(SIGINT, sigHandler); + std::signal(SIGTERM, sigHandler); + + MapRenderer * m = new MapRenderer(get_mapbox_settings()); + assert(m); + + return app.exec(); +} diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc new file mode 100644 index 0000000000..cb24f2087e --- /dev/null +++ b/selfdrive/navd/map_renderer.cc @@ -0,0 +1,236 @@ +#include "selfdrive/navd/map_renderer.h" + +#include +#include +#include + +#include "common/timing.h" +#include "selfdrive/ui/qt/maps/map_helpers.h" + +const float ZOOM = 13.5; // Don't go below 13 or features will start to disappear +const int WIDTH = 256; +const int HEIGHT = WIDTH; + +const int NUM_VIPC_BUFFERS = 4; + +MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_settings(settings) { + QSurfaceFormat fmt; + fmt.setRenderableType(QSurfaceFormat::OpenGLES); + + ctx = std::make_unique(); + ctx->setFormat(fmt); + ctx->create(); + assert(ctx->isValid()); + + surface = std::make_unique(); + surface->setFormat(ctx->format()); + surface->create(); + + ctx->makeCurrent(surface.get()); + assert(QOpenGLContext::currentContext() == ctx.get()); + + gl_functions.reset(ctx->functions()); + gl_functions->initializeOpenGLFunctions(); + + QOpenGLFramebufferObjectFormat fbo_format; + fbo.reset(new QOpenGLFramebufferObject(WIDTH, HEIGHT, fbo_format)); + + m_map.reset(new QMapboxGL(nullptr, m_settings, fbo->size(), 1)); + m_map->setCoordinateZoom(QMapbox::Coordinate(0, 0), ZOOM); + m_map->setStyleUrl("mapbox://styles/commaai/ckvmksrpd4n0a14pfdo5heqzr"); + m_map->createRenderer(); + + m_map->resize(fbo->size()); + m_map->setFramebufferObject(fbo->handle(), fbo->size()); + gl_functions->glViewport(0, 0, WIDTH, HEIGHT); + + if (online) { + vipc_server.reset(new VisionIpcServer("navd")); + vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH, HEIGHT); + vipc_server->start_listener(); + + pm.reset(new PubMaster({"navThumbnail"})); + sm.reset(new SubMaster({"liveLocationKalman", "navRoute"})); + + timer = new QTimer(this); + QObject::connect(timer, SIGNAL(timeout()), this, SLOT(msgUpdate())); + timer->start(50); + } +} + +void MapRenderer::msgUpdate() { + sm->update(0); + + if (sm->updated("liveLocationKalman")) { + auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman(); + auto pos = location.getPositionGeodetic(); + auto orientation = location.getCalibratedOrientationNED(); + + bool localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && pos.getValid(); + if (localizer_valid) { + updatePosition(QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]), RAD2DEG(orientation.getValue()[2])); + } + } + + if (sm->updated("navRoute")) { + QList route; + auto coords = (*sm)["navRoute"].getNavRoute().getCoordinates(); + for (auto const &c : coords) { + route.push_back(QGeoCoordinate(c.getLatitude(), c.getLongitude())); + } + updateRoute(route); + } +} + +void MapRenderer::updatePosition(QMapbox::Coordinate position, float bearing) { + if (m_map.isNull()) { + return; + } + + m_map->setCoordinate(position); + m_map->setBearing(bearing); + update(); +} + +bool MapRenderer::loaded() { + return m_map->isFullyLoaded(); +} + +void MapRenderer::update() { + gl_functions->glClear(GL_COLOR_BUFFER_BIT); + m_map->render(); + gl_functions->glFlush(); + + sendVipc(); +} + +void MapRenderer::sendVipc() { + if (!vipc_server || !loaded()) { + return; + } + + QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor); + uint64_t ts = nanos_since_boot(); + VisionBuf* buf = vipc_server->get_buffer(VisionStreamType::VISION_STREAM_MAP); + VisionIpcBufExtra extra = { + .frame_id = frame_id, + .timestamp_sof = ts, + .timestamp_eof = ts, + }; + + assert(cap.sizeInBytes() >= buf->len); + uint8_t* dst = (uint8_t*)buf->addr; + uint8_t* src = cap.bits(); + + // RGB to greyscale + memset(dst, 128, buf->len); + for (int i = 0; i < WIDTH * HEIGHT; i++) { + dst[i] = src[i * 3]; + } + + vipc_server->send(buf, &extra); + + if (frame_id % 100 == 0) { + // Write jpeg into buffer + QByteArray buffer_bytes; + QBuffer buffer(&buffer_bytes); + buffer.open(QIODevice::WriteOnly); + cap.save(&buffer, "JPG", 50); + + kj::Array buffer_kj = kj::heapArray((const capnp::byte*)buffer_bytes.constData(), buffer_bytes.size()); + + // Send thumbnail + MessageBuilder msg; + auto thumbnaild = msg.initEvent().initNavThumbnail(); + thumbnaild.setFrameId(frame_id); + thumbnaild.setTimestampEof(ts); + thumbnaild.setThumbnail(buffer_kj); + pm->send("navThumbnail", msg); + } + + frame_id++; +} + +uint8_t* MapRenderer::getImage() { + QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor); + uint8_t* buf = new uint8_t[cap.sizeInBytes()]; + memcpy(buf, cap.bits(), cap.sizeInBytes()); + + return buf; +} + +void MapRenderer::updateRoute(QList coordinates) { + if (m_map.isNull()) return; + initLayers(); + + auto route_points = coordinate_list_to_collection(coordinates); + QMapbox::Feature feature(QMapbox::Feature::LineStringType, route_points, {}, {}); + QVariantMap navSource; + navSource["type"] = "geojson"; + navSource["data"] = QVariant::fromValue(feature); + m_map->updateSource("navSource", navSource); + m_map->setLayoutProperty("navLayer", "visibility", "visible"); +} + +void MapRenderer::initLayers() { + if (!m_map->layerExists("navLayer")) { + QVariantMap nav; + nav["id"] = "navLayer"; + nav["type"] = "line"; + nav["source"] = "navSource"; + m_map->addLayer(nav, "road-intersection"); + m_map->setPaintProperty("navLayer", "line-color", QColor("grey")); + m_map->setPaintProperty("navLayer", "line-width", 3); + m_map->setLayoutProperty("navLayer", "line-cap", "round"); + } +} + +MapRenderer::~MapRenderer() { +} + +extern "C" { + MapRenderer* map_renderer_init() { + char *argv[] = { + (char*)"navd", + nullptr + }; + int argc = 0; + QApplication *app = new QApplication(argc, argv); + assert(app); + + QMapboxGLSettings settings; + settings.setApiBaseUrl(MAPS_HOST); + settings.setAccessToken(get_mapbox_token()); + + return new MapRenderer(settings, false); + } + + void map_renderer_update_position(MapRenderer *inst, float lat, float lon, float bearing) { + inst->updatePosition({lat, lon}, bearing); + QApplication::processEvents(); + } + + void map_renderer_update_route(MapRenderer *inst, char* polyline) { + inst->updateRoute(polyline_to_coordinate_list(QString::fromUtf8(polyline))); + } + + void map_renderer_update(MapRenderer *inst) { + inst->update(); + } + + void map_renderer_process(MapRenderer *inst) { + QApplication::processEvents(); + } + + bool map_renderer_loaded(MapRenderer *inst) { + return inst->loaded(); + } + + uint8_t * map_renderer_get_image(MapRenderer *inst) { + return inst->getImage(); + } + + void map_renderer_free_image(MapRenderer *inst, uint8_t * buf) { + delete[] buf; + } +} diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h new file mode 100644 index 0000000000..855dc91894 --- /dev/null +++ b/selfdrive/navd/map_renderer.h @@ -0,0 +1,53 @@ +#pragma once + +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "cereal/visionipc/visionipc_server.h" +#include "cereal/messaging/messaging.h" + + +class MapRenderer : public QObject { + Q_OBJECT + +public: + MapRenderer(const QMapboxGLSettings &, bool online=true); + uint8_t* getImage(); + void update(); + bool loaded(); + ~MapRenderer(); + + +private: + std::unique_ptr ctx; + std::unique_ptr surface; + std::unique_ptr gl_functions; + std::unique_ptr fbo; + + std::unique_ptr vipc_server; + std::unique_ptr pm; + std::unique_ptr sm; + void sendVipc(); + + QMapboxGLSettings m_settings; + QScopedPointer m_map; + + void initLayers(); + + uint32_t frame_id = 0; + + QTimer* timer; + +public slots: + void updatePosition(QMapbox::Coordinate position, float bearing); + void updateRoute(QList coordinates); + void msgUpdate(); +}; diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py new file mode 100755 index 0000000000..dc39f335c7 --- /dev/null +++ b/selfdrive/navd/map_renderer.py @@ -0,0 +1,78 @@ +#!/usr/bin/env python3 +# You might need to uninstall the PyQt5 pip package to avoid conflicts + +import os +import time +from cffi import FFI + +from common.ffi_wrapper import suffix +from common.basedir import BASEDIR + +HEIGHT = WIDTH = 256 + + +def get_ffi(): + lib = os.path.join(BASEDIR, "selfdrive", "navd", "libmap_renderer" + suffix()) + + ffi = FFI() + ffi.cdef(""" +void* map_renderer_init(); +void map_renderer_update_position(void *inst, float lat, float lon, float bearing); +void map_renderer_update_route(void *inst, char *polyline); +void map_renderer_update(void *inst); +void map_renderer_process(void *inst); +bool map_renderer_loaded(void *inst); +uint8_t* map_renderer_get_image(void *inst); +void map_renderer_free_image(void *inst, uint8_t *buf); +""") + return ffi, ffi.dlopen(lib) + + +def wait_ready(lib, renderer): + while not lib.map_renderer_loaded(renderer): + lib.map_renderer_update(renderer) + + # The main qt app is not execed, so we need to periodically process events for e.g. network requests + lib.map_renderer_process(renderer) + + time.sleep(0.01) + + +def get_image(lib, renderer): + buf = lib.map_renderer_get_image(renderer) + r = list(buf[0:3 * WIDTH * HEIGHT]) + lib.map_renderer_free_image(renderer, buf) + + # Convert to numpy + r = np.asarray(r) + return r.reshape((WIDTH, HEIGHT, 3)) + + +if __name__ == "__main__": + import matplotlib.pyplot as plt + import numpy as np + + ffi, lib = get_ffi() + renderer = lib.map_renderer_init() + wait_ready(lib, renderer) + + geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL" + lib.map_renderer_update_route(renderer, geometry.encode()) + + POSITIONS = [ + (32.71569271952601, -117.16384270868463, 0), (32.71569271952601, -117.16384270868463, 45), # San Diego + (52.378641991483136, 4.902623379456488, 0), (52.378641991483136, 4.902623379456488, 45), # Amsterdam + ] + plt.figure() + + for i, pos in enumerate(POSITIONS): + t = time.time() + lib.map_renderer_update_position(renderer, *pos) + wait_ready(lib, renderer) + + print(f"{pos} took {time.time() - t:.2f} s") + + plt.subplot(2, 2, i + 1) + plt.imshow(get_image(lib, renderer)) + + plt.show() diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc index 66acb7a25d..f97137a7f9 100644 --- a/selfdrive/ui/qt/maps/map_helpers.cc +++ b/selfdrive/ui/qt/maps/map_helpers.cc @@ -101,6 +101,48 @@ QMapbox::CoordinatesCollections coordinate_list_to_collection(QList polyline_to_coordinate_list(const QString &polylineString) { + QList path; + if (polylineString.isEmpty()) + return path; + + QByteArray data = polylineString.toLatin1(); + + bool parsingLatitude = true; + + int shift = 0; + int value = 0; + + QGeoCoordinate coord(0, 0); + + for (int i = 0; i < data.length(); ++i) { + unsigned char c = data.at(i) - 63; + + value |= (c & 0x1f) << shift; + shift += 5; + + // another chunk + if (c & 0x20) + continue; + + int diff = (value & 1) ? ~(value >> 1) : (value >> 1); + + if (parsingLatitude) { + coord.setLatitude(coord.latitude() + (double)diff/1e6); + } else { + coord.setLongitude(coord.longitude() + (double)diff/1e6); + path.append(coord); + } + + parsingLatitude = !parsingLatitude; + + value = 0; + shift = 0; + } + + return path; +} + std::optional coordinate_from_param(std::string param) { QString json_str = QString::fromStdString(Params().get(param)); if (json_str.isEmpty()) return {}; diff --git a/selfdrive/ui/qt/maps/map_helpers.h b/selfdrive/ui/qt/maps/map_helpers.h index 1c08c541c3..2e1402ccea 100644 --- a/selfdrive/ui/qt/maps/map_helpers.h +++ b/selfdrive/ui/qt/maps/map_helpers.h @@ -24,6 +24,7 @@ QMapbox::CoordinatesCollections model_to_collection( QMapbox::CoordinatesCollections coordinate_to_collection(QMapbox::Coordinate c); QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List::Reader &coordinate_list); QMapbox::CoordinatesCollections coordinate_list_to_collection(QList coordinate_list); +QList polyline_to_coordinate_list(const QString &polylineString); std::optional coordinate_from_param(std::string param); double angle_difference(double angle1, double angle2); diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc index 00d23ea976..d6b5cc67a7 100644 --- a/selfdrive/ui/watch3.cc +++ b/selfdrive/ui/watch3.cc @@ -19,6 +19,7 @@ int main(int argc, char *argv[]) { { QHBoxLayout *hlayout = new QHBoxLayout(); layout->addLayout(hlayout); + hlayout->addWidget(new CameraViewWidget("navd", VISION_STREAM_MAP, false)); hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_ROAD, false)); } From 8553893e73c605dac86df3862caf840eb7985270 Mon Sep 17 00:00:00 2001 From: bnoeldner <108907208+bnoeldner@users.noreply.github.com> Date: Tue, 19 Jul 2022 12:43:23 -0500 Subject: [PATCH 197/306] Kia Niro PHEV 2018: add missing FW versions (#25187) * Kia: Niro PHEV 2018 fingerprint * Correct formatting * update years Co-authored-by: Shane Smiskol --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 18 +++++++++++------- 2 files changed, 12 insertions(+), 8 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 834e8e402f..f584890b0f 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -100,7 +100,7 @@ How We Rate The Cars |Kia|Niro Electric 2022|All||||| |Kia|Niro Hybrid 2021|SCC + LKAS||||| |Kia|Niro Hybrid 2022|SCC + LKAS||||| -|Kia|Niro Plug-in Hybrid 2019|SCC + LKAS||||| +|Kia|Niro Plug-in Hybrid 2018-19|SCC + LKAS||||| |Kia|Optima 2017|SCC + LKAS||||| |Kia|Optima 2019|SCC + LKAS||||| |Kia|Seltos 2021|SCC + LKAS||||| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 1567544745..303558b5a1 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -136,7 +136,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Niro Electric 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c), HyundaiCarInfo("Kia Niro Electric 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), ], - CAR.KIA_NIRO_HEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2019", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c), + CAR.KIA_NIRO_HEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c), CAR.KIA_NIRO_HEV_2021: [ HyundaiCarInfo("Kia Niro Hybrid 2021", harness=Harness.hyundai_f), # TODO: could be hyundai_d, verify HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h), @@ -986,20 +986,24 @@ FW_VERSIONS = { }, CAR.KIA_NIRO_HEV: { (Ecu.engine, 0x7e0, None): [ - b'\xf1\x816H6F4051\000\000\000\000\000\000\000\000', + b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.transmission, 0x7e1, None): [ - b"\xf1\x816U3J2051\000\000\xf1\0006U3H0_C2\000\0006U3J2051\000\000PDE0G16NS2\xf4\'\\\x91", - b'\xf1\x816U3J2051\000\000\xf1\0006U3H0_C2\000\0006U3J2051\000\000PDE0G16NS2\000\000\000\000', + b"\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\xf4'\\\x91", + b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\x00\x00\x00\x00', + b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x00\x00\x00\x00', + b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x13\xcd\x88\x92', ], (Ecu.eps, 0x7D4, None): [ - b'\xf1\000DE MDPS C 1.00 1.09 56310G5301\000 4DEHC109', + b'\xf1\x00DE MDPS C 1.00 1.09 56310G5301\x00 4DEHC109', ], (Ecu.fwdCamera, 0x7C4, None): [ - b'\xf1\000DEP MFC AT USA LHD 1.00 1.01 95740-G5010 170424', + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.01 95740-G5010 170424', + b'\xf1\x00DEP MFC AT USA LHD 1.00 1.00 95740-G5010 170117', ], (Ecu.fwdRadar, 0x7D0, None): [ - b'\xf1\000DEhe SCC H-CUP 1.01 1.02 96400-G5100 ', + b'\xf1\x00DEhe SCC H-CUP 1.01 1.02 96400-G5100 ', ], }, CAR.KIA_NIRO_HEV_2021: { From 50f7545ed7ef008526b6b081bbc2f96e05fc54e1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 19 Jul 2022 10:45:39 -0700 Subject: [PATCH 198/306] UI: add description for branch switcher --- selfdrive/ui/qt/offroad/settings.cc | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 65b9e3e4cc..0956f6c8dd 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -256,9 +256,10 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { }); connect(uiState(), &UIState::offroadTransition, updateBtn, &QPushButton::setEnabled); - branchSwitcherBtn = new ButtonControl(tr("Switch Branch"), tr("ENTER")); + branchSwitcherBtn = new ButtonControl(tr("Switch Branch"), tr("ENTER"), tr("The new branch will be pulled the next time the updater runs.")); connect(branchSwitcherBtn, &ButtonControl::clicked, [=]() { - QString branch = InputDialog::getText(tr("Enter name of new branch"), this); + QString branch = InputDialog::getText(tr("Enter branch name"), this, tr("The new branch will be pulled the next time the updater runs."), + false, -1, QString::fromStdString(params.get("SwitchToBranch"))); if (branch.isEmpty()) { params.remove("SwitchToBranch"); } else { From 30f21cb8fd2cae562fa7f2f5486d360366b6e938 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Jul 2022 12:34:06 -0700 Subject: [PATCH 199/306] Update translations --- selfdrive/ui/translations/main_ko.ts | 34 ++++++++++++++---------- selfdrive/ui/translations/main_zh-CHS.ts | 34 ++++++++++++++---------- selfdrive/ui/translations/main_zh-CHT.ts | 34 ++++++++++++++---------- 3 files changed, 60 insertions(+), 42 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 4662a862bc..ec8f3a52d6 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -710,33 +710,33 @@ location set SettingsWindow - + × × - + Device 장치 - - + + Network 네트워크 - + Toggles 토글 - + Software 소프트웨어 - + Navigation 네비게이션 @@ -1025,33 +1025,39 @@ location set + - Enter name of new branch + The new branch will be pulled the next time the updater runs. - + + Enter branch name + + + + UNINSTALL 제거 - + Uninstall %1 제거 %1 - + Are you sure you want to uninstall? 제거하시겠습니까? - + failed to fetch update 업데이트를 가져올수없습니다 - - + + CHECK 확인 diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 744cf90345..9485e9449a 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -708,33 +708,33 @@ location set SettingsWindow - + × × - + Device 设备 - - + + Network 网络 - + Toggles 设定 - + Software 软件 - + Navigation 导航 @@ -1023,33 +1023,39 @@ location set + - Enter name of new branch + The new branch will be pulled the next time the updater runs. - + + Enter branch name + + + + UNINSTALL 卸载 - + Uninstall %1 卸载 %1 - + Are you sure you want to uninstall? 您确定要卸载吗？ - + failed to fetch update 获取更新失败 - - + + CHECK 查看 diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 30fd666edd..9a3b800417 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -713,33 +713,33 @@ location set SettingsWindow - + × × - + Device 設備 - - + + Network 網路 - + Toggles 設定 - + Software 軟體 - + Navigation 導航 @@ -1028,33 +1028,39 @@ location set + - Enter name of new branch + The new branch will be pulled the next time the updater runs. - + + Enter branch name + + + + UNINSTALL 卸載 - + Uninstall %1 卸載 %1 - + Are you sure you want to uninstall? 您確定您要卸載嗎？ - + failed to fetch update 下載更新失敗 - - + + CHECK 檢查 From 464db126a551639b036c4a5e4e494684c68f56f2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Jul 2022 12:38:58 -0700 Subject: [PATCH 200/306] Multilanguage: readme improvements (#25214) * catch2 needs to iterate through the whole function each time to test this (spams warnings) * Update readme * Add update the ui header * build in scons * release by default * scons in another pr Co-authored-by: Vincent Wright --- selfdrive/ui/tests/test_translations.cc | 30 +++++++++++-------------- selfdrive/ui/tests/test_translations.py | 11 +++++---- selfdrive/ui/translations/README.md | 21 ++++++++++++----- selfdrive/ui/update_translations.py | 10 ++++----- 4 files changed, 38 insertions(+), 34 deletions(-) diff --git a/selfdrive/ui/tests/test_translations.cc b/selfdrive/ui/tests/test_translations.cc index ba0612b4c0..fcefc5784f 100644 --- a/selfdrive/ui/tests/test_translations.cc +++ b/selfdrive/ui/tests/test_translations.cc @@ -17,25 +17,21 @@ QStringList getParentWidgets(QWidget* widget){ template void checkWidgetTrWrap(MainWindow &w) { - int i = 0; for (auto widget : w.findChildren()) { - const QString text = widget->text(); - SECTION(text.toStdString() + "-" + std::to_string(i)) { - bool isNumber = RE_NUM.exactMatch(text); - bool wrapped = text.contains(TEST_TEXT); - QString parentWidgets = getParentWidgets(widget).join("->"); - - if (!text.isEmpty() && !isNumber && !wrapped) { - FAIL(("\"" + text + "\" must be wrapped. Parent widgets: " + parentWidgets).toStdString()); - } - - // warn if source string wrapped, but UI adds text - // TODO: add way to ignore this - if (wrapped && text != TEST_TEXT) { - WARN(("\"" + text + "\" is dynamic and needs a custom retranslate function. Parent widgets: " + parentWidgets).toStdString()); - } + const QString text = widget->text(); + bool isNumber = RE_NUM.exactMatch(text); + bool wrapped = text.contains(TEST_TEXT); + QString parentWidgets = getParentWidgets(widget).join("->"); + + if (!text.isEmpty() && !isNumber && !wrapped) { + FAIL(("\"" + text + "\" must be wrapped. Parent widgets: " + parentWidgets).toStdString()); + } + + // warn if source string wrapped, but UI adds text + // TODO: add way to ignore this + if (wrapped && text != TEST_TEXT) { + WARN(("\"" + text + "\" is dynamic and needs a custom retranslate function. Parent widgets: " + parentWidgets).toStdString()); } - i++; } } diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index d5409dd416..59751eec19 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -35,13 +35,12 @@ class TestTranslations(unittest.TestCase): if not len(file): self.skipTest(f"{name} translation has no defined file") - self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")), - f"{name} has no XML translation file, run selfdrive/ui/update_translations.py") - self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.qm")), - f"{name} has no compiled QM translation file, run selfdrive/ui/update_translations.py --release") + if not (os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")) and + os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.qm"))): + self.fail(f"{name} is missing translation files, run selfdrive/ui/update_translations.py") def test_translations_updated(self): - update_translations(release=True, translations_dir=TMP_TRANSLATIONS_DIR) + update_translations(translations_dir=TMP_TRANSLATIONS_DIR) for name, file in self.translation_files.items(): with self.subTest(name=name, file=file): @@ -59,7 +58,7 @@ class TestTranslations(unittest.TestCase): new_translations = self._read_translation_file(TMP_TRANSLATIONS_DIR, file, file_ext) self.assertEqual(cur_translations, new_translations, - f"{file} ({name}) {file_ext.upper()} translation file out of date. Run selfdrive/ui/update_translations.py --release to update the translation files") + f"{file} ({name}) {file_ext.upper()} translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files") @unittest.skip("Only test unfinished translations before going to release") def test_unfinished_translations(self): diff --git a/selfdrive/ui/translations/README.md b/selfdrive/ui/translations/README.md index 0ddb03a24c..4038b1e0ce 100644 --- a/selfdrive/ui/translations/README.md +++ b/selfdrive/ui/translations/README.md @@ -1,7 +1,5 @@ # Multilanguage -![multilanguage_onroad](https://user-images.githubusercontent.com/25857203/178912800-2c798af8-78e3-498e-9e19-35906e0bafff.png) - ## Contributing Before getting started, make sure you have set up the openpilot Ubuntu development environment by reading the [tools README.md](/tools/README.md). @@ -28,12 +26,25 @@ openpilot provides a few tools to help contributors manage their translations an Follow the steps above, omitting steps 1. and 2. Any time you edit translations you'll want to make sure to compile them. +### Updating the UI + +Any time you edit source code in the UI, you need to update and compile the translations to ensure the line numbers and contexts are up to date (last step above). + ### Testing -openpilot has a unit test to make sure all translations are up to date with the text in openpilot and that all translations are completed. +openpilot has a few unit tests to make sure all translations are up to date and that all strings are wrapped in a translation marker. -Run and fix any issues: +Tests translation files up to date: -```python +```shell selfdrive/ui/tests/test_translations.py ``` + +Tests all static source strings are wrapped: + +```shell +selfdrive/ui/tests/create_test_translations.sh && selfdrive/ui/tests/test_translations +``` + +--- +![multilanguage_onroad](https://user-images.githubusercontent.com/25857203/178912800-2c798af8-78e3-498e-9e19-35906e0bafff.png) diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index f06d54b2d5..5ccae0eb02 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -10,7 +10,7 @@ TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations") LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json") -def update_translations(release=False, vanish=False, translations_dir=TRANSLATIONS_DIR): +def update_translations(vanish=False, translations_dir=TRANSLATIONS_DIR): with open(LANGUAGES_FILE, "r") as f: translation_files = json.load(f) @@ -26,16 +26,14 @@ def update_translations(release=False, vanish=False, translations_dir=TRANSLATIO ret = os.system(args) assert ret == 0 - if release: - ret = os.system(f"lrelease {tr_file}") - assert ret == 0 + ret = os.system(f"lrelease {tr_file}") + assert ret == 0 if __name__ == "__main__": parser = argparse.ArgumentParser(description="Update translation files for UI", formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument("--release", action="store_true", help="Create compiled QM translation files used by UI") parser.add_argument("--vanish", action="store_true", help="Remove translations with source text no longer found") args = parser.parse_args() - update_translations(args.release, args.vanish) + update_translations(args.vanish) From 38e8abed1e640a8a01d08d0ca4b593d4fdbcf3d0 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 19 Jul 2022 14:48:05 -0500 Subject: [PATCH 201/306] VW MQB: Add FW for 2016 Volkswagen Golf (#25213) --- selfdrive/car/volkswagen/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 8f38a00d4d..9129784350 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -266,6 +266,7 @@ FW_VERSIONS = { b'\xf1\x8704E906023BN\xf1\x894518', b'\xf1\x8704E906024K \xf1\x896811', b'\xf1\x8704E906027GR\xf1\x892394', + b'\xf1\x8704E906027HD\xf1\x892603', b'\xf1\x8704E906027HD\xf1\x893742', b'\xf1\x8704E906027MA\xf1\x894958', b'\xf1\x8704L906021DT\xf1\x895520', @@ -303,6 +304,7 @@ FW_VERSIONS = { (Ecu.transmission, 0x7e1, None): [ b'\xf1\x8709G927749AP\xf1\x892943', b'\xf1\x8709S927158A \xf1\x893585', + b'\xf1\x870CW300040H \xf1\x890606', b'\xf1\x870CW300041H \xf1\x891010', b'\xf1\x870CW300042F \xf1\x891604', b'\xf1\x870CW300043B \xf1\x891601', @@ -379,6 +381,7 @@ FW_VERSIONS = { b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00502A0', b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00511A00403A0', b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\00516A00604A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00404A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516A00604A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516A07A02A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521A00507A1', From 2de0af2aa5ae88c4bb5db50d713400bce096f29a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 19 Jul 2022 13:37:03 -0700 Subject: [PATCH 202/306] jenkins: patch sshd config in continue.sh --- selfdrive/test/setup_device_ci.sh | 24 +++++++++++------------- 1 file changed, 11 insertions(+), 13 deletions(-) diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh index 2e5ffeacc6..bf2f93e1c3 100755 --- a/selfdrive/test/setup_device_ci.sh +++ b/selfdrive/test/setup_device_ci.sh @@ -21,28 +21,26 @@ umount /data/safe_staging/merged/ || true sudo umount /data/safe_staging/merged/ || true rm -rf /data/safe_staging/* || true -export KEYS_PARAM_PATH="/data/params/d/GithubSshKeys" -export KEYS_PATH="/usr/comma/setup_keys" -export CONTINUE_PATH="/data/continue.sh" - -if ! grep -F "$KEYS_PATH" /etc/ssh/sshd_config; then - echo "setting up keys" - sudo mount -o rw,remount / - sudo systemctl enable ssh - sudo sed -i "s,$KEYS_PARAM_PATH,$KEYS_PATH," /etc/ssh/sshd_config - sudo mount -o ro,remount / -fi - +CONTINUE_PATH="/data/continue.sh" tee $CONTINUE_PATH << EOF #!/usr/bin/bash sudo abctl --set_success +# patch sshd config +sudo mount -o rw,remount / +sudo sed -i "s,/data/params/d/GithubSshKeys,/usr/comma/setup_keys," /etc/ssh/sshd_config +sudo systemctl daemon-reload +sudo systemctl restart ssh +sudo systemctl disable ssh-param-watcher.path +sudo systemctl disable ssh-param-watcher.service +sudo mount -o ro,remount / + while true; do if ! sudo systemctl is-active -q ssh; then sudo systemctl start ssh fi - sleep 10s + sleep 5s done sleep infinity From 26dad2423bd4078aab249ea9db3301a2a8a6c73e Mon Sep 17 00:00:00 2001 From: cydia2020 <12470297+cydia2020@users.noreply.github.com> Date: Wed, 20 Jul 2022 08:56:06 +1000 Subject: [PATCH 203/306] Multilang: Improve Japanese translations (#25108) * improve japanese translation * characteristics is probably the better word to use * more explicit * misc fix * space * translate Dongle ID * drive -> driving history * more appropriate translation for minimum character requirement This is hacky and should be fixed * copy the home work of the chinese translators * full width -> half width * better speed translations * device pairing procedures * main features -> perks * subscribed -> joined (as member) * stop update -> pause update * add japanese to language.json * qm * honorific * shorter texts for buttons * close -> recent * maximising driver monitoring performance -> improving driver monitoring performance * developer perks -> developer facing perks * expressions * expressions * full width exclamation mark * accel pedal to cancel -> tap accel to cancel openpilot * qm * deal with unfinished translations * qm * change all mentions of driver camera to interior camera * failed to obtain update -> error while downloading update * update translation file * update qm * remove google translate * this device is facing %2's %1 deg, %4's %3 deg * ja qm * reword this * ensure -> confirm * better wording for device reset page * more consistent * wording * qm * mark as finished * update after translation refactor * bump translation * update translation to reflect new changes * Japanese qm * update translations * remove from selector Co-authored-by: Shane Smiskol --- selfdrive/ui/translations/main_ja.qm | Bin 19159 -> 20204 bytes selfdrive/ui/translations/main_ja.ts | 538 ++++++++++++++++----------- 2 files changed, 318 insertions(+), 220 deletions(-) diff --git a/selfdrive/ui/translations/main_ja.qm b/selfdrive/ui/translations/main_ja.qm index 552545cf879ed5c9a4009e63d334dee10c479e33..1c98d5a1e38da73116211e91d817d4c4bbf65293 100644 GIT binary patch delta 5988 zcmai130#!b+JD|*W|$df0oi4HSrr95DjM#A0;0%nXoP?=3?n#$Fn~*nUbO^siIb+d zluOxn`@E@?W!ExGExnaidbQ6qH!RItec5;OmOA(UzC+{I?|$%`dFDOmInQ~P|FgWO zRtwiR3N6Fmsth{%!-mzLM27A!-~7(mG$PLwBE<|M-;toVi4tBU^00uu584cR8T5Ig zL^Y8T`=&)is(wUCiJ-$kp9C!d&q)`J{wI<8C!!wXAv+AT7IX;cYN8g;_lS&N6X`!B zicKPlJAsYUM7_Z1s|5w4uZ<{uG10&`iN-C(#Z5%ng`oS1^7|8Mqd}{Qf?7eBKmiR= 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ﾃｻﾞﾘﾝｸﾞを有効化 Tethering Password - テザリングパスワード + ﾃｻﾞﾘﾝｸﾞﾊﾟｽﾜｰﾄﾞ @@ -45,17 +45,17 @@ Enter new tethering password - 新しいテザリングパスワードを入力 + 新しいﾃｻﾞﾘﾝｸﾞﾊﾟｽﾜｰﾄﾞを入力してください IP Address - IPアドレス + IP アドレス Enable Roaming - ローミングを有効化 + ﾛｰﾐﾝｸﾞを有効化 @@ -65,24 +65,24 @@ Enter APN - APN 入力 + APN を入力 leave blank for automatic configuration - 空欄で自動設定 + 空白のままにして、自動設定にします ConfirmationDialog - - + + Ok OK - + Cancel キャンセル @@ -92,7 +92,7 @@ You must accept the Terms and Conditions in order to use openpilot. - openpilotを利用するためには、利用規約に同意する必要があります。 + openpilot をご利用される前に、利用規約に同意する必要があります。 @@ -102,157 +102,160 @@ Decline, uninstall %1 - 拒否してアンインストール %1 + 拒否して %1 をｱﾝｲﾝｽﾄｰﾙ DevicePanel - + Dongle ID - ドングル ID + ドングル番号 (Dongle ID) - + N/A N/A - + Serial - シリアル + シリアル番号 - + Driver Camera - ドライバーカメラ + 車内カメラ - + PREVIEW - プレビュー + 見る - + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) - ドライバー向けカメラをプレビューする、ドライバーモニタリングの視認性を確保します。(車両の電源を切る必要があります) + 車内カメラをプレビューして、ドライバー監視システムの視界を確認ができます。(車両の電源を切る必要があります) - + Reset Calibration - キャリブレーションリセット + ｷｬﾘﾌﾞﾚｰｼｮﾝをﾘｾｯﾄ - + RESET - リセット + ﾘｾｯﾄ - + Are you sure you want to reset calibration? - 本当にキャリブレーションをリセットしますか？ + ｷｬﾘﾌﾞﾚｰｼｮﾝをリセットしてもよろしいですか？ - + Review Training Guide - トレーニングガイドを見る + 入門書を見る - + REVIEW - レビュー + 見る - + Review the rules, features, and limitations of openpilot - openpilot 規約 機能 制約を見る + openpilot の特徴を見る - + Are you sure you want to review the training guide? - 本当にトレーニングガイドを見ますか？ + 入門書を見てもよろしいですか？ - + Regulatory - レギュレーション + 認証情報 - + VIEW - ビュー + 見る + Change Language - 言語を変更 + 言語を変更 + CHANGE - 変更 + 変更 + Select a language - 言語を選択する + 言語を選択 - + Reboot 再起動 - + Power Off 電源を切る - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot は、左右に4°、上に5°、下に8°の範囲に設置する必要があります。openpilot は継続的に校正されているので、手動でリセットする必要はほとんどありません。 + openpilot は、左または右の4°以内、上の5°または下の8°以内にデバイスを取付ける必要があります。キャリブレーションを引き続きます、リセットはほとんど必要ありません。 - + Your device is pointed %1° %2 and %3° %4. - デバイスは %1° %2 と %3° %4を示しています。 + このデバイスは%2の%1°、%4の%3°に向けます。 - + down 下 - + up 上 - + left 左 - + right 右 - + Are you sure you want to reboot? - 本当に再起動しますか？ + 再起動してもよろしいですか？ - + Disengage to Reboot - 再起動するために離脱します + openpilot をキャンセルして再起動ができます - + Are you sure you want to power off? - 本当に電源を切っても良いですか？ + シャットダウンしてもよろしいですか？ - + Disengage to Power Off - 電源を切るために離脱します + openpilot をキャンセルしてシャットダウンができます @@ -260,7 +263,7 @@ Drives - ドライブ + 運転履歴 @@ -293,25 +296,20 @@ camera starting - カメラ起動 + ｶﾒﾗを起動しています InputDialog - + Cancel キャンセル - - Need at least - 最低限必要なもの - - - - characters! - 記号！ + + Need at least %1 characters! + ﾊﾟｽﾜｰﾄﾞは％%1文字以上で入力してください！ @@ -319,22 +317,73 @@ Installing... - インストール... + インストールしています... Receiving objects: - オブジェクトを受信中： + ｵﾌﾞｼﾞｪｸﾄをﾀﾞｳﾝﾛｰﾄﾞしています： Resolving deltas: - リゾルブ解決中： + デルタを解決しています： Updating files: - ファイルを更新中： + ファイルを更新しています： + + + + MapETA + + + eta + 予定到着時間 + + + + min + 分 + + + + hr + 時間 + + + + km + ｷﾛﾒｰﾄﾙ + + + + mi + ﾏｲﾙ + + + + MapInstructions + + + km + ｷﾛﾒｰﾄﾙ + + + + m + ﾒｰﾄﾙ + + + + mi + ﾏｲﾙ + + + + ft + ﾌｨｰﾄ @@ -347,7 +396,7 @@ CLEAR - クリア + 削除 @@ -357,39 +406,59 @@ Try the Navigation Beta - ベータ版ナビゲーション + ベータ版ﾅﾋﾞｹﾞｰｼｮﾝを試し - Get turn-by-turn directions displayed and more with a comma + Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai - より詳細な案内や表示に関する情報を得ることができます。 詳しくはこちら：https://connect.comma.ai + より詳細な案内情報を得ることができます。 +詳しくはこちら：https://connect.comma.ai No home location set - 自宅の登録なし -位置を設定 + 自宅の住所はまだ +設定されていません No work location set - 職場の登録なし -位置を設定 + 職場の住所はまだ +設定されていません no recent destinations - 最寄りの目的地がありません + 最近の目的地履歴がありません + + + + MapWindow + + + Map Loading + マップを読み込んでいます + + + + Waiting for GPS + GPS信号を探しています MultiOptionDialog + Select - 選択 + 選択 + + + + Cancel + キャンセル @@ -407,44 +476,44 @@ location set - for " - のため " + for "%1" + ﾈｯﾄﾜｰｸ名：%1 Wrong password - パスワードが間違っています + ﾊﾟｽﾜｰﾄﾞが間違っています NvgWindow - + km/h - km/時 + km/h - + mph - マイル/時 + mph - - + + MAX - 最大 + 最高速度 - - + + SPEED 速度 - - + + LIMIT - 制限 + 制限速度 @@ -470,78 +539,76 @@ location set Pair your device to your comma account - デバイスとアカウントを連携する - - - - - <ol type='1' style='margin-left: 15px;'> - <li style='margin-bottom: 50px;'>Go to https://connect.comma.ai on your phone</li> - <li style='margin-bottom: 50px;'>Click "add new device" and scan the QR code on the right</li> - <li style='margin-bottom: 50px;'>Bookmark connect.comma.ai to your home screen to use it like an app</li> - </ol> - - - <ol type='1' style='margin-left: 15px;'> - <li style='margin-bottom: 50px;'>モバイルでアクセス https://connect.comma.ai</li> - <li style='margin-bottom: 50px;'>“新しいデバイスを追加”をクリックし，QRコードを読み込みます</li> - <li style='margin-bottom: 50px;'>connect.comma.aiをホーム画面にブックマークして、アプリのように使うことができます</li> - </ol> - + デバイスと comma アカウントを連携する + + + + Go to https://connect.comma.ai on your phone + モバイルデバイスで「connect.comma.ai」にアクセスして + + + + Click "add new device" and scan the QR code on the right + 「新しいデバイスを追加」を押すと、右側のQRコードをスキャンしてください + + + + Bookmark connect.comma.ai to your home screen to use it like an app + 「connect.comma.ai」をホーム画面に追加して、アプリのように使うことができます PrimeAdWidget - + Upgrade Now - いますぐアップグレード + 今すぐｱｯﾌﾟｸﾞﾚｰﾄ - + Become a comma prime member at connect.comma.ai - connect.comma.ai のプライムメンバーになる + connect.comma.ai でプライム会員に登録できます - + PRIME FEATURES: - 主な機能： + 特典： - + Remote access リモートアクセス - + 1 year of storage - 1年の保存期間 + 一年間の保存期間 - + Developer perks - 開発者特典 + 開発者向け特典 PrimeUserWidget - + ✓ SUBSCRIBED - ✓ 購読しました + ✓ 入会しました - + comma prime comma prime - + CONNECT.COMMA.AI CONNECT.COMMA.AI - + COMMA POINTS COMMA POINTS @@ -556,30 +623,30 @@ location set Exit - 退出 + 閉じる - + dashcam - ダッシュカム + ﾄﾞﾗｲﾌﾞﾚｺｰﾀﾞｰ - + openpilot - オープンパイロット + openpilot - + %1 minute%2 ago %1 分%2 前 - + %1 hour%2 ago %1 時間%2 前 - + %1 day%2 ago %1 日%2 前 @@ -594,7 +661,7 @@ location set Are you sure you want to reset your device? - 本当に初期化しますか？ + 初期化してもよろしいですか？ @@ -609,7 +676,7 @@ location set System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - システムを初期化させます。 すべてのコンテンツと設定が削除されます。 キャンセルを押すと再起動します。 + システムの初期化をリクエストしました。「確認」ボタンを押すとデバイスが初期化されます。「キャンセル」ボタンを押すと起動を続行します。 @@ -629,13 +696,13 @@ location set Unable to mount data partition. Press confirm to reset your device. - dataパーティションをマウントできません。 確認を押すとデバイスが初期化されます。 + 「data」パーティションをマウントできません。「確認」ボタンを押すとデバイスが初期化されます。 RichTextDialog - + Ok OK @@ -643,35 +710,35 @@ location set SettingsWindow - + × × - + Device デバイス - - + + Network - ネットワーク + ﾈｯﾄﾜｰｸ - + Toggles 切り替え - + Software - ソフトウェア + ｿﾌﾄｳｪｱ - + Navigation - ナビゲーション + ﾅﾋﾞｹﾞｰｼｮﾝ @@ -711,7 +778,7 @@ location set Connect to Wi-Fi - Wi-Fiに接続 + Wi-Fi に接続 @@ -737,7 +804,7 @@ location set Dashcam - ダッシュカム + ﾄﾞﾗｲﾌﾞﾚｺｰﾀﾞｰ @@ -747,7 +814,7 @@ location set Enter URL - URLを入力 + URL を入力 @@ -767,7 +834,7 @@ location set Ensure the entered URL is valid, and the device’s internet connection is good. - 入力されたURLが有効であること、デバイスがインターネットに接続されていることを確認してください。 + 入力された URL を確認し、デバイスがインターネットに接続されていることを確認してください。 @@ -777,23 +844,23 @@ location set Start over - 再スタート + 最初からやり直す SetupWidget - + Finish Setup セットアップ完了 - + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. デバイスを comma connect (connect.comma.ai)でペアリングし comma prime 特典を申請してください。 - + Pair device デバイスをペアリング @@ -857,7 +924,7 @@ location set PANDA - パンダ + PANDA @@ -908,68 +975,89 @@ location set SoftwarePanel - + Git Branch Git ブランチ - + Git Commit Git コミット - + OS Version OS バージョン - + Version バージョン - + Last Update Check 最終更新確認 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. openpilotが最後にアップデートの確認に成功してからの時間です。アップデート処理は、車の電源が切れているときのみ実行されます。 - + Check for Update - 更新確認 + 更新プログラムをチェック - + CHECKING 確認中 - - Uninstall - アンインストール + + Switch Branch + - + + ENTER + + + + + + The new branch will be pulled the next time the updater runs. + + + + + Enter branch name + + + + UNINSTALL アンインストール - + + Uninstall %1 + %1をアンインストール + + + Are you sure you want to uninstall? - 本当にアンインストールしますか？ + アンインストールしてもよろしいですか？ - + failed to fetch update - 更新の取得に失敗しました + 更新のﾀﾞｳﾝﾛｰﾄﾞにｴﾗｰが発生しました - - + + CHECK 確認 @@ -984,7 +1072,7 @@ location set Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. - 警告: これは、GitHub の設定にあるすべての公開鍵への SSH アクセスを許可するものです。自分以外のGitHubのユーザー名を入力しないでください。コンマのスタッフがGitHubのユーザー名を追加するようお願いすることはありません。 + 警告: これは、GitHub の設定にあるすべての公開鍵への SSH アクセスを許可するものです。自分以外の GitHub のユーザー名を入力しないでください。コンマのスタッフが GitHub のユーザー名を追加するようお願いすることはありません。 @@ -995,7 +1083,7 @@ location set Enter your GitHub username - GitHubのユーザー名を入力してください + GitHub のユーザー名を入力してください @@ -1010,7 +1098,7 @@ location set Username '%1' has no keys on GitHub - ユーザー名“%1”は GitHub に鍵がありません + ユーザー名 “%1” は GitHub に鍵がありません @@ -1057,84 +1145,94 @@ location set TogglesPanel - + Enable openpilot openpilot を有効化 - + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. アダプティブクルーズコントロールとレーンキーピングドライバーアシスト（openpilotシステム）。この機能を使用するには、常に注意が必要です。この設定を変更すると、車の電源が切れたときに有効になります。 - + Enable Lane Departure Warnings 車線逸脱警報機能を有効化 - + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). 時速31マイル（50km）を超えるスピードで走行中、方向指示器を作動させずに検出された車線ライン上に車両が触れた場合、車線に戻るアラートを受信します。 - + Enable Right-Hand Drive 右ハンドルを有効化 - + Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat. - openpilotが左側通行規則を遵守し、右側の運転席でドライバーの監視を行うことを可能にします。 + openpilot が左側通行規則を遵守し、右ハンドルでドライバー監視を行うことを可能にします。 - + Use Metric System メートル法を有効化 - + Display speed in km/h instead of mph. - 速度はmphではなくkm/hで表示されます。 + 速度は mph ではなく km/h で表示されます。 - + Record and Upload Driver Camera - ドライバーカメラの録画とアップロード + 車内カメラの録画とアップロード - + Upload data from the driver facing camera and help improve the driver monitoring algorithm. - ドライバーカメラからのデータをアップロードし、ドライバー監視のアルゴリズム向上に役立てます。 + 車内カメラの映像をアップロードし、ドライバー監視システムのアルゴリズムの向上に役立てます。 - + Disengage On Accelerator Pedal - アクセルペダルで解除する + ｱｸｾﾙ踏むと openpilot をｷｬﾝｾﾙ - + When enabled, pressing the accelerator pedal will disengage openpilot. - 有効な場合 openpilot はアクセルペダルを踏むと解除されます。 + 有効な場合は、アクセルを踏むと openpilot をキャンセルします。 - + Show ETA in 24h format 24時間表示 - + Use 24h format instead of am/pm - AM/PMの代わりに24時間形式を使用します + AM/PM の代わりに24時間形式を使用します + + + + Show Map on Left Side of UI + ﾃﾞｨｽﾌﾟﾚｲの左側にﾏｯﾌﾟを表示 + + + + 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 による垂直方向の制御 + 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を無効にします! + 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！ @@ -1147,12 +1245,12 @@ location set An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. - OSのアップデートが必要です。Wi-Fiに接続することで、最速のアップデートを体験できます。ダウンロードサイズは約1GBです。 + ｵﾍﾟﾚｰﾃｨﾝｸﾞｼｽﾃﾑのアップデートが必要です。Wi-Fi に接続することで、最速のアップデートを体験できます。ダウンロードサイズは約 1GB です。 Connect to Wi-Fi - Wi-Fiに接続 + Wi-Fi に接続 @@ -1200,8 +1298,8 @@ location set - Forget Wi-Fi Network " - Wi-Fiを削除する” + Forget Wi-Fi Network "%1"? + Wi-Fiﾈｯﾄﾜｰｸ%1を削除してもよろしいですか？ From 5f021ac1d6b307fae892e2966cb2b2699d2799cb Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 19 Jul 2022 17:21:07 -0700 Subject: [PATCH 204/306] Subaru: use CANPacker for counter (#25216) * Subaru: use CANPacker for counter * bump opendbc * bump panda --- opendbc | 2 +- panda | 2 +- selfdrive/car/subaru/carcontroller.py | 12 ++++++------ selfdrive/car/subaru/carstate.py | 6 +++--- selfdrive/car/subaru/subarucan.py | 6 ++---- 5 files changed, 13 insertions(+), 15 deletions(-) diff --git a/opendbc b/opendbc index 3fb3f5e821..e2465cc701 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 3fb3f5e82129ad76232bcdca10632ed0566b20f8 +Subproject commit e2465cc701e878fdae5b4e363496c2fa5d2f7c08 diff --git a/panda b/panda index e51aa5ebce..1dfee5973b 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit e51aa5ebce031c96e802b07d13120a039fa7b82f +Subproject commit 1dfee5973bc2884b61e55b7614f2fe90d0e2a1f3 diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index dca86c30a6..3fb4bc8553 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -49,7 +49,7 @@ class CarController: # *** alerts and pcm cancel *** if self.CP.carFingerprint in PREGLOBAL_CARS: - if self.es_distance_cnt != CS.es_distance_msg["Counter"]: + if self.es_distance_cnt != CS.es_distance_msg["COUNTER"]: # 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep # disengage ACC when OP is disengaged if pcm_cancel_cmd: @@ -66,16 +66,16 @@ class CarController: self.cruise_button_prev = cruise_button can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg)) - self.es_distance_cnt = CS.es_distance_msg["Counter"] + self.es_distance_cnt = CS.es_distance_msg["COUNTER"] else: - if self.es_distance_cnt != CS.es_distance_msg["Counter"]: + if self.es_distance_cnt != CS.es_distance_msg["COUNTER"]: can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, pcm_cancel_cmd)) - self.es_distance_cnt = CS.es_distance_msg["Counter"] + self.es_distance_cnt = CS.es_distance_msg["COUNTER"] - if self.es_lkas_cnt != CS.es_lkas_msg["Counter"]: + if self.es_lkas_cnt != CS.es_lkas_msg["COUNTER"]: can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)) - self.es_lkas_cnt = CS.es_lkas_msg["Counter"] + self.es_lkas_cnt = CS.es_lkas_msg["COUNTER"] new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index 45ea66fb27..b261186977 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -173,7 +173,7 @@ class CarState(CarStateBase): ("Standstill_2", "ES_Distance"), ("Cruise_Fault", "ES_Distance"), ("Signal5", "ES_Distance"), - ("Counter", "ES_Distance"), + ("COUNTER", "ES_Distance"), ("Signal6", "ES_Distance"), ("Cruise_Button", "ES_Distance"), ("Signal7", "ES_Distance"), @@ -188,7 +188,7 @@ class CarState(CarStateBase): ("Cruise_Set_Speed", "ES_DashStatus"), ("Conventional_Cruise", "ES_DashStatus"), - ("Counter", "ES_Distance"), + ("COUNTER", "ES_Distance"), ("Signal1", "ES_Distance"), ("Cruise_Fault", "ES_Distance"), ("Cruise_Throttle", "ES_Distance"), @@ -206,7 +206,7 @@ class CarState(CarStateBase): ("Cruise_Resume", "ES_Distance"), ("Signal6", "ES_Distance"), - ("Counter", "ES_LKAS_State"), + ("COUNTER", "ES_LKAS_State"), ("LKAS_Alert_Msg", "ES_LKAS_State"), ("Signal1", "ES_LKAS_State"), ("LKAS_ACTIVE", "ES_LKAS_State"), diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index 63511d183e..e6efe7aa7b 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -8,13 +8,12 @@ def create_steering_control(packer, apply_steer, frame, steer_step): idx = (frame / steer_step) % 16 values = { - "Counter": idx, "LKAS_Output": apply_steer, "LKAS_Request": 1 if apply_steer != 0 else 0, "SET_1": 1 } - return packer.make_can_msg("ES_LKAS", 0, values) + return packer.make_can_msg("ES_LKAS", 0, values, idx) def create_steering_status(packer, apply_steer, frame, steer_step): return packer.make_can_msg("ES_LKAS_State", 0, {}) @@ -72,13 +71,12 @@ def create_preglobal_steering_control(packer, apply_steer, frame, steer_step): idx = (frame / steer_step) % 8 values = { - "Counter": idx, "LKAS_Command": apply_steer, "LKAS_Active": 1 if apply_steer != 0 else 0 } values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS") - return packer.make_can_msg("ES_LKAS", 0, values) + return packer.make_can_msg("ES_LKAS", 0, values, idx) def create_preglobal_es_distance(packer, cruise_button, es_distance_msg): From 0eacab70a079ce67b1fe5443a146a535e467674c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 19 Jul 2022 18:10:08 -0700 Subject: [PATCH 205/306] Car docs: hide footnotes for hidden columns (#25219) * Hide footnotes for hidden column * fix, this should only affect website --- selfdrive/car/docs.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py index eb2f1923c8..26f8949e8f 100755 --- a/selfdrive/car/docs.py +++ b/selfdrive/car/docs.py @@ -58,7 +58,7 @@ def generate_cars_md(all_car_info: List[CarInfo], template_fn: str, only_tier_co for c in hide_cols: del car.row[c] - footnotes = [fn.value.text for fn in ALL_FOOTNOTES] + footnotes = [fn.value.text for fn in ALL_FOOTNOTES if fn.value.column in cols] cars_md: str = template.render(all_car_info=all_car_info, footnotes=footnotes, Star=Star, Column=cols, star_descriptions=STAR_DESCRIPTIONS) return cars_md From 1b2d0ce2ac0108fcba6e38c65a9b5666c943952d Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 20 Jul 2022 17:32:26 +0200 Subject: [PATCH 206/306] bump cereal --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index 1c2cba75d6..7870a1123d 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 1c2cba75d66383fb0d0957f9cb2f6ffebb4f8915 +Subproject commit 7870a1123d4e8dfe5c39e86224c2f851382f3fed From 4212aface76b7a780f94a1f237d846821461fd29 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 20 Jul 2022 12:56:22 -0700 Subject: [PATCH 207/306] Car docs diff bot: detect name + year changes (#25224) * These cars have TSS-P standard * temp * debug close matching * check everything * clean up * combine and use a dict * programmatic * revert * clean up match_cars * comment * clean up * clean up * restore car changes * test * Revert "test" This reverts commit e96f6936816051720db44072768f4df4e2cf5e82. * we don't need this * fix footnotes on model column --- selfdrive/debug/print_docs_diff.py | 110 +++++++++++++++++------------ 1 file changed, 64 insertions(+), 46 deletions(-) diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py index 5cf3867b2d..c02649e3fa 100755 --- a/selfdrive/debug/print_docs_diff.py +++ b/selfdrive/debug/print_docs_diff.py @@ -1,13 +1,16 @@ #!/usr/bin/env python3 import argparse +from collections import defaultdict +import difflib import pickle from selfdrive.car.docs import get_all_car_info from selfdrive.car.docs_definitions import Column +FOOTNOTE_TAG = "{}" STAR_ICON = '' COLUMNS = "|" + "|".join([column.value for column in Column]) + "|" -COLUMN_HEADER = "|---|---|---|:---:|:---:|:---:|:---:|:---:|" +COLUMN_HEADER = "|---|---|---|:---:|:---:|:---:|:---:|" ARROW_SYMBOL = "➡️" @@ -16,69 +19,84 @@ def load_base_car_info(path): return pickle.load(f) -def get_star_diff(base_car, new_car): - return [column for column, value in base_car.row.items() if value != new_car.row[column]] - +def match_cars(base_cars, new_cars): + """Matches CarInfo by name similarity and finds additions and removals""" + changes = [] + additions = [] + for new in new_cars: + closest_match = difflib.get_close_matches(new.name, [b.name for b in base_cars], cutoff=0.)[0] -def format_row(builder): - return "|" + "|".join(builder) + "|" + if closest_match not in [c[1].name for c in changes]: + changes.append((new, next(car for car in base_cars if car.name == closest_match))) + else: + additions.append(new) + removals = [b for b in base_cars if b.name not in [c[1].name for c in changes]] + return changes, additions, removals -def print_car_info_diff(path): - base_car_info = {f"{i.make} {i.model}": i for i in load_base_car_info(path)} - new_car_info = {f"{i.make} {i.model}": i for i in get_all_car_info()} - tier_changes = [] - star_changes = [] - removals = [] - additions = [] +def build_column_diff(base_car, new_car): + row_builder = [] + for column in Column: + base_column = base_car.get_column(column, STAR_ICON, FOOTNOTE_TAG) + new_column = new_car.get_column(column, STAR_ICON, FOOTNOTE_TAG) - # Changes (tier + stars) - for base_car_model, base_car in base_car_info.items(): - if base_car_model not in new_car_info: - continue + if base_column != new_column: + row_builder.append(f"{base_column} {ARROW_SYMBOL} {new_column}") + else: + row_builder.append(new_column) - new_car = new_car_info[base_car_model] + return format_row(row_builder) - # Tier changes - if base_car.tier != new_car.tier: - tier_changes.append(f"- Tier for {base_car.make} {base_car.model} changed! ({base_car.tier.name.title()} {ARROW_SYMBOL} {new_car.tier.name.title()})") - # Star changes - diff = get_star_diff(base_car, new_car) - if not len(diff): - continue - - row_builder = [] - for column in list(Column): - if column not in diff: - row_builder.append(new_car.get_column(column, STAR_ICON, "{}")) - else: - row_builder.append(base_car.get_column(column, STAR_ICON, "{}") + ARROW_SYMBOL + new_car.get_column(column, STAR_ICON, "{}")) - - star_changes.append(format_row(row_builder)) +def format_row(builder): + return "|" + "|".join(builder) + "|" - # Removals - for model in set(base_car_info) - set(new_car_info): - car_info = base_car_info[model] - removals.append(format_row([car_info.get_column(column, STAR_ICON, "{}") for column in Column])) - # Additions - for model in set(new_car_info) - set(base_car_info): - car_info = new_car_info[model] - additions.append(format_row([car_info.get_column(column, STAR_ICON, "{}") for column in Column])) +def print_car_info_diff(path): + base_car_info = defaultdict(list) + new_car_info = defaultdict(list) + + for car in load_base_car_info(path): + base_car_info[car.car_fingerprint].append(car) + for car in get_all_car_info(): + new_car_info[car.car_fingerprint].append(car) + + changes = defaultdict(list) + for base_car_model, base_cars in base_car_info.items(): + # Match car info changes, and get additions and removals + new_cars = new_car_info[base_car_model] + car_changes, car_additions, car_removals = match_cars(base_cars, new_cars) + + # Removals + for car_info in car_removals: + changes["removals"].append(format_row([car_info.get_column(column, STAR_ICON, FOOTNOTE_TAG) for column in Column])) + + # Additions + for car_info in car_additions: + changes["additions"].append(format_row([car_info.get_column(column, STAR_ICON, FOOTNOTE_TAG) for column in Column])) + + for new_car, base_car in car_changes: + # Tier changes + if base_car.tier != new_car.tier: + changes["tier"].append(f"- Tier for {base_car.make} {base_car.model} changed! ({base_car.tier.name.title()} {ARROW_SYMBOL} {new_car.tier.name.title()})") + + # Column changes + row_diff = build_column_diff(base_car, new_car) + if ARROW_SYMBOL in row_diff: + changes["column"].append(row_diff) # Print diff - if len(star_changes) or len(tier_changes) or len(removals) or len(additions): + if any(len(c) for c in changes.values()): markdown_builder = ["### ⚠️ This PR makes changes to [CARS.md](../blob/master/docs/CARS.md) ⚠️"] - for title, category in (("## 🏅 Tier Changes", tier_changes), ("## 🔀 Star Changes", star_changes), ("## ❌ Removed", removals), ("## ➕ Added", additions)): - if len(category): + for title, category in (("## 🏅 Tier Changes", "tier"), ("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"), ("## ➕ Added", "additions")): + if len(changes[category]): markdown_builder.append(title) if "Tier" not in title: markdown_builder.append(COLUMNS) markdown_builder.append(COLUMN_HEADER) - markdown_builder.extend(category) + markdown_builder.extend(changes[category]) print("\n".join(markdown_builder)) From a1f4723d1cbdd1fdb4f7d2553e2fb4a07eb7aed6 Mon Sep 17 00:00:00 2001 From: Thomas Staudinger Date: Wed, 20 Jul 2022 22:02:35 +0200 Subject: [PATCH 208/306] docs: fix Table of Contents link to "in a car" section (#25225) * Fix Table of Contents link to "in a car" section The heading for "Running in a car" changed to "Running on a dedicated device in a car" so the Table of Contents link no longer worked. This PR updates the link and text in the table. * Update README.md Co-authored-by: Shane Smiskol --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 3dce9d4475..94837575b4 100755 --- a/README.md +++ b/README.md @@ -4,7 +4,7 @@ Table of Contents ======================= * [What is openpilot?](#what-is-openpilot) -* [Running in a car](#running-in-a-car) +* [Running in a car](#running-on-a-dedicated-device-in-a-car) * [Running on PC](#running-on-pc) * [Community and Contributing](#community-and-contributing) * [User Data and comma Account](#user-data-and-comma-account) From c50a14a7d3baf2449234e9d17ba809e667f5f4e8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 20 Jul 2022 13:59:26 -0700 Subject: [PATCH 209/306] Car docs: update Toyota supported packages (#25218) These cars have TSS-P standard --- docs/CARS.md | 18 +++++++++++------- selfdrive/car/toyota/values.py | 22 ++++++++++++++++------ 2 files changed, 27 insertions(+), 13 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index f584890b0f..3462673aa5 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -18,7 +18,7 @@ How We Rate The Cars - - Limited ability to make turns. -# 192 Supported Cars +# 196 Supported Cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque| |---|---|---|:---:|:---:|:---:|:---:| @@ -149,10 +149,11 @@ How We Rate The Cars |Škoda|Superb 2015-18|Driver Assistance||||| |Toyota|Alphard 2019-20|All||||| |Toyota|Alphard Hybrid 2021|All||||| -|Toyota|Avalon 2016-18|TSS-P|[3](#footnotes)|||| -|Toyota|Avalon 2019-21|TSS-P|[3](#footnotes)|||| +|Toyota|Avalon 2016|TSS-P|[3](#footnotes)|||| +|Toyota|Avalon 2017-18|All|[3](#footnotes)|||| +|Toyota|Avalon 2019-21|All|[3](#footnotes)|||| |Toyota|Avalon 2022|All||||| -|Toyota|Avalon Hybrid 2019-21|TSS-P|[3](#footnotes)|||| +|Toyota|Avalon Hybrid 2019-21|All|[3](#footnotes)|||| |Toyota|Avalon Hybrid 2022|All||||| |Toyota|C-HR 2017-21|All||||| |Toyota|C-HR Hybrid 2017-19|All||||| @@ -171,15 +172,18 @@ How We Rate The Cars |Toyota|Highlander Hybrid 2017-19|All|[3](#footnotes)|||| |Toyota|Highlander Hybrid 2020-22|All||||| |Toyota|Mirai 2021|All||||| -|Toyota|Prius 2016-20|TSS-P|[3](#footnotes)|||| +|Toyota|Prius 2016|TSS-P|[3](#footnotes)|||| +|Toyota|Prius 2017-20|All|[3](#footnotes)|||| |Toyota|Prius 2021-22|All||||| |Toyota|Prius Prime 2017-20|All|[3](#footnotes)|||| |Toyota|Prius Prime 2021-22|All||||| |Toyota|Prius v 2017|TSS-P|[3](#footnotes)|||| -|Toyota|RAV4 2016-18|TSS-P|[3](#footnotes)|||| +|Toyota|RAV4 2016|TSS-P|[3](#footnotes)|||| +|Toyota|RAV4 2017-18|All|[3](#footnotes)|||| |Toyota|RAV4 2019-21|All||||| |Toyota|RAV4 2022|All||||| -|Toyota|RAV4 Hybrid 2016-18|TSS-P|[3](#footnotes)|||| +|Toyota|RAV4 Hybrid 2016|TSS-P|[3](#footnotes)|||| +|Toyota|RAV4 Hybrid 2017-18|All|[3](#footnotes)|||| |Toyota|RAV4 Hybrid 2019-21|All||||| |Toyota|RAV4 Hybrid 2022|All||||| |Toyota|Sienna 2018-20|All|[3](#footnotes)|||| diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 2bbf951d78..46b43ba25c 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -105,9 +105,12 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { # Toyota CAR.ALPHARD_TSS2: ToyotaCarInfo("Toyota Alphard 2019-20"), CAR.ALPHARDH_TSS2: ToyotaCarInfo("Toyota Alphard Hybrid 2021"), - CAR.AVALON: ToyotaCarInfo("Toyota Avalon 2016-18", "TSS-P", footnotes=[Footnote.DSU]), - CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21", "TSS-P", footnotes=[Footnote.DSU]), - CAR.AVALONH_2019: ToyotaCarInfo("Toyota Avalon Hybrid 2019-21", "TSS-P", footnotes=[Footnote.DSU]), + CAR.AVALON: [ + ToyotaCarInfo("Toyota Avalon 2016", "TSS-P", footnotes=[Footnote.DSU]), + ToyotaCarInfo("Toyota Avalon 2017-18", footnotes=[Footnote.DSU]), + ], + CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21", footnotes=[Footnote.DSU]), + CAR.AVALONH_2019: ToyotaCarInfo("Toyota Avalon Hybrid 2019-21", footnotes=[Footnote.DSU]), CAR.AVALON_TSS2: ToyotaCarInfo("Toyota Avalon 2022"), CAR.AVALONH_TSS2: ToyotaCarInfo("Toyota Avalon Hybrid 2022"), CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]), @@ -132,7 +135,8 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19", footnotes=[Footnote.DSU]), CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-22"), CAR.PRIUS: [ - ToyotaCarInfo("Toyota Prius 2016-20", "TSS-P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]), + ToyotaCarInfo("Toyota Prius 2016", "TSS-P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]), + ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]), ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]), ], CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "TSS-P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU]), @@ -140,8 +144,14 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), ], - CAR.RAV4: ToyotaCarInfo("Toyota RAV4 2016-18", "TSS-P", footnotes=[Footnote.DSU]), - CAR.RAV4H: ToyotaCarInfo("Toyota RAV4 Hybrid 2016-18", "TSS-P", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU]), + CAR.RAV4: [ + ToyotaCarInfo("Toyota RAV4 2016", "TSS-P", footnotes=[Footnote.DSU]), + ToyotaCarInfo("Toyota RAV4 2017-18", footnotes=[Footnote.DSU]) + ], + CAR.RAV4H: [ + ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "TSS-P", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU]), + ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU]) + ], CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"), CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"), CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"), From 180c2abdd9a99f0851a1bc0b3dc2a4f3ab55ddf8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 20 Jul 2022 14:11:59 -0700 Subject: [PATCH 210/306] Improve Japanese translations (#25226) * Minor Japanese improvements * fix rm Co-authored-by: PONPC --- selfdrive/ui/translations/main_ja.qm | Bin 20204 -> 20202 bytes selfdrive/ui/translations/main_ja.ts | 4 ++-- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/translations/main_ja.qm b/selfdrive/ui/translations/main_ja.qm index 1c98d5a1e38da73116211e91d817d4c4bbf65293..b70c5abe0d4e0c023a452eda5df85614d61b81f2 100644 GIT binary patch delta 1667 zcmX9;2~1R16g_|D{}1!$&x{K&pbo<_fPf+>A}Xjr06_&&peSM+H>%Y(Dpsww)L82V zC>;>02rA%OtO2)LH7^#rpx-ItVqy!i1n4gUVmn}32}lEgpg`hq;#b5>p1IY9-fs$L`U(9C^Q}>bfW$TY zG6xttk$3_~2?2E8#7_a&RYd-SWMJ-gpob^0u!DFM$oa6}S@?%FWFo}XTY%UAh^3DK z!2@D_D2x3F@d^+2Z-ID?)T}j-)_DK}-0YEpIrkPE0viECF9e&2`lpD$xQx4Ph<`>} z;m#PXn+EjUio~#DeE20Uj%KxS7_&PK=&c}muAR+hV*Eqi>N*({zJ9~+W+GK{mg~Eb zI&B51UqJe9t7UW`Z4^5ns1GxEWrgUS+gPJs38+CxYO;b77L?ZVz zNAkRY!FigK2?ap6R?W>6Uf_O0(|nP3hL|-EwmAcRj9M|s47hx&wY-$LzeMY`ek2>) zpk0*0`omMSWv4gto;})qMm7>OPFs6;yb5&B*B+~7fk7$uW{qF&1aWo(RqlRUT-q`M z@T?P;Pa`dd>EdefH8AXeSekI0DJt*6Zt-1cmb=j7s#sR_4hXIgcRZd!Y!ZLERt(rI z;=#|V*v=907xjZNLE_~nOsMMjoUgjuny;M&V-~Nrv_Ffrz(KjM0aD z%cP7?Xw0xMDO)+o#Eg>W*s3Y~0%=aoE;@US_?Dp^D=nS1gy&yN%R-HS&mw94CK6Hp z>q6_zF7&i?VeBiZERe*^5mMQPvcmD#A7b;PK91-$A%8ct*0FQUd+UFLA{XH=f@SCcvf65Gc%u|XwXpUcrQhL0S z84FR$?xZnWkxKa$dL^z$KC6Y#+193?e^Vs!P5KpII?)4feZxy??LS?A zVI0LU&(*j3Poj3Es?#YF2~JZzYq{@tUF{#alqTwZ)VP=%K=fTTF+7XnXQ^YNsmLgk znqJJp9%1UdBodU(YDwEiEa0Qo7V@=Nho~2~8TlC8)!&+kA?a#U1BpsO2D#eCi%Sdx zEVtQEvSDaD3HM1c)P!>1dx+u4V&aI^hI+4^>{PedP#?XMjKd6L}f5 zqw}6>uD>$&T1_RK-W$E%#c*I%8^a%Pt_-ZOpODQ7R^#3(mJ4q-p7@t`TQW?Je{+mE zzBD;S@%0ToZ*qCk0ffmW*Ys4N*KE`1$3=|H7E^K#GpgHb`aHXpdU)C`4rceSP3NC- zW)Hk;YJOHub(2gF;`RekS7!t9rFOy3scx3T4QFj1ZLNKT#Z8!0mtmPG3#07YdV3h* W5uDwb*ICh7(z&3suOO8%>snE?+A`?!m=XkA)GWe}xE+{P|bTdP*2r<2TN&dhu7-*@gg=iR5p!n0ywOF&F1 zpiT#RpC@J#TZvnNJ{mx515DX~)E5ZtLmW(8O`OCt^)9r&$e$f3gywJZjX4So-@q@I z10%-~&j4e>0G*ZiKH!-{T*nGpVE%5PqaU#JE%6wT!Tql4{9k>;#zS1c6Nv8(aT}=! z7Kk+iSZpW6D?Hez72-7!@cjnTMhno_%Mm4*vl`$QauYCggUv+LKSE;ND(=2P;^V`B z-Hc(n89=9E3?EpC|9`_XV_7X3BleF6yo^Ym?_jf&F!~qX>Nyo-KmLo~r6Wakf$RH` zGGh&?U&4fa<$$~gX-Ne21H=2#* ztCx*o{lVkZMd!Bgo=WvWBO3`#R#zPvtpM(u)F-M~p#L~WlPWN4f;cycD!bnnSGEiR z{0@t&XONcLOmV&V92it3Zc94J6qUHJL!t}KvI{NO#iH_;fNi(9r*#&wN&MV;0t0)^dTCe-6hEbDSVt$GUP4+B40^y#vbHb zBBf2IF@x+SsG#r}(!9!jboLtYABJ|Mv~tc0p8s1~HNXh;$dq!wAQAbM z3w`Td=;!Og_~%kl2#J}8N=2Jj(-38cRQ~BY3Y9ILZwmla4N_wh2?Sh}9%M5qJ(syK zezf$ujfBDqG%CLocIKrq{vJxj;x&;^5~x_MCU#T{qh{44R-FQ(uV^L-)Vb$(nzEN~ z0sn!TOH1>ZlsB5!$@NUy6gU5%LK+f0)vcmiHamOZ*d&^D+qH2)HB5XjN2O@?vubx8 z>b+Ey2OMJTM!m*4=Cz z#VnNSn%oxwnx%3~2uFnGPkGk$D}d#-ob$w+)!K+rK;U#a_YpH_StJ*{r8$Ay+C!@w!mbcrOPTk_+X z8SEW;;m9W(7N_*qvlmH7r%$+-!xXgZr?l`n2fWcQxgnDHHvO9A9`wMfuYE?XgJ$c0 zc$Z?B7wert?@_xQipNt0kL#&DA^FvM#A048!88I-x^^!nn@gzW2o`p%T9HfhML&DWNbHFiY(+{+iSR)R!!+H z8asbk!S(0HZtJOp$G=AZmvJ0e`;7Kx&Xs<<9j7$rBtPSUa+b5-H=cSyyS*oxw104n zX`h)qV)*(Z>P%f8z6AzqO`a1{fNl#+!&(a%nPO9N1~aNVU|N{&q#jm>x0~4~%k=#t z&g_17O-+wWsP1S}bHdj^%=NiI;*RREZqCkr7F&bujqS{b!`j!i=eC!$ujGGm`|9?E o?ZvjwH_ox8R;PH6(+EQxrCt^V7F)XQw(W_n+}2!u%jyyGAFN5pjQ{`u diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index dd7643e217..c3b2b850ee 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -406,7 +406,7 @@ Try the Navigation Beta - ベータ版ﾅﾋﾞｹﾞｰｼｮﾝを試し + β版ﾅﾋﾞｹﾞｰｼｮﾝを試す @@ -567,7 +567,7 @@ location set Become a comma prime member at connect.comma.ai - connect.comma.ai でプライム会員に登録できます + connect.comma.ai でﾌﾟﾗｲﾑ会員に登録できます From 9c9a0f0ef35933e354c52b39cfe9e7849f1d8d7e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 20 Jul 2022 14:27:10 -0700 Subject: [PATCH 211/306] remove comma two branches --- Jenkinsfile | 1 - release/verify.sh | 2 +- 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 4e13717851..b8ed52611d 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -70,7 +70,6 @@ pipeline { not { anyOf { branch 'master-ci'; branch 'devel'; branch 'devel-staging'; - branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging'; branch 'testing-closet*'; branch 'hotfix-*' } diff --git a/release/verify.sh b/release/verify.sh index 2ebd50a29d..56f21183f1 100755 --- a/release/verify.sh +++ b/release/verify.sh @@ -6,7 +6,7 @@ RED="\033[0;31m" GREEN="\033[0;32m" CLEAR="\033[0m" -BRANCHES="devel dashcam dashcam3 release2 release3" +BRANCHES="devel dashcam3 release3" for b in $BRANCHES; do if git diff --quiet origin/$b origin/$b-staging && [ "$(git rev-parse origin/$b)" = "$(git rev-parse origin/$b-staging)" ]; then printf "%-10s $GREEN ok $CLEAR\n" "$b" From 1f221017cb47eab270656dbf771ddd41e7feb665 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 20 Jul 2022 18:33:07 -0700 Subject: [PATCH 212/306] car incompatibility docs (#25227) * car incompatibility docs * we're getting somewhere * try the table * run generator --- docs/CARS.md | 43 +++++++++++++++++++++++++++++++--- selfdrive/car/CARS_template.md | 41 ++++++++++++++++++++++++++++++-- 2 files changed, 79 insertions(+), 5 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 3462673aa5..073b5343ec 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -2,8 +2,7 @@ A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system. -How We Rate The Cars ---- +## How We Rate The Cars ### Stop and Go - - Adaptive Cruise Control (ACC) operates down to 0 mph. @@ -230,4 +229,42 @@ How We Rate The Cars 8Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)
## Community Maintained Cars -Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/). \ No newline at end of file +Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/). + +# Don't see your car here? + +**openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported. +If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. We don't have a roadmap for car support, and in fact, most car support comes from users like you! + +### Which cars are able to supported? + +openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering) and [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control), then it almost certainly has these interfaces. These interfaces generally started shipping on cars around 2016. + +If your car has the following packages or features, then it's a good candidate for support. If it does not, then it's unlikely able to be supported. + +| Make | Required Package/Features | +| ---- | ------------------------- | +| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. | +| Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. | +| Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. | +| Nissan | Any car with ProPILOT will likely work. | +| Toyota & Lexus | Any car that has Toyota/Lexus Safety Sense with "Lane Departure Alert with Steering Assist (LDA w/SA)" and/or "Lane Tracing Assist (LTA)" will work. Note that LDA without Steering Assist will not work. These features come standard on most newer models. | +| Hyundai, Kia, & Genesis | Any car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA come standard on most newer models. Any form of SCC will work, such as NSCC. | +| Chrysler, Jeep, & Ram | Any car with LaneSense and Adaptive Cruise Control will likely work. These come standard on many newer models. | + +### FlexRay + +All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a CAN bus isn't the only way that the cars in your computer can communicate. Most, if not all, vehicles from the following manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars may one day be supported, but we have no immediate plans to support FlexRay. + +### Toyota Security + +Specific new Toyota models are shipping with a new message authentication method that openpilot does not yet support. +So far, this list includes: +* Toyota Rav4 Prime 2022+ +* Toyota Sienna 2021+ +* Toyota Venza 2021+ +* Toyota Sequoia 2023+ +* Toyota Tundra 2022+ +* Toyota Yaris 2022+ +* Toyota Corolla Cross (only US model) +* Lexus NX 2021+ \ No newline at end of file diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md index 8603f31434..22228c1e07 100644 --- a/selfdrive/car/CARS_template.md +++ b/selfdrive/car/CARS_template.md @@ -5,8 +5,7 @@ A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system. -How We Rate The Cars ---- +## How We Rate The Cars {% for star_row in star_descriptions.values() %} {% for name, stars in star_row.items() %} @@ -34,3 +33,41 @@ How We Rate The Cars ## Community Maintained Cars Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/). + +# Don't see your car here? + +**openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported. +If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. We don't have a roadmap for car support, and in fact, most car support comes from users like you! + +### Which cars are able to supported? + +openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering) and [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control), then it almost certainly has these interfaces. These interfaces generally started shipping on cars around 2016. + +If your car has the following packages or features, then it's a good candidate for support. If it does not, then it's unlikely able to be supported. + +| Make | Required Package/Features | +| ---- | ------------------------- | +| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. | +| Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. | +| Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. | +| Nissan | Any car with ProPILOT will likely work. | +| Toyota & Lexus | Any car that has Toyota/Lexus Safety Sense with "Lane Departure Alert with Steering Assist (LDA w/SA)" and/or "Lane Tracing Assist (LTA)" will work. Note that LDA without Steering Assist will not work. These features come standard on most newer models. | +| Hyundai, Kia, & Genesis | Any car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA come standard on most newer models. Any form of SCC will work, such as NSCC. | +| Chrysler, Jeep, & Ram | Any car with LaneSense and Adaptive Cruise Control will likely work. These come standard on many newer models. | + +### FlexRay + +All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a CAN bus isn't the only way that the cars in your computer can communicate. Most, if not all, vehicles from the following manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars may one day be supported, but we have no immediate plans to support FlexRay. + +### Toyota Security + +Specific new Toyota models are shipping with a new message authentication method that openpilot does not yet support. +So far, this list includes: +* Toyota Rav4 Prime 2022+ +* Toyota Sienna 2021+ +* Toyota Venza 2021+ +* Toyota Sequoia 2023+ +* Toyota Tundra 2022+ +* Toyota Yaris 2022+ +* Toyota Corolla Cross (only US model) +* Lexus NX 2021+ \ No newline at end of file From c875f540a87a7226f53e83b8817791ee0764b3b4 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 20 Jul 2022 18:40:48 -0700 Subject: [PATCH 213/306] Car docs: fix typo --- docs/CARS.md | 4 ++-- selfdrive/car/CARS_template.md | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 073b5343ec..eb4dfd8847 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -236,7 +236,7 @@ Although they're not upstream, the community has openpilot running on other make **openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported. If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. We don't have a roadmap for car support, and in fact, most car support comes from users like you! -### Which cars are able to supported? +### Which cars are able to be supported? openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering) and [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control), then it almost certainly has these interfaces. These interfaces generally started shipping on cars around 2016. @@ -249,7 +249,7 @@ If your car has the following packages or features, then it's a good candidate f | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. | | Nissan | Any car with ProPILOT will likely work. | | Toyota & Lexus | Any car that has Toyota/Lexus Safety Sense with "Lane Departure Alert with Steering Assist (LDA w/SA)" and/or "Lane Tracing Assist (LTA)" will work. Note that LDA without Steering Assist will not work. These features come standard on most newer models. | -| Hyundai, Kia, & Genesis | Any car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA come standard on most newer models. Any form of SCC will work, such as NSCC. | +| Hyundai, Kia, & Genesis | Any car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA comes standard on most newer models. Any form of SCC will work, such as NSCC. | | Chrysler, Jeep, & Ram | Any car with LaneSense and Adaptive Cruise Control will likely work. These come standard on many newer models. | ### FlexRay diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md index 22228c1e07..ba95eeccb8 100644 --- a/selfdrive/car/CARS_template.md +++ b/selfdrive/car/CARS_template.md @@ -39,7 +39,7 @@ Although they're not upstream, the community has openpilot running on other make **openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported. If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. We don't have a roadmap for car support, and in fact, most car support comes from users like you! -### Which cars are able to supported? +### Which cars are able to be supported? openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering) and [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control), then it almost certainly has these interfaces. These interfaces generally started shipping on cars around 2016. @@ -52,7 +52,7 @@ If your car has the following packages or features, then it's a good candidate f | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. | | Nissan | Any car with ProPILOT will likely work. | | Toyota & Lexus | Any car that has Toyota/Lexus Safety Sense with "Lane Departure Alert with Steering Assist (LDA w/SA)" and/or "Lane Tracing Assist (LTA)" will work. Note that LDA without Steering Assist will not work. These features come standard on most newer models. | -| Hyundai, Kia, & Genesis | Any car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA come standard on most newer models. Any form of SCC will work, such as NSCC. | +| Hyundai, Kia, & Genesis | Any car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA comes standard on most newer models. Any form of SCC will work, such as NSCC. | | Chrysler, Jeep, & Ram | Any car with LaneSense and Adaptive Cruise Control will likely work. These come standard on many newer models. | ### FlexRay @@ -70,4 +70,4 @@ So far, this list includes: * Toyota Tundra 2022+ * Toyota Yaris 2022+ * Toyota Corolla Cross (only US model) -* Lexus NX 2021+ \ No newline at end of file +* Lexus NX 2021+ From c528decd17a71bb8f9eb0be2f0d78ccc2e74f70a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 20 Jul 2022 18:44:47 -0700 Subject: [PATCH 214/306] multilanguage: compile QM in scons (#25217) * All in scons * delete all this * delete the qm files * No need to check QM files in test_translations.py anymore * readme * add lupdate to third party * fix * one line * update files_common * readme imp * add j flag * add to path * duplicate scons! * update readme * fix path fix path fix path * no path --- .gitignore | 1 + release/files_common | 5 +++- selfdrive/ui/SConscript | 7 ++++++ selfdrive/ui/tests/test_translations.py | 29 ++++++++++------------- selfdrive/ui/translations/README.md | 12 +++++----- selfdrive/ui/translations/main_ja.qm | Bin 20202 -> 0 bytes selfdrive/ui/translations/main_ko.qm | Bin 19439 -> 0 bytes selfdrive/ui/translations/main_zh-CHS.qm | Bin 17931 -> 0 bytes selfdrive/ui/translations/main_zh-CHT.qm | Bin 17969 -> 0 bytes selfdrive/ui/update_translations.py | 3 --- third_party/qt5/larch64/bin/lrelease | Bin 0 -> 546824 bytes third_party/qt5/larch64/bin/lupdate | Bin 0 -> 1095744 bytes 12 files changed, 30 insertions(+), 27 deletions(-) delete mode 100644 selfdrive/ui/translations/main_ja.qm delete mode 100644 selfdrive/ui/translations/main_ko.qm delete mode 100644 selfdrive/ui/translations/main_zh-CHS.qm delete mode 100644 selfdrive/ui/translations/main_zh-CHT.qm create mode 100755 third_party/qt5/larch64/bin/lrelease create mode 100755 third_party/qt5/larch64/bin/lupdate diff --git a/.gitignore b/.gitignore index e1ff5d5008..07626f4e28 100644 --- a/.gitignore +++ b/.gitignore @@ -32,6 +32,7 @@ a.out *.class *.pyxbldc *.vcd +*.qm config.json clcache compile_commands.json diff --git a/release/files_common b/release/files_common index 411e4ff6dc..0980f7929d 100644 --- a/release/files_common +++ b/release/files_common @@ -303,7 +303,8 @@ selfdrive/ui/soundd/*.cc selfdrive/ui/soundd/*.h selfdrive/ui/soundd/soundd selfdrive/ui/soundd/.gitignore -selfdrive/ui/translations/* +selfdrive/ui/translations/*.ts +selfdrive/ui/translations/languages.json selfdrive/ui/qt/*.cc selfdrive/ui/qt/*.h @@ -421,6 +422,8 @@ third_party/acados/x86_64/** third_party/acados/larch64/** third_party/acados/include/** +third_party/qt5/larch64/bin/** + scripts/update_now.sh scripts/stop_updater.sh diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 0835c16372..9e89576a54 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -63,6 +63,13 @@ if GetOption('test'): qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs) +# build translation files +translation_sources = Glob("#selfdrive/ui/translations/*.ts", strings=True) +translation_targets = [src.replace(".ts", ".qm") for src in translation_sources] +lrelease = 'third_party/qt5/larch64/bin/lrelease' if arch == 'larch64' else 'lrelease' +qt_env.Command(translation_targets, translation_sources, f"{lrelease} $SOURCES") + + # setup and factory resetter if GetOption('extras'): qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs) diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index 59751eec19..b44ab11ede 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -23,8 +23,8 @@ class TestTranslations(unittest.TestCase): shutil.rmtree(TMP_TRANSLATIONS_DIR, ignore_errors=True) @staticmethod - def _read_translation_file(path, file, file_ext): - tr_file = os.path.join(path, f"{file}.{file_ext}") + def _read_translation_file(path, file): + tr_file = os.path.join(path, f"{file}.ts") with open(tr_file, "rb") as f: # fix relative path depth return f.read().replace(b"filename=\"../../", b"filename=\"../") @@ -35,9 +35,8 @@ class TestTranslations(unittest.TestCase): if not len(file): self.skipTest(f"{name} translation has no defined file") - if not (os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")) and - os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.qm"))): - self.fail(f"{name} is missing translation files, run selfdrive/ui/update_translations.py") + self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")), + f"{name} has no XML translation file, run selfdrive/ui/update_translations.py") def test_translations_updated(self): update_translations(translations_dir=TMP_TRANSLATIONS_DIR) @@ -47,18 +46,14 @@ class TestTranslations(unittest.TestCase): if not len(file): self.skipTest(f"{name} translation has no defined file") - for file_ext in ["ts", "qm"]: - with self.subTest(file_ext=file_ext): + # caught by test_missing_translation_files + if not os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")): + self.skipTest(f"{name} missing translation file") - # caught by test_missing_translation_files - if not os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.{file_ext}")): - self.skipTest(f"{name} missing translation file") - - cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file, file_ext) - new_translations = self._read_translation_file(TMP_TRANSLATIONS_DIR, file, file_ext) - - self.assertEqual(cur_translations, new_translations, - f"{file} ({name}) {file_ext.upper()} translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files") + cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file) + new_translations = self._read_translation_file(TMP_TRANSLATIONS_DIR, file) + self.assertEqual(cur_translations, new_translations, + f"{file} ({name}) XML translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files") @unittest.skip("Only test unfinished translations before going to release") def test_unfinished_translations(self): @@ -67,7 +62,7 @@ class TestTranslations(unittest.TestCase): if not len(file): raise self.skipTest(f"{name} translation has no defined file") - cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file, "ts") + cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file) self.assertTrue(b"" not in cur_translations, f"{file} ({name}) translation file has unfinished translations. Finish translations or mark them as completed in Qt Linguist") diff --git a/selfdrive/ui/translations/README.md b/selfdrive/ui/translations/README.md index 4038b1e0ce..a6f2f665eb 100644 --- a/selfdrive/ui/translations/README.md +++ b/selfdrive/ui/translations/README.md @@ -9,7 +9,7 @@ Before getting started, make sure you have set up the openpilot Ubuntu developme openpilot provides a few tools to help contributors manage their translations and to ensure quality. To get started: 1. Add your new language to [languages.json](/selfdrive/ui/translations/languages.json) with the appropriate [language code](https://en.wikipedia.org/wiki/List_of_ISO_639-1_codes) and the localized language name (Simplified Chinese is `中文（繁體）`). -2. Generate the translation file (`*.ts`): +2. Generate the XML translation file (`*.ts`): ```shell selfdrive/ui/update_translations.py ``` @@ -17,22 +17,22 @@ openpilot provides a few tools to help contributors manage their translations an ```shell linguist selfdrive/ui/translations/your_language_file.ts ``` -4. Save your file and generate the compiled QM file used by the Qt UI: +4. View your finished translations by compiling and starting the UI, then find it in the language selector: ```shell - selfdrive/ui/update_translations.py --release + scons -j$(nproc) selfdrive/ui && selfdrive/ui/ui ``` ### Improving an Existing Language -Follow the steps above, omitting steps 1. and 2. Any time you edit translations you'll want to make sure to compile them. +Follow step 3. above, you can review existing translations and add missing ones. Once you're done, just open a pull request to openpilot. ### Updating the UI -Any time you edit source code in the UI, you need to update and compile the translations to ensure the line numbers and contexts are up to date (last step above). +Any time you edit source code in the UI, you need to update the translations to ensure the line numbers and contexts are up to date (first step above). ### Testing -openpilot has a few unit tests to make sure all translations are up to date and that all strings are wrapped in a translation marker. +openpilot has a few unit tests to make sure all translations are up to date and that all strings are wrapped in a translation marker. They are run in CI, but you can also run them locally. 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zh89Sol?AelCD(f1O5ZE^@>g`bnzhhHQ%m{?wyLM1ykM@*&n*6 z>=1KNOjvrwgjVWD_f|8IS*X#}U)@*W+Yf=NILKl|NTd|(k&istMBMf8DF34UKUh+ zN8={fR%>;pul1+Z#!f}Kt8tNY{iE)Qt)uVQKkaw*xn2!BJl)5CM*6P*oUMLx_Gk~8 zOU{|Ak*uE9$oh#qd$gB*b#+S((>{jAO`fSytUKyVue&v8dw+dy_0o6Lh}Kn3=z4V3 zBKQ7+nP8&lU>_~#c}^Nx^Odm`m8?EF;o12>)6N=EwYIKhJk`p6&l){~s;9b>6HogX_VY()r$_c*X$@EU=03JH6V*mTvGIhuKhgcc>mkAUTGOc;QbrM0>hu) zGIDM+)Fa9BoHMhqx1OjoeJ!8*Tt={dteGmfImgny^yj0P=qEC!JoU%N8qW^XI=9a3 zY>^`~`5x6+?h3w1}&#=5WX=pOPZ_j2Bs z9#${=bL+0^WACY+`QKMGuzJav?ql7x=A-Y~S5V(mt@M?&(C6|*U0HWD6g{@}#F~Me zS@)%fb*09%{>n2wru5RQYfi&&CK{rGBhPg|>xmjyL(`x3nOXPrT@6ucHKM?@-&1|ZRvtLD6UGQ(xI(_+w(f(&xGLvX5Y$+gqx0J%*l{{_iv@)%SgJN^pJD==>FHbrTpT9fq@{Y|e_wh(Izmnu_CD%dRzN5(S5|*@mb10>+?<5@ qM@xuDv6IL45v*%Hj{elGtU2f>CJ4Vj(nh!Ud+>j{&^^`oa`it@_o+Gn diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 95ccb7b7ec..5fdf2ba29f 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -439,7 +439,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { "Steering Temporarily Unavailable", "", AlertStatus.userPrompt, AlertSize.small, - Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.), + Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.8), }, EventName.preDriverDistracted: { From af1c8e5412d3d50d67a5748c496e0461421342ce Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 20 Jul 2022 21:15:33 -0700 Subject: [PATCH 216/306] Subaru Forester: 2022 requires new harness (#25229) * Revert to 2021 * update docs --- docs/CARS.md | 2 +- selfdrive/car/subaru/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index eb4dfd8847..73211a8d21 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -134,7 +134,7 @@ A supported vehicle is one that just works when you install a comma device. Ever |Subaru|Ascent 2019-21|All||||| |Subaru|Crosstrek 2018-19|EyeSight||||| |Subaru|Crosstrek 2020-21|EyeSight||||| -|Subaru|Forester 2019-22|All||||| +|Subaru|Forester 2019-21|All||||| |Subaru|Impreza 2017-19|EyeSight||||| |Subaru|Impreza 2020-22|EyeSight||||| |Subaru|XV 2018-19|EyeSight||||| diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 8fac934285..ae471a56e7 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -52,7 +52,7 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { SubaruCarInfo("Subaru Crosstrek 2020-21"), SubaruCarInfo("Subaru XV 2020-21"), ], - CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-22", "All"), + CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"), CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"), CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"), CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"), From 444de299b6c0dd7081bc23b16b465f80a83d2d70 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 20 Jul 2022 22:02:22 -0700 Subject: [PATCH 217/306] FW versions dump (#25203) * hyundai dump * dump * optima (good, it doesn't get rid of previous segment values) * add these comments back for now * add another from release3 today --- selfdrive/car/honda/values.py | 3 + selfdrive/car/hyundai/values.py | 28 ++++++--- selfdrive/car/toyota/values.py | 1 + selfdrive/car/volkswagen/values.py | 97 +++++++++++++++--------------- 4 files changed, 73 insertions(+), 56 deletions(-) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 3ce467e298..5749b53476 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -1303,6 +1303,7 @@ FW_VERSIONS = { ], (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36802-TXM-A070\x00\x00', + b'36802-TXM-A080\x00\x00', ], (Ecu.fwdCamera, 0x18dab5f1, None): [ b'36161-TXM-A050\x00\x00', @@ -1341,6 +1342,7 @@ FW_VERSIONS = { b'36161-T7A-A140\x00\x00', b'36161-T7A-A240\x00\x00', b'36161-T7A-C440\x00\x00', + b'36161-T7A-A040\x00\x00', ], (Ecu.srs, 0x18da53f1, None): [ b'77959-T7A-A230\x00\x00', @@ -1351,6 +1353,7 @@ FW_VERSIONS = { b'78109-THX-A210\x00\x00', b'78109-THX-A220\x00\x00', b'78109-THX-C220\x00\x00', + b'78109-THW-A110\x00\x00', ], }, CAR.ACURA_ILX: { diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 303558b5a1..9c3d852eda 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -383,7 +383,7 @@ FW_VERSIONS = { b'\xf1\x8799110L0000\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ', ], (Ecu.esp, 0x7d1, None): [ - b'\xf1\x00DN ESC \a 106 \a\x01 58910-L0100', + b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', b'\xf1\x00DN ESC \x01 102\x19\x04\x13 58910-L1300', b'\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300', b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', @@ -413,8 +413,8 @@ FW_VERSIONS = { b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B', ], (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware - b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware + b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware + b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware b'\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101', @@ -493,6 +493,9 @@ FW_VERSIONS = { b'\xf1\x87SAMFBA9283024GJ2wwwwEUuWwwgwwwwwwwww\x87/\xfb\xff\x98w\x8f\xff<\xd3\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', b'\xf1\x87SAMFBA9708354GJ2wwwwVf\x86h\x88wx\x87xww\x87\x88\x88\x88\x88w/\xfa\xff\x97w\x8f\xff\x86\xa0\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', b'\xf1\x87SANDB45316691GC6\x99\x99\x99\x99\x88\x88\xa8\x8avfwfwwww\x87wxwT\x9f\xfd\xff\x88wo\xff\x1c\xfa\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB3\x00\x00\x00\x00\x00\x00', + b'\xf1\x87SALFBA7460044GJ2gx\x87\x88Vf\x86hx\x88\x87\x88wwwwgw\x86wd?\xfa\xff\x86U_\xff\xaf\x1f\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SAMFBA8105254GJ2wx\x87\x88Vf\x86hx\x88\x87\x88wwwwwwww\x86O\xfa\xff\x99\x88\x7f\xffZG\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', + b'\xf1\x87SANFB45889451GC7wx\x87\x88gw\x87x\x88\x88x\x88\x87wxw\x87wxw\x87\x8f\xfc\xffeU\x8f\xff+Q\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', ], }, CAR.SONATA_LF: { @@ -1052,18 +1055,27 @@ FW_VERSIONS = { ], }, CAR.KIA_OPTIMA: { - (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 '], - (Ecu.esp, 0x7d1, None): [b'\xf1\x00JF ESC \v 11 \x18\x030 58920-D5180',], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 ', + ], + (Ecu.esp, 0x7d1, None): [ + b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180', + ], (Ecu.engine, 0x7e0, None): [ - b'\x01TJFAJNU06F201H03', b'\xf1\x89F1JF600AISEIU702\xf1\x82F1JF600AISEIU702', ], - (Ecu.eps, 0x7d4, None): [b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409'], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409', + ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32', b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.02 95895-D5000 h31', ], - (Ecu.transmission, 0x7e1, None): [b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW'], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW', + b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.', + b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00', + ], }, CAR.ELANTRA_2021: { (Ecu.fwdRadar, 0x7d0, None): [ diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 46b43ba25c..48caef565a 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1863,6 +1863,7 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646F4707000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', b'\x028646F4710000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', + b'\x028646F4712000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', ], }, CAR.MIRAI: { diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 9129784350..34eb75e539 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -300,6 +300,7 @@ FW_VERSIONS = { b'\xf1\x878V0906264L \xf1\x890002', b'\xf1\x878V0906264M \xf1\x890001', b'\xf1\x878V09C0BB01 \xf1\x890001', + b'\xf1\x8704E906024K \xf1\x899970', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x8709G927749AP\xf1\x892943', @@ -335,76 +336,76 @@ FW_VERSIONS = { b'\xf1\x870GC300043T \xf1\x899999', ], (Ecu.srs, 0x715, None): [ - b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\0211413001113120043114317121C111C9113', - b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\0211413001113120053114317121C111C9113', - b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\0211413001113120043114317121C111C9113', - b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\0211413001113120043114417121411149113', - b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\0211413001113120053114317121C111C9113', - b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02314160011123300314211012230229333463100', + b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120043114317121C111C9113', + b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120053114317121C111C9113', + b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114317121C111C9113', + b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114417121411149113', + b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120053114317121C111C9113', + b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100', b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100', - b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\023141600111233003142404A2252229333463100', - b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\023141600111233003142405A2252229333463100', - b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\0211413001112120004110415121610169112', - b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\0211413001113120006110417121A101A9113', - b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023271112111312--071104171825102591131211', - b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023271212111312--071104171838103891131211', - b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023341512112212--071104172328102891131211', + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100', + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100', + b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112', + b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\x111413001113120006110417121A101A9113', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271112111312--071104171825102591131211', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271212111312--071104171838103891131211', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13341512112212--071104172328102891131211', b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13272512111312--07110417182C102C91131211', - b'\xf1\x875Q0959655M \xf1\x890361\xf1\x82\0211413001112120041114115121611169112', - b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011211200621143171717111791132111', - b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02324230011211200061104171724102491132111', - b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02324230011211200621143171724112491132111', + b'\xf1\x875Q0959655M \xf1\x890361\xf1\x82\x111413001112120041114115121611169112', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200621143171717111791132111', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200061104171724102491132111', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200621143171724112491132111', b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200061104171717101791132111', b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200631143171724122491132111', - b'\xf1\x875Q0959655T \xf1\x890825\xf1\x82\023271200111312--071104171837103791132111', + b'\xf1\x875Q0959655T \xf1\x890825\xf1\x82\x13271200111312--071104171837103791132111', b'\xf1\x875Q0959655T \xf1\x890830\xf1\x82\x13271100111312--071104171826102691131211', b'\xf1\x875QD959655 \xf1\x890388\xf1\x82\x111413001113120006110417121D101D9112', ], (Ecu.eps, 0x712, None): [ - b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\00561A01612A0', - b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\00566A0J612A1', - b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\00566A00514A1', - b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\00566A0J712A1', - b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\00571A0J714A1', + b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\x0561A01612A0', + b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\x0566A0J612A1', + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A00514A1', + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A0J712A1', + b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571A0J714A1', b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1', - b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\00571A01A18A1', - b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\00571A0JA16A1', + b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A01A18A1', + b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A0JA16A1', b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820519A9040203', - b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\00521A00441A1', + b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00441A1', b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00608A1', b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00641A1', - b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521A00442A1', - b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521A00642A1', - b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521A07B05A1', - b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\00521A00602A0', - b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\00522A00402A0', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00442A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00642A1', + b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A07B05A1', + b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00602A0', + b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0522A00402A0', b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00502A0', - b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00511A00403A0', - b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\00516A00604A1', + b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0511A00403A0', + b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00404A1', - b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516A00604A1', - b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516A07A02A1', - b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521A00507A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00604A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A07A02A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00507A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A07B04A1', - b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521A20B03A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A20B03A1', b'\xf1\x875QD909144B \xf1\x891072\xf1\x82\x0521A00507A1', b'\xf1\x875QM909144A \xf1\x891072\xf1\x82\x0521A20B03A1', - b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\00521A00442A1', - b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\00571A01A16A1', - b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\00571A01A18A1', + b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A00442A1', + b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A16A1', + b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A18A1', b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A17A1', - b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\00571A01A18A1', + b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\x0571A01A18A1', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A2000400', ], (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x875Q0907567G \xf1\x890390\xf1\x82\00101', + b'\xf1\x875Q0907567G \xf1\x890390\xf1\x82\x0101', b'\xf1\x875Q0907567J \xf1\x890396\xf1\x82\x0101', - b'\xf1\x875Q0907572A \xf1\x890141\xf1\x82\00101', - b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\00101', - b'\xf1\x875Q0907572C \xf1\x890210\xf1\x82\00101', - b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\00101', - b'\xf1\x875Q0907572E \xf1\x89X310\xf1\x82\00101', - b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\00101', + b'\xf1\x875Q0907572A \xf1\x890141\xf1\x82\x0101', + b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\x0101', + b'\xf1\x875Q0907572C \xf1\x890210\xf1\x82\x0101', + b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101', + b'\xf1\x875Q0907572E \xf1\x89X310\xf1\x82\x0101', + b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101', b'\xf1\x875Q0907572G \xf1\x890571', b'\xf1\x875Q0907572H \xf1\x890620', b'\xf1\x875Q0907572J \xf1\x890654', From c3e95d5e194be9d445f54661d0ae0f0612db6a62 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 21 Jul 2022 14:48:08 +0200 Subject: [PATCH 218/306] prereq for matching speeds shown on cars dash (#25222) * prereq for matching speeds shown on cars dash * also handle fallback in the ui for replay * update translations * update ref --- selfdrive/car/interfaces.py | 6 ++++++ selfdrive/controls/controlsd.py | 6 ++++++ selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/ui/qt/onroad.cc | 8 ++++++-- selfdrive/ui/translations/main_ko.ts | 16 ++++++++-------- selfdrive/ui/translations/main_zh-CHS.ts | 16 ++++++++-------- selfdrive/ui/translations/main_zh-CHT.ts | 16 ++++++++-------- 7 files changed, 43 insertions(+), 27 deletions(-) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 4c7ea97dff..a451ef2ae1 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -162,6 +162,12 @@ class CarInterfaceBase(ABC): ret.canValid = all(cp.can_valid for cp in self.can_parsers if cp is not None) ret.canTimeout = any(cp.bus_timeout for cp in self.can_parsers if cp is not None) + if ret.vEgoCluster == 0.0: + ret.vEgoCluster = ret.vEgo + + if ret.cruiseState.speedCluster == 0: + ret.cruiseState.speedCluster = ret.cruiseState.speed + # copy back for next iteration reader = ret.as_reader() if self.CS is not None: diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index a20a3a9f37..b6f323d376 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -163,6 +163,7 @@ class Controls: self.can_rcv_error = False self.soft_disable_timer = 0 self.v_cruise_kph = 255 + self.v_cruise_cluster_kph = 255 self.v_cruise_kph_last = 0 self.mismatch_counter = 0 self.cruise_mismatch_counter = 0 @@ -454,11 +455,14 @@ class Controls: if not self.CP.pcmCruise: self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.vEgo, CS.gasPressed, CS.buttonEvents, self.button_timers, self.enabled, self.is_metric) + self.v_cruise_cluster_kph = self.v_cruise_kph else: if CS.cruiseState.available: self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH + self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH else: self.v_cruise_kph = 0 + self.v_cruise_cluster_kph = 0 # decrement the soft disable timer at every step, as it's reset on # entrance in SOFT_DISABLING state @@ -538,6 +542,7 @@ class Controls: self.current_alert_types.append(ET.ENABLE) if not self.CP.pcmCruise: self.v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last) + self.v_cruise_cluster_kph = self.v_cruise_kph # Check if openpilot is engaged and actuators are enabled self.enabled = self.state in ENABLED_STATES @@ -752,6 +757,7 @@ class Controls: controlsState.longControlState = self.LoC.long_control_state controlsState.vPid = float(self.LoC.v_pid) controlsState.vCruise = float(self.v_cruise_kph) + controlsState.vCruiseCluster = float(self.v_cruise_cluster_kph) controlsState.upAccelCmd = float(self.LoC.pid.p) controlsState.uiAccelCmd = float(self.LoC.pid.i) controlsState.ufAccelCmd = float(self.LoC.pid.f) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 00bf28ed83..a9339bc4ff 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -7c1168af0311d2fef67b82812cd863a0e97c030e \ No newline at end of file +c428493b2a46cb996a7565ea4395d7ad6cd79786 diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index fe39cd0cfc..fbfa7e646d 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -184,13 +184,17 @@ void NvgWindow::updateState(const UIState &s) { const auto cs = sm["controlsState"].getControlsState(); - float set_speed = cs_alive ? cs.getVCruise() : SET_SPEED_NA; + // Handle older routes where vCruiseCluster is not set + float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster(); + float set_speed = cs_alive ? v_cruise : SET_SPEED_NA; bool cruise_set = set_speed > 0 && (int)set_speed != SET_SPEED_NA; if (cruise_set && !s.scene.is_metric) { set_speed *= KM_TO_MILE; } - float cur_speed = cs_alive ? std::max(0.0, sm["carState"].getCarState().getVEgo()) : 0.0; + // Handle older routes where vEgoCluster is not set + float v_ego = sm["carState"].getCarState().getVEgoCluster() == 0.0 ? sm["carState"].getCarState().getVEgo() : sm["carState"].getCarState().getVEgoCluster(); + float cur_speed = cs_alive ? std::max(0.0, v_ego) : 0.0; cur_speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH; auto speed_limit_sign = sm["navInstruction"].getNavInstruction().getSpeedLimitSign(); diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index ec8f3a52d6..acff1de2b1 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -488,30 +488,30 @@ location set NvgWindow - + km/h km/h - + mph mph - - + + MAX MAX - - + + SPEED SPEED - - + + LIMIT LIMIT diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 9485e9449a..438ce65d70 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -486,30 +486,30 @@ location set NvgWindow - + km/h km/h - + mph mph - - + + MAX 最高定速 - - + + SPEED SPEED - - + + LIMIT LIMIT diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 9a3b800417..ade999f255 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -488,30 +488,30 @@ location set NvgWindow - + km/h km/h - + mph mph - - + + MAX 最高 - - + + SPEED 速度 - - + + LIMIT 速限 From 75473daf31c8fd2b1d4ecc6a60fe232f344c15ac Mon Sep 17 00:00:00 2001 From: Jafar Al-Gharaibeh Date: Thu, 21 Jul 2022 12:20:58 -0500 Subject: [PATCH 219/306] Mazda: update supported models info (#25230) * Mazda: update supported models info Signed-off-by: Jafar Al-Gharaibeh * correct format Co-authored-by: Shane Smiskol --- selfdrive/car/mazda/values.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index e1d6907991..7db401e161 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -36,10 +36,10 @@ class MazdaCarInfo(CarInfo): CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = { - CAR.CX5: MazdaCarInfo("Mazda CX-5 2017, 2019"), # TODO: verify years and torque for first 4 - CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-17"), - CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017"), - CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017"), + CAR.CX5: MazdaCarInfo("Mazda CX-5 2017-21"), + CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-20"), + CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"), + CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"), CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-22"), CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022"), } From e66145f9e0ec561a2e630e03e2c94d760874fc48 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Fri, 22 Jul 2022 02:24:40 +0900 Subject: [PATCH 220/306] Multilanguage: Korean improvements/translations (#25231) * Update util.cc * Revert "Update util.cc" This reverts commit d7d2f4f6c16785084375b8b8e3ae63dda414c872. * Multilanguage: kor translations update --- selfdrive/ui/translations/main_ko.ts | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index acff1de2b1..9928a57e14 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -638,17 +638,17 @@ location set %1 minute%2 ago - %1 분%2 전 + %1 분전 %1 hour%2 ago - %1 시간%2 전 + %1 시간전 %1 day%2 ago - %1 일%2 전 + %1 일전 @@ -1017,23 +1017,23 @@ location set Switch Branch - + 브랜치 변경 ENTER - + 입력하세요 The new branch will be pulled the next time the updater runs. - + 다음 업데이트 프로그램이 실행될 때 새 브랜치가 적용됩니다. Enter branch name - + 브랜치명 입력 @@ -1043,7 +1043,7 @@ location set Uninstall %1 - 제거 %1 + %1 제거 @@ -1217,12 +1217,12 @@ location set Show Map on Left Side of UI - + UI 왼쪽에 지도 표시 Show map on left side when in split screen view. - + 분할 화면 보기에서 지도를 왼쪽에 표시합니다. From 289239710d48ae1450e8c42c04373f7ee5e79d8e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 21 Jul 2022 11:02:59 -0700 Subject: [PATCH 221/306] better star descriptions (#25236) * better star descriptions * most --- docs/CARS.md | 10 +++++----- selfdrive/car/docs_definitions.py | 10 +++++----- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 73211a8d21..49f2f6e85d 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -5,16 +5,16 @@ A supported vehicle is one that just works when you install a comma device. Ever ## How We Rate The Cars ### Stop and Go -- - Adaptive Cruise Control (ACC) operates down to 0 mph. -- - Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed. +- - openpilot operates down to 0 mph. +- - openpilot operates only above a minimum speed. See your car's manual for the minimum speed. ### Steer to 0 - - openpilot can control the steering wheel down to 0 mph. -- - No steering control below certain speeds. +- - No steering control below certain speeds. See your car's manual for the minimum speed. ### Steering Torque -- - Car has enough steering torque to take tight turns. -- - Limited ability to make turns. +- - Car has enough steering torque to comfortably take most highway turns. +- - Limited ability to make tighter turns. # 196 Supported Cars diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 3c58b30436..01473e4cc3 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -172,18 +172,18 @@ class Harness(Enum): STAR_DESCRIPTIONS = { "Gas & Brakes": { # icon and row name Column.FSR_LONGITUDINAL.value: [ - [Star.FULL.value, "Adaptive Cruise Control (ACC) operates down to 0 mph."], - [Star.EMPTY.value, "Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed."], + [Star.FULL.value, "openpilot operates down to 0 mph."], + [Star.EMPTY.value, "openpilot operates only above a minimum speed. See your car's manual for the minimum speed."], ], }, "Steering": { Column.FSR_STEERING.value: [ [Star.FULL.value, "openpilot can control the steering wheel down to 0 mph."], - [Star.EMPTY.value, "No steering control below certain speeds."], + [Star.EMPTY.value, "No steering control below certain speeds. See your car's manual for the minimum speed."], ], Column.STEERING_TORQUE.value: [ - [Star.FULL.value, "Car has enough steering torque to take tight turns."], - [Star.EMPTY.value, "Limited ability to make turns."], + [Star.FULL.value, "Car has enough steering torque to comfortably take most highway turns."], + [Star.EMPTY.value, "Limited ability to make tighter turns."], ], }, } From 8e3595185dc2cf0d3ee35fa135384c4acc6bb5ef Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 21 Jul 2022 11:03:43 -0700 Subject: [PATCH 222/306] Kia Niro EV 2019: add missing FW versions (#25223) * Add missing FW versions * sort --- selfdrive/car/hyundai/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 9c3d852eda..1391bf0902 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -966,6 +966,7 @@ FW_VERSIONS = { CAR.KIA_NIRO_EV: { (Ecu.fwdRadar, 0x7D0, None): [ b'\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ', + b'\xf1\x00DEev SCC F-CUP 1.00 1.02 96400-Q4000 ', b'\xf1\x00DEev SCC F-CUP 1.00 1.02 96400-Q4100 ', b'\xf1\x00DEev SCC F-CUP 1.00 1.03 96400-Q4100 ', b'\xf1\x8799110Q4000\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ', @@ -978,6 +979,7 @@ FW_VERSIONS = { (Ecu.eps, 0x7D4, None): [ b'\xf1\x00DE MDPS C 1.00 1.05 56310Q4000\x00 4DEEC105', b'\xf1\x00DE MDPS C 1.00 1.05 56310Q4100\x00 4DEEC105', + b'\xf1\x00DE MDPS C 1.00 1.04 56310Q4100\x00 4DEEC104', ], (Ecu.fwdCamera, 0x7C4, None): [ b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.00 99211-Q4100 200706', @@ -985,6 +987,7 @@ FW_VERSIONS = { b'\xf1\x00DEE MFC AT USA LHD 1.00 1.00 99211-Q4000 191211', b'\xf1\x00DEE MFC AT USA LHD 1.00 1.03 95740-Q4000 180821', b'\xf1\x00DEE MFC AT USA LHD 1.00 1.01 99211-Q4500 210428', + b'\xf1\x00DEE MFC AT EUR LHD 1.00 1.03 95740-Q4000 180821', ], }, CAR.KIA_NIRO_HEV: { From cb73f9dbc38fff4ab249d8379a788a6b6d7770e3 Mon Sep 17 00:00:00 2001 From: eFini Date: Fri, 22 Jul 2022 04:50:04 +0800 Subject: [PATCH 223/306] Chinese (Traditional): Add/improve translations (#25228) fixed readme shortened ETA & revert unit --- selfdrive/ui/translations/README.md | 2 +- selfdrive/ui/translations/main_zh-CHT.ts | 18 +++++++++--------- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/selfdrive/ui/translations/README.md b/selfdrive/ui/translations/README.md index a6f2f665eb..96d251c953 100644 --- a/selfdrive/ui/translations/README.md +++ b/selfdrive/ui/translations/README.md @@ -8,7 +8,7 @@ Before getting started, make sure you have set up the openpilot Ubuntu developme openpilot provides a few tools to help contributors manage their translations and to ensure quality. To get started: -1. Add your new language to [languages.json](/selfdrive/ui/translations/languages.json) with the appropriate [language code](https://en.wikipedia.org/wiki/List_of_ISO_639-1_codes) and the localized language name (Simplified Chinese is `中文（繁體）`). +1. Add your new language to [languages.json](/selfdrive/ui/translations/languages.json) with the appropriate [language code](https://en.wikipedia.org/wiki/List_of_ISO_639-1_codes) and the localized language name (Traditional Chinese is `中文（繁體）`). 2. Generate the XML translation file (`*.ts`): ```shell selfdrive/ui/update_translations.py diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index ade999f255..85d40c60a3 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -135,7 +135,7 @@ Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) - 預覽駕駛員監控鏡頭畫面，以確保其具有良好視野。僅在熄火時可用。 + 預覽駕駛員監控鏡頭畫面，以確保其具有良好視野。（僅在熄火時可用） @@ -340,7 +340,7 @@ eta - 埃塔 + 抵達 @@ -440,7 +440,7 @@ location set Map Loading - 地圖加載 + 地圖加載中 @@ -1020,23 +1020,23 @@ location set Switch Branch - + 切換分支 ENTER - + 切換 The new branch will be pulled the next time the updater runs. - + 新的分支將會在下次檢查更新時切換過去。 Enter branch name - + 輸入分支名稱 @@ -1220,12 +1220,12 @@ location set Show Map on Left Side of UI - + 將地圖顯示在畫面的左側 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。 From 063cd137ef022d9eefd56d9ca6f8d4bf4a59e615 Mon Sep 17 00:00:00 2001 From: chengyu-k <59636949+chengyu-k@users.noreply.github.com> Date: Fri, 22 Jul 2022 06:05:02 +0900 Subject: [PATCH 224/306] Impreza 2017: add missing eps FW (#24892) * Update carFw for Impreza 2017 * Update selfdrive/car/subaru/values.py Co-authored-by: Shane Smiskol --- selfdrive/car/subaru/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index ae471a56e7..362e9ccd6a 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -114,6 +114,7 @@ FW_VERSIONS = { b'z\xc0\x04\x00', b'z\xc0\x00\x00', b'\x8a\xc0\x10\x00', + b'z\xc0\n\x00', ], (Ecu.fwdCamera, 0x787, None): [ b'\x00\x00\x64\xb5\x1f\x40\x20\x0e', From aec9b2cb8a65b2631b385de3a7a09dcc2342d584 Mon Sep 17 00:00:00 2001 From: Christian Gribneau Date: Thu, 21 Jul 2022 17:11:04 -0400 Subject: [PATCH 225/306] Hyundai: add Genesis G90 2017 FW versions (#25183) * v2 fingerprint 2017 Genesis G90 Ultimate 5.0 AWD * remove Genesis G90 from 255 steering torque blocklist * Update selfdrive/car/hyundai/values.py Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 1391bf0902..791d84305f 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -858,6 +858,12 @@ FW_VERSIONS = { b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00', ], }, + 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.fwdRadar, 0x7d0, None): [b'\xf1\x00HI__ SCC F-CUP 1.00 1.01 96400-D2100 '], + (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00HI LKAS AT USA LHD 1.00 1.00 95895-D2020 160302'], + (Ecu.engine, 0x7e0, None): [b'\xf1\x810000000000\x00'], + }, CAR.KONA: { (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00OS__ SCC F-CUP 1.00 1.00 95655-J9200 ', ], (Ecu.esp, 0x7d1, None): [b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', ], From e6e8607306b14ca1d869846007d91f240bfe2c7a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 21 Jul 2022 14:14:24 -0700 Subject: [PATCH 226/306] implement string representation for Bootlog --- tools/lib/bootlog.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/tools/lib/bootlog.py b/tools/lib/bootlog.py index 4e71120400..3515370823 100644 --- a/tools/lib/bootlog.py +++ b/tools/lib/bootlog.py @@ -35,6 +35,9 @@ class Bootlog: def datetime(self) -> datetime.datetime: return timestamp_to_datetime(self._timestamp) + def __str__(self): + return f"{self._dongle_id}|{self._timestamp}" + def __eq__(self, b) -> bool: if not isinstance(b, Bootlog): return False From 937013e48867862bccf0153064f104778e356f5d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 21 Jul 2022 16:35:47 -0700 Subject: [PATCH 227/306] FPv2: log all responses (#25239) * should be all that's required * try using rx_addr (should be the same) * log bus * bump cereal * remove debugging * bump cereal to master * rm line * add printing to offline debug script --- cereal | 2 +- selfdrive/car/fw_versions.py | 36 ++++++++++------------ selfdrive/debug/test_fw_query_on_routes.py | 2 +- 3 files changed, 19 insertions(+), 21 deletions(-) diff --git a/cereal b/cereal index 7870a1123d..bc999518e7 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 7870a1123d4e8dfe5c39e86224c2f851382f3fed +Subproject commit bc999518e73c2b04fee3b8207b3c28a8644233ea diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index ee2c0f31d4..9c6f6e44f0 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -452,7 +452,8 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, addrs.insert(0, parallel_addrs) - fw_versions = {} + # Get versions and build capnp list to put into CarParams + car_fw = [] requests = [r for r in REQUESTS if query_brand is None or r.brand == query_brand] for addr in tqdm(addrs, disable=not progress): for addr_chunk in chunks(addr): @@ -463,26 +464,23 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, if addrs: query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug) - fw_versions.update({(r.brand, addr): (version, r) for (addr, _), version in query.get_data(timeout).items()}) - except Exception: - cloudlog.warning(f"FW query exception: {traceback.format_exc()}") + for (addr, rx_addr), version in query.get_data(timeout).items(): + f = car.CarParams.CarFw.new_message() - # Build capnp list to put into CarParams - car_fw = [] - for (brand, addr), (version, request) in fw_versions.items(): - f = car.CarParams.CarFw.new_message() + f.ecu = ecu_types[(r.brand, addr[0], addr[1])] + f.fwVersion = version + f.address = addr[0] + f.responseAddress = rx_addr + f.request = r.request + f.brand = r.brand + f.bus = r.bus - f.ecu = ecu_types[(brand, addr[0], addr[1])] - f.fwVersion = version - f.address = addr[0] - f.responseAddress = uds.get_rx_addr_for_tx_addr(addr[0], request.rx_offset) - f.request = request.request - f.brand = brand + if addr[1] is not None: + f.subAddress = addr[1] - if addr[1] is not None: - f.subAddress = addr[1] - - car_fw.append(f) + car_fw.append(f) + except Exception: + cloudlog.warning(f"FW query exception: {traceback.format_exc()}") return car_fw @@ -531,7 +529,7 @@ if __name__ == "__main__": padding = max([len(fw.brand) for fw in fw_vers] or [0]) for version in fw_vers: subaddr = None if version.subAddress == 0 else hex(version.subAddress) - print(f" Brand: {version.brand:{padding}} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]") + print(f" Brand: {version.brand:{padding}}, bus: {version.bus} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]") print("}") print() diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index 191411f45a..0cc674cfc8 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -115,7 +115,7 @@ if __name__ == "__main__": padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw]) for version in sorted(car_fw, key=lambda fw: fw.brand): subaddr = None if version.subAddress == 0 else hex(version.subAddress) - print(f" Brand: {version.brand or UNKNOWN_BRAND:{padding}} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],") + print(f" Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],") print("Mismatches") found = False From 0ca62bf7df0fe81829c744fd8689c9b97cb6a36b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 21 Jul 2022 20:54:53 -0700 Subject: [PATCH 228/306] let can packer handle counter (#25240) * let can packer handle counter * diff is expected * update refs * clean that up * bump opendbc * fix sim --- opendbc | 2 +- panda | 2 +- selfdrive/car/body/bodycan.py | 6 +-- selfdrive/car/body/carcontroller.py | 2 +- selfdrive/car/chrysler/carcontroller.py | 3 +- selfdrive/car/chrysler/chryslercan.py | 7 +-- selfdrive/car/honda/carcontroller.py | 20 ++++----- selfdrive/car/honda/hondacan.py | 36 ++++++++-------- selfdrive/car/hyundai/carcontroller.py | 4 +- selfdrive/car/hyundai/hda2can.py | 11 ++--- selfdrive/car/nissan/carcontroller.py | 4 +- selfdrive/car/nissan/nissancan.py | 7 ++- selfdrive/car/subaru/carcontroller.py | 8 ++-- selfdrive/car/subaru/subarucan.py | 17 +++----- selfdrive/car/toyota/carcontroller.py | 2 +- selfdrive/car/toyota/toyotacan.py | 3 +- selfdrive/car/volkswagen/carcontroller.py | 4 +- selfdrive/car/volkswagen/volkswagencan.py | 9 ++-- selfdrive/test/process_replay/ref_commit | 2 +- tools/sim/lib/can.py | 52 +++++++++++------------ 20 files changed, 94 insertions(+), 107 deletions(-) diff --git a/opendbc b/opendbc index e2465cc701..4195e8f4c9 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit e2465cc701e878fdae5b4e363496c2fa5d2f7c08 +Subproject commit 4195e8f4c9998c0a1a6084c3cc71499307bbd81e diff --git a/panda b/panda index 1dfee5973b..a1686ca3ca 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 1dfee5973bc2884b61e55b7614f2fe90d0e2a1f3 +Subproject commit a1686ca3ca55b004179f10bfc45af5fbd701ca64 diff --git a/selfdrive/car/body/bodycan.py b/selfdrive/car/body/bodycan.py index cc448d53d1..580e5025ad 100644 --- a/selfdrive/car/body/bodycan.py +++ b/selfdrive/car/body/bodycan.py @@ -1,9 +1,7 @@ -def create_control(packer, torque_l, torque_r, idx): - can_bus = 0 - +def create_control(packer, torque_l, torque_r): values = { "TORQUE_L": torque_l, "TORQUE_R": torque_r, } - return packer.make_can_msg("TORQUE_CMD", can_bus, values, idx) + return packer.make_can_msg("TORQUE_CMD", 0, values) diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py index c13acebacb..7705cd86cb 100644 --- a/selfdrive/car/body/carcontroller.py +++ b/selfdrive/car/body/carcontroller.py @@ -80,7 +80,7 @@ class CarController: torque_l = int(np.clip(self.torque_l_filtered, -MAX_TORQUE, MAX_TORQUE)) can_sends = [] - can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r, self.frame // 2)) + can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r)) new_actuators = CC.actuators.copy() new_actuators.accel = torque_l diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 6d158e7cd0..344a2f1623 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -70,8 +70,7 @@ class CarController: self.steer_rate_limited = new_steer != apply_steer self.apply_steer_last = apply_steer - idx = self.frame // 2 - can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit, idx)) + can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit)) self.frame += 1 if not lkas_control_bit and self.lkas_control_bit_prev: diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py index 1e26a6d275..10ed73e9f2 100644 --- a/selfdrive/car/chrysler/chryslercan.py +++ b/selfdrive/car/chrysler/chryslercan.py @@ -52,19 +52,20 @@ def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, au return packer.make_can_msg("DAS_6", 0, values) -def create_lkas_command(packer, CP, apply_steer, lkas_control_bit, frame): +def create_lkas_command(packer, CP, apply_steer, lkas_control_bit): # LKAS_COMMAND Lane-keeping signal to turn the wheel enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1 values = { "STEERING_TORQUE": apply_steer, "LKAS_CONTROL_BIT": enabled_val if lkas_control_bit else 0, } - return packer.make_can_msg("LKAS_COMMAND", 0, values, frame % 0x10) + return packer.make_can_msg("LKAS_COMMAND", 0, values) def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False): values = { "ACC_Cancel": cancel, "ACC_Resume": resume, + "COUNTER": frame % 0x10, } - return packer.make_can_msg("CRUISE_BUTTONS", bus, values, frame % 0x10) + return packer.make_can_msg("CRUISE_BUTTONS", bus, values) diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index d47caaa9ad..a5f25e3a2e 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -155,9 +155,8 @@ class CarController: can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1)) # Send steering command. - idx = self.frame % 4 can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, CC.latActive, self.CP.carFingerprint, - idx, CS.CP.openpilotLongitudinalControl)) + CS.CP.openpilotLongitudinalControl)) # wind brake from air resistance decel at high speed wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15]) @@ -190,18 +189,16 @@ class CarController: if not self.CP.openpilotLongitudinalControl: if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: # radarless cars don't have supplemental message - idx = self.frame // 2 - can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CP.carFingerprint, idx)) + can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CP.carFingerprint)) # If using stock ACC, spam cancel command to kill gas when OP disengages. if pcm_cancel_cmd: - can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, self.CP.carFingerprint)) + can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, self.CP.carFingerprint)) elif CC.cruiseControl.resume: - can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, self.CP.carFingerprint)) + can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, self.CP.carFingerprint)) else: # Send gas and brake commands. if self.frame % 2 == 0: - idx = self.frame // 2 ts = self.frame * DT_CTRL if self.CP.carFingerprint in HONDA_BOSCH: @@ -210,7 +207,7 @@ class CarController: stopping = actuators.longControlState == LongCtrlState.stopping can_sends.extend(hondacan.create_acc_commands(self.packer, CC.enabled, CC.longActive, self.accel, self.gas, - idx, stopping, self.CP.carFingerprint)) + stopping, self.CP.carFingerprint)) else: apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0) apply_brake = int(clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1)) @@ -218,7 +215,7 @@ class CarController: pcm_override = True can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on, - pcm_override, pcm_cancel_cmd, fcw_display, idx, + pcm_override, pcm_cancel_cmd, fcw_display, self.CP.carFingerprint, CS.stock_brake)) self.apply_brake_last = apply_brake self.brake = apply_brake / self.params.NIDEC_BRAKE_MAX @@ -234,14 +231,13 @@ class CarController: self.gas = clip(gas_mult * (gas - brake + wind_brake * 3 / 4), 0., 1.) else: self.gas = 0.0 - can_sends.append(create_gas_interceptor_command(self.packer, self.gas, idx)) + can_sends.append(create_gas_interceptor_command(self.packer, self.gas, self.frame // 2)) # Send dashboard UI commands. if self.frame % 10 == 0: - idx = (self.frame // 10) % 4 hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible, hud_control.lanesVisible, fcw_display, acc_alert, steer_required) - can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud)) + can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.stock_hud)) if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH: self.speed = pcm_speed diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index 7246b98686..1f5f75426b 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -20,7 +20,7 @@ def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False): return 0 -def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, stock_brake): +def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake): # TODO: do we loose pressure if we keep pump off for long? brakelights = apply_brake > 0 brake_rq = apply_brake > 0 @@ -42,10 +42,10 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_ "AEB_STATUS": 0, } bus = get_pt_bus(car_fingerprint) - return packer.make_can_msg("BRAKE_COMMAND", bus, values, idx) + return packer.make_can_msg("BRAKE_COMMAND", bus, values) -def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_fingerprint): +def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_fingerprint): commands = [] bus = get_pt_bus(car_fingerprint) min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0] @@ -67,7 +67,7 @@ def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_ "STANDSTILL": standstill, "STANDSTILL_RELEASE": standstill_release, } - commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values, idx)) + commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values)) acc_control_on_values = { "SET_TO_3": 0x03, @@ -76,21 +76,21 @@ def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_ "SET_TO_75": 0x75, "SET_TO_30": 0x30, } - commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values, idx)) + commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values)) return commands -def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx, radar_disabled): +def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, radar_disabled): values = { "STEER_TORQUE": apply_steer if lkas_active else 0, "STEER_TORQUE_REQUEST": lkas_active, } bus = get_lkas_cmd_bus(car_fingerprint, radar_disabled) - return packer.make_can_msg("STEERING_CONTROL", bus, values, idx) + return packer.make_can_msg("STEERING_CONTROL", bus, values) -def create_bosch_supplemental_1(packer, car_fingerprint, idx): +def create_bosch_supplemental_1(packer, car_fingerprint): # non-active params values = { "SET_ME_X04": 0x04, @@ -98,10 +98,10 @@ def create_bosch_supplemental_1(packer, car_fingerprint, idx): "SET_ME_X10": 0x10, } bus = get_lkas_cmd_bus(car_fingerprint) - return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx) + return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values) -def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud): +def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, stock_hud): commands = [] bus_pt = get_pt_bus(CP.carFingerprint) radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl @@ -129,7 +129,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc acc_hud_values['FCM_OFF_2'] = stock_hud['FCM_OFF_2'] acc_hud_values['FCM_PROBLEM'] = stock_hud['FCM_PROBLEM'] acc_hud_values['ICONS'] = stock_hud['ICONS'] - commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values, idx)) + commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values)) lkas_hud_values = { 'SET_ME_X41': 0x41, @@ -146,29 +146,29 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc lkas_hud_values['SET_ME_X48'] = 0x48 if CP.flags & HondaFlags.BOSCH_EXT_HUD and not CP.openpilotLongitudinalControl: - commands.append(packer.make_can_msg('LKAS_HUD_A', bus_lkas, lkas_hud_values, idx)) - commands.append(packer.make_can_msg('LKAS_HUD_B', bus_lkas, lkas_hud_values, idx)) + commands.append(packer.make_can_msg('LKAS_HUD_A', bus_lkas, lkas_hud_values)) + commands.append(packer.make_can_msg('LKAS_HUD_B', bus_lkas, lkas_hud_values)) else: - commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx)) + commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values)) if radar_disabled and CP.carFingerprint in HONDA_BOSCH: radar_hud_values = { 'CMBS_OFF': 0x01, 'SET_TO_1': 0x01, } - commands.append(packer.make_can_msg('RADAR_HUD', bus_pt, radar_hud_values, idx)) + commands.append(packer.make_can_msg('RADAR_HUD', bus_pt, radar_hud_values)) if CP.carFingerprint == CAR.CIVIC_BOSCH: - commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", bus_pt, {}, idx)) + commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", bus_pt, {})) return commands -def spam_buttons_command(packer, button_val, idx, car_fingerprint): +def spam_buttons_command(packer, button_val, car_fingerprint): values = { 'CRUISE_BUTTONS': button_val, 'CRUISE_SETTING': 0, } # send buttons to camera on radarless cars bus = 2 if car_fingerprint in HONDA_BOSCH_RADARLESS else get_pt_bus(car_fingerprint) - return packer.make_can_msg("SCM_BUTTONS", bus, values, idx) + return packer.make_can_msg("SCM_BUTTONS", bus, values) diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index d0d9c40839..981a3309d2 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -73,10 +73,10 @@ class CarController: if self.CP.carFingerprint in HDA2_CAR: # steering control - can_sends.append(hda2can.create_lkas(self.packer, CC.enabled, self.frame, CC.latActive, apply_steer)) + can_sends.append(hda2can.create_lkas(self.packer, CC.enabled, CC.latActive, apply_steer)) if self.frame % 5 == 0: - can_sends.append(hda2can.create_cam_0x2a4(self.packer, self.frame, CS.cam_0x2a4)) + can_sends.append(hda2can.create_cam_0x2a4(self.packer, CS.cam_0x2a4)) # cruise cancel if (self.frame - self.last_button_frame) * DT_CTRL > 0.25: diff --git a/selfdrive/car/hyundai/hda2can.py b/selfdrive/car/hyundai/hda2can.py index 9a9e477cf5..36207aa113 100644 --- a/selfdrive/car/hyundai/hda2can.py +++ b/selfdrive/car/hyundai/hda2can.py @@ -1,4 +1,4 @@ -def create_lkas(packer, enabled, frame, lat_active, apply_steer): +def create_lkas(packer, enabled, lat_active, apply_steer): values = { "LKA_MODE": 2, "LKA_ICON": 2 if enabled else 1, @@ -10,17 +10,18 @@ def create_lkas(packer, enabled, frame, lat_active, apply_steer): "NEW_SIGNAL_1": 0, "NEW_SIGNAL_2": 0, } - return packer.make_can_msg("LKAS", 4, values, frame % 255) + return packer.make_can_msg("LKAS", 4, values) -def create_cam_0x2a4(packer, frame, camera_values): +def create_cam_0x2a4(packer, camera_values): camera_values.update({ "BYTE7": 0, }) - return packer.make_can_msg("CAM_0x2a4", 4, camera_values, frame % 255) + return packer.make_can_msg("CAM_0x2a4", 4, camera_values) def create_buttons(packer, cnt, btn): values = { + "COUNTER": cnt, "SET_ME_1": 1, "CRUISE_BUTTONS": btn, } - return packer.make_can_msg("CRUISE_BUTTONS", 5, values, cnt % 0xf) + return packer.make_can_msg("CRUISE_BUTTONS", 5, values) diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py index 7d9dad6693..dbc2b33c6b 100644 --- a/selfdrive/car/nissan/carcontroller.py +++ b/selfdrive/car/nissan/carcontroller.py @@ -33,7 +33,7 @@ class CarController: steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0 if CC.latActive: - # # windup slower + # windup slower if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle): angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_V) else: @@ -60,7 +60,7 @@ class CarController: self.last_angle = apply_angle if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and pcm_cancel_cmd: - can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, self.frame)) + can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg)) # TODO: Find better way to cancel! # For some reason spamming the cancel button is unreliable on the Leaf diff --git a/selfdrive/car/nissan/nissancan.py b/selfdrive/car/nissan/nissancan.py index ceace5088a..f59714b8d4 100644 --- a/selfdrive/car/nissan/nissancan.py +++ b/selfdrive/car/nissan/nissancan.py @@ -2,17 +2,17 @@ import copy import crcmod from selfdrive.car.nissan.values import CAR +# TODO: add this checksum to the CANPacker nissan_checksum = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff) def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torque): - idx = (frame % 16) values = { + "COUNTER": frame % 0x10, "DESIRED_ANGLE": apply_steer, "SET_0x80_2": 0x80, "SET_0x80": 0x80, "MAX_TORQUE": lkas_max_torque if steer_on else 0, - "COUNTER": idx, "LKA_ACTIVE": steer_on, } @@ -22,7 +22,7 @@ def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torqu return packer.make_can_msg("LKAS", 0, values) -def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg, frame): +def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg): values = copy.copy(cruise_throttle_msg) can_bus = 2 @@ -35,7 +35,6 @@ def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg, frame): values["SET_BUTTON"] = 0 values["RES_BUTTON"] = 0 values["FOLLOW_DISTANCE_BUTTON"] = 0 - values["COUNTER"] = (frame % 4) return packer.make_can_msg("CRUISE_THROTTLE", can_bus, values) diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index 3fb4bc8553..6cb754ac6f 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -39,9 +39,9 @@ class CarController: apply_steer = 0 if self.CP.carFingerprint in PREGLOBAL_CARS: - can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, self.frame, self.p.STEER_STEP)) + can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer)) else: - can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, self.frame, self.p.STEER_STEP)) + can_sends.append(subarucan.create_steering_control(self.packer, apply_steer)) self.apply_steer_last = apply_steer @@ -74,7 +74,9 @@ class CarController: self.es_distance_cnt = CS.es_distance_msg["COUNTER"] if self.es_lkas_cnt != CS.es_lkas_msg["COUNTER"]: - can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)) + can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert, + hud_control.leftLaneVisible, hud_control.rightLaneVisible, + hud_control.leftLaneDepart, hud_control.rightLaneDepart)) self.es_lkas_cnt = CS.es_lkas_msg["COUNTER"] new_actuators = actuators.copy() diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index e6efe7aa7b..5f2233be9d 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -3,19 +3,15 @@ from cereal import car VisualAlert = car.CarControl.HUDControl.VisualAlert -def create_steering_control(packer, apply_steer, frame, steer_step): - - idx = (frame / steer_step) % 16 - +def create_steering_control(packer, apply_steer): values = { "LKAS_Output": apply_steer, "LKAS_Request": 1 if apply_steer != 0 else 0, "SET_1": 1 } + return packer.make_can_msg("ES_LKAS", 0, values) - return packer.make_can_msg("ES_LKAS", 0, values, idx) - -def create_steering_status(packer, apply_steer, frame, steer_step): +def create_steering_status(packer): return packer.make_can_msg("ES_LKAS_State", 0, {}) def create_es_distance(packer, es_distance_msg, pcm_cancel_cmd): @@ -66,17 +62,14 @@ def subaru_preglobal_checksum(packer, values, addr): dat = packer.make_can_msg(addr, 0, values)[2] return (sum(dat[:7])) % 256 -def create_preglobal_steering_control(packer, apply_steer, frame, steer_step): - - idx = (frame / steer_step) % 8 - +def create_preglobal_steering_control(packer, apply_steer): values = { "LKAS_Command": apply_steer, "LKAS_Active": 1 if apply_steer != 0 else 0 } values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS") - return packer.make_can_msg("ES_LKAS", 0, values, idx) + return packer.make_can_msg("ES_LKAS", 0, values) def create_preglobal_es_distance(packer, cruise_button, es_distance_msg): diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 61a41b9c51..390e5f8170 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -83,7 +83,7 @@ class CarController: # toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2; # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed # on consecutive messages - can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, self.frame)) + can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req)) if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR: can_sends.append(create_lta_steer_command(self.packer, 0, 0, self.frame // 2)) diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py index d57131dcb9..7ab3ab3e78 100644 --- a/selfdrive/car/toyota/toyotacan.py +++ b/selfdrive/car/toyota/toyotacan.py @@ -1,10 +1,9 @@ -def create_steer_command(packer, steer, steer_req, raw_cnt): +def create_steer_command(packer, steer, steer_req): """Creates a CAN message for the Toyota Steer Command.""" values = { "STEER_REQUEST": steer_req, "STEER_TORQUE_CMD": steer, - "COUNTER": raw_cnt, "SET_ME_1": 1, } return packer.make_can_msg("STEERING_LKA", 0, values) diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index 1643fbe9b6..e38cd9705f 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -69,9 +69,7 @@ class CarController: apply_steer = 0 self.apply_steer_last = apply_steer - idx = (self.frame / P.HCA_STEP) % 16 - can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer, - idx, hcaEnabled)) + can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hcaEnabled)) # **** HUD Controls ***************************************************** # diff --git a/selfdrive/car/volkswagen/volkswagencan.py b/selfdrive/car/volkswagen/volkswagencan.py index 10e0054c79..1b42d1a405 100644 --- a/selfdrive/car/volkswagen/volkswagencan.py +++ b/selfdrive/car/volkswagen/volkswagencan.py @@ -1,7 +1,7 @@ -# CAN controls for MQB platform Volkswagen, Audi, Skoda and SEAT. +# CAN controls for MQB platform Volkswagen, Audi, Skoda, and SEAT. # PQ35/PQ46/NMS, and any future MLB, to come later. -def create_mqb_steering_control(packer, bus, apply_steer, idx, lkas_enabled): +def create_mqb_steering_control(packer, bus, apply_steer, lkas_enabled): values = { "SET_ME_0X3": 0x3, "Assist_Torque": abs(apply_steer), @@ -13,7 +13,7 @@ def create_mqb_steering_control(packer, bus, apply_steer, idx, lkas_enabled): "SET_ME_0XFE": 0xFE, "SET_ME_0X07": 0x07, } - return packer.make_can_msg("HCA_01", bus, values, idx) + return packer.make_can_msg("HCA_01", bus, values) def create_mqb_hud_control(packer, bus, enabled, steering_pressed, hud_alert, left_lane_visible, right_lane_visible, ldw_stock_values, left_lane_depart, right_lane_depart): @@ -34,6 +34,7 @@ def create_mqb_hud_control(packer, bus, enabled, steering_pressed, hud_alert, le def create_mqb_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx): values = { + "COUNTER": idx, "GRA_Hauptschalter": CS.graHauptschalter, "GRA_Abbrechen": buttonStatesToSend["cancel"], "GRA_Tip_Setzen": buttonStatesToSend["setCruise"], @@ -46,4 +47,4 @@ def create_mqb_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx): "GRA_Tip_Stufe_2": CS.graTipStufe2, "GRA_ButtonTypeInfo": CS.graButtonTypeInfo } - return packer.make_can_msg("GRA_ACC_01", bus, values, idx) + return packer.make_can_msg("GRA_ACC_01", bus, values) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index a9339bc4ff..41d683602a 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -c428493b2a46cb996a7565ea4395d7ad6cd79786 +658b1097663a8deea2c4d77c4c00a514739980bb \ No newline at end of file diff --git a/tools/sim/lib/can.py b/tools/sim/lib/can.py index 939d081a80..af4339b2e4 100755 --- a/tools/sim/lib/can.py +++ b/tools/sim/lib/can.py @@ -33,48 +33,48 @@ def can_function(pm, speed, angle, idx, cruise_button, is_engaged): # *** powertrain bus *** speed = speed * 3.6 # convert m/s to kph - msg.append(packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed}, idx)) + msg.append(packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed})) msg.append(packer.make_can_msg("WHEEL_SPEEDS", 0, { "WHEEL_SPEED_FL": speed, "WHEEL_SPEED_FR": speed, "WHEEL_SPEED_RL": speed, "WHEEL_SPEED_RR": speed - }, -1)) + })) - msg.append(packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": cruise_button}, idx)) + msg.append(packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": cruise_button})) values = {"COUNTER_PEDAL": idx & 0xF} - checksum = crc8_pedal(packer.make_can_msg("GAS_SENSOR", 0, {"COUNTER_PEDAL": idx & 0xF}, -1)[2][:-1]) + checksum = crc8_pedal(packer.make_can_msg("GAS_SENSOR", 0, {"COUNTER_PEDAL": idx & 0xF})[2][:-1]) values["CHECKSUM_PEDAL"] = checksum - msg.append(packer.make_can_msg("GAS_SENSOR", 0, values, -1)) - - msg.append(packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}, idx)) - msg.append(packer.make_can_msg("GAS_PEDAL_2", 0, {}, idx)) - msg.append(packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}, idx)) - msg.append(packer.make_can_msg("STEER_STATUS", 0, {}, idx)) - msg.append(packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": angle}, idx)) - msg.append(packer.make_can_msg("VSA_STATUS", 0, {}, idx)) - msg.append(packer.make_can_msg("STANDSTILL", 0, {"WHEELS_MOVING": 1 if speed >= 1.0 else 0}, idx)) - msg.append(packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}, idx)) - msg.append(packer.make_can_msg("EPB_STATUS", 0, {}, idx)) - msg.append(packer.make_can_msg("DOORS_STATUS", 0, {}, idx)) - msg.append(packer.make_can_msg("CRUISE_PARAMS", 0, {}, idx)) - msg.append(packer.make_can_msg("CRUISE", 0, {}, idx)) - msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}, idx)) - msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)}, idx)) + msg.append(packer.make_can_msg("GAS_SENSOR", 0, values)) + + msg.append(packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8})) + msg.append(packer.make_can_msg("GAS_PEDAL_2", 0, {})) + msg.append(packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1})) + msg.append(packer.make_can_msg("STEER_STATUS", 0, {})) + msg.append(packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": angle})) + msg.append(packer.make_can_msg("VSA_STATUS", 0, {})) + msg.append(packer.make_can_msg("STANDSTILL", 0, {"WHEELS_MOVING": 1 if speed >= 1.0 else 0})) + msg.append(packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {})) + msg.append(packer.make_can_msg("EPB_STATUS", 0, {})) + msg.append(packer.make_can_msg("DOORS_STATUS", 0, {})) + msg.append(packer.make_can_msg("CRUISE_PARAMS", 0, {})) + msg.append(packer.make_can_msg("CRUISE", 0, {})) + msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1})) + msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)})) msg.append(packer.make_can_msg("HUD_SETTING", 0, {})) - msg.append(packer.make_can_msg("CAR_SPEED", 0, {}, idx)) + msg.append(packer.make_can_msg("CAR_SPEED", 0, {})) # *** cam bus *** - msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}, idx)) - msg.append(packer.make_can_msg("ACC_HUD", 2, {}, idx)) - msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}, idx)) + msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {})) + msg.append(packer.make_can_msg("ACC_HUD", 2, {})) + msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {})) # *** radar bus *** if idx % 5 == 0: - msg.append(rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}, -1)) + msg.append(rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79})) for i in range(16): - msg.append(rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}, -1)) + msg.append(rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5})) pm.send('can', can_list_to_can_capnp(msg)) From 2f808985c086fd54f1fbc13adeccabb78a07db21 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 21 Jul 2022 21:04:31 -0700 Subject: [PATCH 229/306] body: fix integrator freezing in turn loop (#25243) --- selfdrive/car/body/carcontroller.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py index 7705cd86cb..0d5d780bd3 100644 --- a/selfdrive/car/body/carcontroller.py +++ b/selfdrive/car/body/carcontroller.py @@ -61,8 +61,8 @@ class CarController: speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr) turn_error = speed_diff_measured - speed_diff_desired - freeze_integrator = ((turn_error < 0 and self.turn_pid.error_integral <= -MAX_POS_INTEGRATOR) or - (turn_error > 0 and self.turn_pid.error_integral >= MAX_POS_INTEGRATOR)) + freeze_integrator = ((turn_error < 0 and self.turn_pid.error_integral <= -MAX_TURN_INTEGRATOR) or + (turn_error > 0 and self.turn_pid.error_integral >= MAX_TURN_INTEGRATOR)) torque_diff = self.turn_pid.update(turn_error, freeze_integrator=freeze_integrator) # Combine 2 PIDs outputs From 0c5668d96e714334a7d6c79678ee8577e6f6739b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 21 Jul 2022 21:05:52 -0700 Subject: [PATCH 230/306] Revert "remove casync from agnos manifest for now" This reverts commit 8ea982264ec4ba7aa47a3228236f943e76a911c5. --- system/hardware/tici/agnos.json | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 7ccea95ee7..853d3ab434 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -47,6 +47,8 @@ "size": 10737418240, "sparse": true, "full_check": false, - "has_ab": true + "has_ab": true, + "casync_caibx": "https://commadist.azureedge.net/agnosupdate/system-59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13.caibx", + "casync_store": "https://commadist.azureedge.net/agnosupdate/system-59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13" } ] From f300a8df2b5dbc457cbb132ee4085c07e381a7fb Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 22 Jul 2022 13:21:53 +0200 Subject: [PATCH 231/306] use v_cruise_cluster_kph for hudControl.setSpeed (#25245) --- selfdrive/controls/controlsd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index b6f323d376..f0927b9c74 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -674,7 +674,7 @@ class Controls: CC.cruiseControl.resume = self.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1 hudControl = CC.hudControl - hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS) + hudControl.setSpeed = float(self.v_cruise_cluster_kph * CV.KPH_TO_MS) hudControl.speedVisible = self.enabled hudControl.lanesVisible = self.enabled hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead From f0d494b7522bb1aa398ff1665a1a878bcd03b315 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 22 Jul 2022 16:25:06 +0200 Subject: [PATCH 232/306] Nissan: cleanup set speed (#25233) * Nissan: cleanup set speed * update ref --- selfdrive/car/nissan/carstate.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py index 3c5d7dc24b..a5ca237110 100644 --- a/selfdrive/car/nissan/carstate.py +++ b/selfdrive/car/nissan/carstate.py @@ -74,8 +74,8 @@ class CarState(CarStateBase): conversion = CV.MPH_TO_MS if cp.vl["HUD_SETTINGS"]["SPEED_MPH"] else CV.KPH_TO_MS else: conversion = CV.MPH_TO_MS if cp.vl["HUD"]["SPEED_MPH"] else CV.KPH_TO_MS - speed -= 1 # Speed on HUD is always 1 lower than actually sent on can bus ret.cruiseState.speed = speed * conversion + ret.cruiseState.speedCluster = (speed - 1) * conversion # Speed on HUD is always 1 lower than actually sent on can bus if self.CP.carFingerprint == CAR.ALTIMA: ret.steeringTorque = cp_cam.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 41d683602a..b144852714 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -658b1097663a8deea2c4d77c4c00a514739980bb \ No newline at end of file +2bfa96aad8b951988cf9d0dd95d3c9d9019a1c0e \ No newline at end of file From 15846435fe16505fbb5a1e397dd87b47527ad33d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 22 Jul 2022 10:01:08 -0700 Subject: [PATCH 233/306] Revert "Revert "remove casync from agnos manifest for now"" This reverts commit 0c5668d96e714334a7d6c79678ee8577e6f6739b. --- system/hardware/tici/agnos.json | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 853d3ab434..7ccea95ee7 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -47,8 +47,6 @@ "size": 10737418240, "sparse": true, "full_check": false, - "has_ab": true, - "casync_caibx": "https://commadist.azureedge.net/agnosupdate/system-59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13.caibx", - "casync_store": "https://commadist.azureedge.net/agnosupdate/system-59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13" + "has_ab": true } ] From daded8ebebb47d79fd0847b9a802d255df4eb02c Mon Sep 17 00:00:00 2001 From: cydia2020 <12470297+cydia2020@users.noreply.github.com> Date: Sat, 23 Jul 2022 03:18:45 +1000 Subject: [PATCH 234/306] Multilang: finish unfinished Simplified Chinese translations (#25247) * Finish unfinished translation * Update main_zh-CHS.ts --- selfdrive/ui/translations/main_zh-CHS.ts | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 438ce65d70..da0841c3b5 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -1015,23 +1015,23 @@ location set Switch Branch - + 切换分支 ENTER - + 输入 The new branch will be pulled the next time the updater runs. - + 分支将在更新服务下次启动时自动切换。 Enter branch name - + 输入分支名称 @@ -1215,12 +1215,12 @@ location set Show Map on Left Side of UI - + 在介面左侧显示地图 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。 From 3117c069d8ce28ca7c4f19afaae8016158992b9a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 22 Jul 2022 13:51:08 -0700 Subject: [PATCH 235/306] Car docs diff: fix new platform detection (#25252) * Fix new platform detection * add some helpful comments and clean up * slightly better --- selfdrive/debug/print_docs_diff.py | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py index c02649e3fa..44c821a4fc 100755 --- a/selfdrive/debug/print_docs_diff.py +++ b/selfdrive/debug/print_docs_diff.py @@ -20,17 +20,18 @@ def load_base_car_info(path): def match_cars(base_cars, new_cars): - """Matches CarInfo by name similarity and finds additions and removals""" changes = [] additions = [] for new in new_cars: - closest_match = difflib.get_close_matches(new.name, [b.name for b in base_cars], cutoff=0.)[0] - - if closest_match not in [c[1].name for c in changes]: - changes.append((new, next(car for car in base_cars if car.name == closest_match))) - else: + # Addition if no close matches or close match already used + # Change if close match and not already used + matches = difflib.get_close_matches(new.name, [b.name for b in base_cars], cutoff=0.) + if not len(matches) or matches[0] in [c[1].name for c in changes]: additions.append(new) + else: + changes.append((new, next(car for car in base_cars if car.name == matches[0]))) + # Removal if base car not in changes removals = [b for b in base_cars if b.name not in [c[1].name for c in changes]] return changes, additions, removals @@ -62,6 +63,9 @@ def print_car_info_diff(path): for car in get_all_car_info(): new_car_info[car.car_fingerprint].append(car) + # Add new platforms to base cars so we can detect additions and removals in one pass + base_car_info.update({car: [] for car in new_car_info if car not in base_car_info}) + changes = defaultdict(list) for base_car_model, base_cars in base_car_info.items(): # Match car info changes, and get additions and removals From 9ab1c492dd051276a422fbac38f754c4e6633f32 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 22 Jul 2022 14:07:54 -0700 Subject: [PATCH 236/306] Multilanguage badges (#25244) * Test badge * fix? * Test * debug * debug * debug * debug * debug * debug * debug * try this * need to build * a minute for what * download and commit test badge * get dynamically * fix * Add to readme * force push * should work * one step * Update badge * draft * clean up * remove these * one line is fine * Adding badges will have to be manual, but that should be fine * cause error * continue on error * hope this doesn't delete the badges * ugh, allow-failures would be so nice * whoops * yep need this * do this * now try a push * clean up * rm line * need this * see if this works * orange * does this work? * ? * do dis * needs to be global? * cool, this works cool, this works * run only on master * add back workflows * remove that * sorting * sorting * print badge markdown * it is bytes though? * run once more * revert * looks nicer * strange * no decimals * run again run once more * nice workflow_dispatch * only run on a schedule and remove error handling * make links absolute * adjust badge text --- .github/workflows/badges.yaml | 53 ++++++++++++++++++++++ selfdrive/ui/translations/README.md | 4 ++ selfdrive/ui/translations/create_badges.py | 43 ++++++++++++++++++ 3 files changed, 100 insertions(+) create mode 100644 .github/workflows/badges.yaml create mode 100755 selfdrive/ui/translations/create_badges.py diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml new file mode 100644 index 0000000000..68a13398f6 --- /dev/null +++ b/.github/workflows/badges.yaml @@ -0,0 +1,53 @@ +name: badges +on: + schedule: + - cron: '0 * * * *' + workflow_dispatch: + +env: + BASE_IMAGE: openpilot-base + DOCKER_REGISTRY: ghcr.io/commaai + + BUILD: | + docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true + docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true + docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . + RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c + +jobs: + badges: + name: create badges + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + with: + submodules: true + + - name: Cache scons + id: scons-cache + # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged. + uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b + env: + CACHE_SKIP_SAVE: true + with: + path: /tmp/scons_cache + key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- + restore-keys: | + scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}- + scons- + + - name: Build Docker image + run: eval "$BUILD" + + - name: Push badges + run: | + ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py" + + git checkout --orphan badges + git rm -rf --cached . + git config user.email "badge-researcher@comma.ai" + git config user.name "Badge Researcher" + + git add translation_badge_*.svg + git commit -m "Add/Update badges" + git push -f origin HEAD diff --git a/selfdrive/ui/translations/README.md b/selfdrive/ui/translations/README.md index 96d251c953..1ed73a0484 100644 --- a/selfdrive/ui/translations/README.md +++ b/selfdrive/ui/translations/README.md @@ -1,5 +1,9 @@ # Multilanguage +[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_zh-CHT.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_zh-CHT.ts) +[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_zh-CHS.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_zh-CHS.ts) +[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_ko.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_ko.ts) + ## Contributing Before getting started, make sure you have set up the openpilot Ubuntu development environment by reading the [tools README.md](/tools/README.md). diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py new file mode 100755 index 0000000000..58b587462f --- /dev/null +++ b/selfdrive/ui/translations/create_badges.py @@ -0,0 +1,43 @@ +#!/usr/bin/env python3 +import json +import os +import requests + +from common.basedir import BASEDIR +from selfdrive.ui.update_translations import LANGUAGES_FILE, TRANSLATIONS_DIR + +TRANSLATION_TAG = "= 70 else "red" + + r = requests.get(f"https://img.shields.io/badge/LANGUAGE {name}-{percent_finished}%25 complete-{color}") + assert r.status_code == 200, "Error downloading badge" + + with open(os.path.join(BASEDIR, TRANSLATION_BADGE.format(file)), "wb") as badge_f: + badge_f.write(r.content) From f79a21d29ef29dafb958d60d3d7087fe27b4a01e Mon Sep 17 00:00:00 2001 From: alancyau <59986772+alancyau@users.noreply.github.com> Date: Fri, 22 Jul 2022 16:30:51 -0500 Subject: [PATCH 237/306] Update incompatible Toyota Security cars (#25249) * Update CARS.md Update Toyota security cars. Toyota US doesn't sell the Yaris anymore. * add autogen comment * correct US model name Co-authored-by: Shane Smiskol --- docs/CARS.md | 11 +++++++---- selfdrive/car/CARS_template.md | 11 +++++++---- 2 files changed, 14 insertions(+), 8 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 49f2f6e85d..12e93c850e 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -1,3 +1,5 @@ + + # Supported Cars A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system. @@ -260,11 +262,12 @@ All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wi Specific new Toyota models are shipping with a new message authentication method that openpilot does not yet support. So far, this list includes: -* Toyota Rav4 Prime 2022+ +* Toyota RAV4 Prime 2021+ * Toyota Sienna 2021+ * Toyota Venza 2021+ * Toyota Sequoia 2023+ * Toyota Tundra 2022+ -* Toyota Yaris 2022+ -* Toyota Corolla Cross (only US model) -* Lexus NX 2021+ \ No newline at end of file +* Toyota Corolla Cross 2022+ (only US model) +* Lexus NX 2022+ +* Toyota bZ4x 2023+ +* Subaru Solterra 2023+ \ No newline at end of file diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md index ba95eeccb8..db05c79377 100644 --- a/selfdrive/car/CARS_template.md +++ b/selfdrive/car/CARS_template.md @@ -1,6 +1,8 @@ {% set footnote_tag = '[{}](#footnotes)' -%} {% set star_icon = '' -%} + + # Supported Cars A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system. @@ -63,11 +65,12 @@ All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wi Specific new Toyota models are shipping with a new message authentication method that openpilot does not yet support. So far, this list includes: -* Toyota Rav4 Prime 2022+ +* Toyota RAV4 Prime 2021+ * Toyota Sienna 2021+ * Toyota Venza 2021+ * Toyota Sequoia 2023+ * Toyota Tundra 2022+ -* Toyota Yaris 2022+ -* Toyota Corolla Cross (only US model) -* Lexus NX 2021+ +* Toyota Corolla Cross 2022+ (only US model) +* Lexus NX 2022+ +* Toyota bZ4x 2023+ +* Subaru Solterra 2023+ From 57aa085e183dea0e1b470682ecae4c443ab5909d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 22 Jul 2022 22:19:14 -0700 Subject: [PATCH 238/306] Fix footnote superscripts on website (#25260) * Fix footnotes on website * Revert "Fix footnotes on website" This reverts commit c2a11fa34e204e9360ac78e0986d7db2bc053cc6. * fix now, clean up later * Fix * revert --- selfdrive/car/docs.py | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py index 26f8949e8f..3a81788c68 100755 --- a/selfdrive/car/docs.py +++ b/selfdrive/car/docs.py @@ -12,20 +12,21 @@ 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]: +def get_all_footnotes(only_tier_cols: bool = False) -> Dict[Enum, int]: all_footnotes = [] + hide_cols = set(StarColumns) - set(TierColumns) if only_tier_cols else [] for footnotes in get_interface_attr("Footnote", ignore_none=True).values(): - all_footnotes += footnotes + all_footnotes.extend([fn for fn in footnotes if fn.value.column not in hide_cols]) return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)} -ALL_FOOTNOTES: Dict[Enum, int] = get_all_footnotes() CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md") CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md") -def get_all_car_info() -> List[CarInfo]: +def get_all_car_info(only_tier_cols: bool = False) -> List[CarInfo]: all_car_info: List[CarInfo] = [] + footnotes = get_all_footnotes(only_tier_cols) for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items(): # Hyundai exception: those with radar have openpilot longitudinal fingerprint = {0: {}, 1: {HKG_RADAR_START_ADDR: 8}, 2: {}, 3: {}} @@ -39,7 +40,7 @@ def get_all_car_info() -> List[CarInfo]: car_info = (car_info,) for _car_info in car_info: - all_car_info.append(_car_info.init(CP, ALL_FOOTNOTES)) + all_car_info.append(_car_info.init(CP, footnotes)) # Sort cars by make and model + year sorted_cars: List[CarInfo] = natsorted(all_car_info, key=lambda car: car.name.lower()) @@ -58,7 +59,7 @@ def generate_cars_md(all_car_info: List[CarInfo], template_fn: str, only_tier_co for c in hide_cols: del car.row[c] - footnotes = [fn.value.text for fn in ALL_FOOTNOTES if fn.value.column in cols] + footnotes = [fn.value.text for fn in get_all_footnotes(only_tier_cols)] cars_md: str = template.render(all_car_info=all_car_info, footnotes=footnotes, Star=Star, Column=cols, star_descriptions=STAR_DESCRIPTIONS) return cars_md @@ -74,5 +75,5 @@ if __name__ == "__main__": args = parser.parse_args() with open(args.out, 'w') as f: - f.write(generate_cars_md(get_all_car_info(), args.template, args.tier_columns)) + f.write(generate_cars_md(get_all_car_info(args.tier_columns), args.template, args.tier_columns)) print(f"Generated and written to {args.out}") From fd5819e9ec79e7cb1b714a5302e90e10e04e36fe Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 23 Jul 2022 08:00:17 +0100 Subject: [PATCH 239/306] Fix for multiple footnotes in car docs (#25256) * Fix for multiple footnotes in car docs * Split footnotes with comma * oops * one link tag * fix empty footnotes * sort footnotes * Fix footnotes on website * Revert "Fix footnotes on website" This reverts commit 187686b0d7b591cf81a8d59ea6d45f7ba94b5fae. * fix sorting if > 9 * try both * it pushes star a bit too much and float: center doesn't work * try on gh try on gh * doesn't look too good * revert Co-authored-by: Shane Smiskol --- docs/CARS.md | 12 ++++++------ selfdrive/car/docs_definitions.py | 27 ++++++++++++--------------- 2 files changed, 18 insertions(+), 21 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 12e93c850e..35cd035311 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -188,14 +188,14 @@ A supported vehicle is one that just works when you install a comma device. Ever |Toyota|RAV4 Hybrid 2019-21|All||||| |Toyota|RAV4 Hybrid 2022|All||||| |Toyota|Sienna 2018-20|All|[3](#footnotes)|||| -|Volkswagen|Arteon 2018-22[7](#footnotes)|Driver Assistance||||| -|Volkswagen|Arteon eHybrid 2020-22[7](#footnotes)|Driver Assistance||||| -|Volkswagen|Arteon R 2020-22[7](#footnotes)|Driver Assistance||||| +|Volkswagen|Arteon 2018-22[7,8](#footnotes)|Driver Assistance||||| +|Volkswagen|Arteon eHybrid 2020-22[7,8](#footnotes)|Driver Assistance||||| +|Volkswagen|Arteon R 2020-22[7,8](#footnotes)|Driver Assistance||||| |Volkswagen|Atlas 2018-22[7](#footnotes)|Driver Assistance||||| |Volkswagen|Atlas Cross Sport 2021-22[7](#footnotes)|Driver Assistance||||| |Volkswagen|California 2021[7](#footnotes)|Driver Assistance||||| |Volkswagen|Caravelle 2020[7](#footnotes)|Driver Assistance||||| -|Volkswagen|CC 2018-22[7](#footnotes)|Driver Assistance||||| +|Volkswagen|CC 2018-22[7,8](#footnotes)|Driver Assistance||||| |Volkswagen|e-Golf 2014-20|Driver Assistance||||| |Volkswagen|Golf 2015-20[8](#footnotes)|Driver Assistance||||| |Volkswagen|Golf Alltrack 2015-19|Driver Assistance||||| @@ -206,9 +206,9 @@ A supported vehicle is one that just works when you install a comma device. Ever |Volkswagen|Golf SportsVan 2015-20|Driver Assistance||||| |Volkswagen|Jetta 2018-22[7](#footnotes)|Driver Assistance||||| |Volkswagen|Jetta GLI 2021-22[7](#footnotes)|Driver Assistance||||| -|Volkswagen|Passat 2015-22[7](#footnotes)|Driver Assistance||||| +|Volkswagen|Passat 2015-22[6,7,8](#footnotes)|Driver Assistance||||| |Volkswagen|Passat Alltrack 2015-22[7](#footnotes)|Driver Assistance||||| -|Volkswagen|Passat GTE 2015-22[7](#footnotes)|Driver Assistance||||| +|Volkswagen|Passat GTE 2015-22[7,8](#footnotes)|Driver Assistance||||| |Volkswagen|Polo 2020-22[7](#footnotes)|Driver Assistance||||| |Volkswagen|Polo GTI 2020-22[7](#footnotes)|Driver Assistance||||| |Volkswagen|T-Cross 2021[7](#footnotes)|Driver Assistance||||| diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 01473e4cc3..015646972d 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -2,7 +2,7 @@ import re from cereal import car from collections import namedtuple -from dataclasses import dataclass +from dataclasses import dataclass, field from enum import Enum from typing import Dict, List, Optional, Tuple, Union, no_type_check @@ -37,13 +37,9 @@ TierColumns = (Column.FSR_LONGITUDINAL, Column.FSR_STEERING, Column.STEERING_TOR CarFootnote = namedtuple("CarFootnote", ["text", "column", "star"], defaults=[None]) -def get_footnote(footnotes: Optional[List[Enum]], column: Column) -> Optional[Enum]: - # Returns applicable footnote given current column - if footnotes is not None: - for fn in footnotes: - if fn.value.column == column: - return fn - return None +def get_footnotes(footnotes: List[Enum], column: Column) -> List[Enum]: + # Returns applicable footnotes given current column + return [fn for fn in footnotes if fn.value.column == column] def split_name(name: str) -> Tuple[str, str, str]: @@ -61,7 +57,7 @@ class CarInfo: name: str package: str video_link: Optional[str] = None - footnotes: Optional[List[Enum]] = None + footnotes: List[Enum] = field(default_factory=list) min_steer_speed: Optional[float] = None min_enable_speed: Optional[float] = None harness: Optional[Enum] = None @@ -106,9 +102,9 @@ class CarInfo: self.all_footnotes = all_footnotes for column in StarColumns: # Demote if footnote specifies a star - footnote = get_footnote(self.footnotes, column) - if footnote is not None and footnote.value.star is not None: - self.row[column] = footnote.value.star + for fn in get_footnotes(self.footnotes, column): + if fn.value.star is not None: + self.row[column] = fn.value.star # openpilot ACC star doesn't count for tiers full_stars = [s for col, s in self.row.items() if col in TierColumns].count(Star.FULL) @@ -129,9 +125,10 @@ class CarInfo: elif column == Column.MODEL and len(self.years): item += f" {self.years}" - footnote = get_footnote(self.footnotes, column) - if footnote is not None: - item += footnote_tag.format(self.all_footnotes[footnote]) + footnotes = get_footnotes(self.footnotes, column) + if len(footnotes): + sups = sorted([self.all_footnotes[fn] for fn in footnotes]) + item += footnote_tag.format(f'{",".join(map(str, sups))}') return item From e0cd4bd7ede6d4f536cf68b6856f414d81f9554b Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Sat, 23 Jul 2022 18:05:31 -0500 Subject: [PATCH 240/306] Add missing RAV4H_TSS2_2022 engine f/w (#25263) `@atran913#6118` 2022 RAV4 Hybrid DongleID/route d8117083fe3d623d|2022-07-23--19-42-53 --- selfdrive/car/toyota/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 48caef565a..0f29ae1ee2 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1401,6 +1401,7 @@ FW_VERSIONS = { b'\x01896634A08000\x00\x00\x00\x00', b'\x01896634A61000\x00\x00\x00\x00', b'\x01896634A62000\x00\x00\x00\x00', + b'\x01896634A62100\x00\x00\x00\x00', b'\x01896634A63000\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ From 551d2fe511ac2801befaa93d525b5c8bdb608629 Mon Sep 17 00:00:00 2001 From: pcjx <109846435+pcjx@users.noreply.github.com> Date: Sun, 24 Jul 2022 01:49:41 +0200 Subject: [PATCH 241/306] Make ubuntu_setup.sh use codenames to support Ubuntu based distros (#25261) Using codenames allows the ubuntu_setup.sh to install properly on systems like Pop!_OS or Linux Mint. --- tools/ubuntu_setup.sh | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh index 5bc3630766..bd12b878f1 100755 --- a/tools/ubuntu_setup.sh +++ b/tools/ubuntu_setup.sh @@ -69,7 +69,7 @@ function install_ubuntu_common_requirements() { } # Install Ubuntu 22.04 LTS packages -function install_ubuntu_latest_requirements() { +function install_ubuntu_jammy_requirements() { install_ubuntu_common_requirements sudo apt-get install -y --no-install-recommends \ @@ -81,7 +81,7 @@ function install_ubuntu_latest_requirements() { } # Install Ubuntu 20.04 packages -function install_ubuntu_lts_requirements() { +function install_ubuntu_focal_requirements() { install_ubuntu_common_requirements sudo apt-get install -y --no-install-recommends \ @@ -93,12 +93,12 @@ function install_ubuntu_lts_requirements() { # Detect OS using /etc/os-release file if [ -f "/etc/os-release" ]; then source /etc/os-release - case "$ID $VERSION_ID" in - "ubuntu 22.04") - install_ubuntu_latest_requirements + case "$VERSION_CODENAME" in + "jammy") + install_ubuntu_jammy_requirements ;; - "ubuntu 20.04") - install_ubuntu_lts_requirements + "focal") + install_ubuntu_focal_requirements ;; *) echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 20.04." @@ -107,7 +107,7 @@ if [ -f "/etc/os-release" ]; then if [[ ! $REPLY =~ ^[Yy]$ ]]; then exit 1 fi - install_ubuntu_lts_requirements + install_ubuntu_focal_requirements esac else echo "No /etc/os-release in the system" From d01847e4140b1e31961bae53bea57a5727e9040a Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Sat, 23 Jul 2022 16:50:47 -0700 Subject: [PATCH 242/306] hyundai: torque lateral controller for palisade (#25262) --- selfdrive/car/hyundai/interface.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index a32ee2c0ab..d5085e322f 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -78,8 +78,7 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.90 ret.steerRatio = 15.6 * 1.15 tire_stiffness_factor = 0.63 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30): ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1275. + STD_CARGO_KG From 10b212dc7ef126f34150cd1c110b804f8cf0f082 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 23 Jul 2022 23:25:30 -0700 Subject: [PATCH 243/306] Chrysler: add Ram 1500 FW values (#25266) --- selfdrive/car/chrysler/values.py | 79 ++++++++++++++++++++++++-------- 1 file changed, 59 insertions(+), 20 deletions(-) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 5a979776ec..56b11652ff 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -1,7 +1,6 @@ -import capnp from dataclasses import dataclass from enum import Enum -from typing import Dict, List, Optional, Tuple, Union +from typing import Dict, List, Optional, Union from cereal import car from selfdrive.car import dbc_dict @@ -113,27 +112,67 @@ FINGERPRINTS = { # Jeep Grand Cherokee 2019, including most 2020 models 55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 }], - CAR.RAM_1500: [ - {35: 8, 37: 8, 39: 8, 41: 8, 43: 8, 47: 8, 49: 8, 53: 8, 55: 8, 113: 8, 119: 2, 121: 8, 123: 7, 125: 6, 127: 8, 129: 8, 131: 8, 133: 8, 135: 8, 137: 8, 139: 8, 141: 8, 145: 8, 147: 8, 149: 7, 153: 8, 155: 8, 157: 8, 163: 8, 164: 8, 166: 8, 167: 8, 169: 8, 171: 8, 173: 5, 177: 3, 179: 8, 181: 8, 213: 3, 221: 8, 232: 8, 250: 8, 278: 8, 289: 5, 293: 3, 295: 8, 296: 8, 297: 4, 298: 8, 299: 8, 305: 8, 307: 8, 311: 8, 315: 8, 317: 8, 319: 8, 323: 8, 333: 8, 334: 8, 341: 8, 343: 8, 345: 8, 347: 8, 409: 6, 421: 8, 448: 6, 456: 4, 464: 8, 489: 8, 491: 8, 502: 8, 503: 8, 505: 8, 507: 5, 516: 7, 517: 7, 524: 8, 526: 6, 557: 8, 560: 8, 584: 8, 601: 8, 605: 8, 607: 8, 609: 8, 611: 8, 613: 8, 623: 8, 631: 8, 633: 8, 634: 8, 635: 8, 637: 8, 641: 8, 643: 8, 645: 2, 649: 8, 650: 8, 651: 8, 656: 4, 657: 8, 659: 5, 663: 8, 664: 8, 673: 8, 676: 8, 679: 8, 685: 8, 687: 8, 689: 5, 706: 8, 709: 8, 710: 8, 711: 8, 720: 6, 752: 2, 754: 8, 773: 8, 788: 3, 792: 8, 808: 8, 818: 8, 819: 8, 822: 8, 823: 8, 825: 2, 838: 2, 840: 8, 848: 8, 856: 4, 860: 6, 862: 8, 875: 2, 897: 8, 906: 8, 910: 8, 926: 3, 929: 8, 930: 8, 931: 8, 932: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 961: 8, 962: 8, 969: 4, 971: 8, 972: 8, 973: 8, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8}, - {35: 8, 37: 8, 39: 8, 43: 8, 47: 8, 49: 8, 53: 8, 55: 8, 113: 8, 119: 2, 121: 8, 123: 7, 125: 6, 127: 8, 129: 8, 131: 8, 133: 8, 135: 8, 137: 8, 139: 8, 141: 8, 145: 8, 147: 8, 149: 7, 153: 8, 155: 8, 157: 8, 163: 8, 164: 8, 166: 8, 167: 8, 169: 8, 171: 8, 173: 5, 177: 3, 179: 8, 181: 8, 213: 3, 221: 8, 232: 8, 250: 8, 276: 8, 277: 8, 278: 8, 289: 5, 293: 3, 295: 8, 296: 8, 297: 4, 299: 8, 301: 8, 302: 8, 305: 8, 307: 8, 311: 8, 317: 8, 319: 8, 323: 8, 327: 8, 333: 8, 334: 8, 341: 8, 343: 8, 345: 8, 347: 8, 421: 8, 448: 6, 456: 4, 457: 8, 464: 8, 489: 8, 491: 8, 502: 8, 503: 8, 507: 5, 516: 7, 517: 7, 524: 8, 526: 6, 557: 8, 560: 8, 584: 8, 601: 8, 605: 8, 607: 8, 609: 8, 613: 8, 623: 8, 631: 8, 633: 8, 634: 8, 635: 8, 637: 8, 641: 8, 643: 8, 645: 2, 649: 8, 650: 8, 651: 8, 656: 4, 657: 8, 663: 8, 673: 8, 676: 8, 679: 8, 685: 8, 687: 8, 689: 5, 706: 8, 709: 8, 710: 8, 711: 8, 720: 6, 738: 8, 752: 2, 754: 8, 773: 8, 792: 8, 808: 8, 812: 8, 813: 8, 814: 8, 818: 8, 819: 8, 821: 8, 822: 8, 823: 8, 825: 2, 838: 2, 840: 8, 847: 1, 848: 8, 856: 4, 860: 6, 862: 8, 874: 2, 876: 8, 897: 8, 906: 8, 910: 8, 926: 3, 929: 8, 930: 8, 931: 8, 932: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 961: 8, 962: 8, 969: 4, 971: 8, 972: 8, 973: 8, 975: 8, 976: 8, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1030: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8}, - {35: 8, 37: 8, 39: 8, 43: 8, 47: 8, 49: 8, 53: 8, 55: 8, 113: 8, 119: 2, 121: 8, 123: 7, 125: 6, 127: 8, 129: 8, 131: 8, 133: 8, 135: 8, 137: 8, 139: 8, 141: 8, 145: 8, 147: 8, 149: 7, 153: 8, 155: 8, 157: 8, 163: 8, 164: 8, 166: 8, 167: 8, 169: 8, 171: 8, 173: 5, 177: 3, 179: 8, 181: 8, 213: 3, 221: 8, 232: 8, 250: 8, 289: 5, 293: 3, 295: 8, 296: 8, 297: 4, 299: 8, 301: 8, 302: 8, 305: 8, 307: 8, 311: 8, 317: 8, 319: 8, 323: 8, 334: 8, 337: 8, 343: 8, 347: 8, 409: 6, 421: 8, 448: 6, 456: 4, 464: 8, 489: 8, 491: 8, 502: 8, 503: 8, 507: 5, 516: 7, 517: 7, 524: 8, 526: 6, 557: 8, 560: 8, 584: 8, 601: 8, 605: 8, 607: 8, 609: 8, 613: 8, 623: 8, 631: 8, 633: 8, 634: 8, 635: 8, 637: 8, 641: 8, 643: 8, 645: 2, 649: 8, 650: 8, 651: 8, 656: 4, 657: 8, 659: 5, 663: 8, 664: 8, 673: 8, 676: 8, 679: 8, 685: 8, 687: 8, 689: 5, 706: 8, 709: 8, 710: 8, 711: 8, 720: 6, 752: 2, 754: 8, 773: 8, 788: 3, 792: 8, 808: 8, 812: 8, 813: 8, 814: 8, 818: 8, 819: 8, 821: 8, 822: 8, 825: 2, 838: 2, 840: 8, 847: 1, 848: 8, 856: 4, 860: 6, 862: 8, 876: 8, 897: 8, 906: 8, 910: 8, 926: 3, 929: 8, 930: 8, 931: 8, 932: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 961: 8, 962: 8, 969: 4, 971: 8, 972: 8, 973: 8, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1030: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8}, - ], } -FW_VERSIONS: Dict[str, Dict[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]], List[str]]] = { +FW_VERSIONS = { CAR.RAM_1500: { - (Ecu.combinationMeter, 0x742, None): [], - (Ecu.srs, 0x744, None): [], - (Ecu.esp, 0x747, None): [], - (Ecu.fwdCamera, 0x753, None): [], - (Ecu.fwdCamera, 0x764, None): [], - (Ecu.eps, 0x761, None): [], - (Ecu.fwdRadar, 0x757, None): [], - (Ecu.eps, 0x75A, None): [], - (Ecu.engine, 0x7e0, None): [], - (Ecu.transmission, 0x7e1, None): [], - (Ecu.gateway, 0x18DACBF1, None): [], - } + (Ecu.combinationMeter, 0x742, None): [ + b'68294063AH', + b'68294063AG', + b'68434860AC', + b'68527375AD', + b'68453503AC', + ], + (Ecu.srs, 0x744, None): [ + b'68441329AB', + b'68490898AA', + b'68428609AB', + b'68500728AA', + ], + (Ecu.esp, 0x747, None): [ + b'68432418AD', + b'68432418AB', + b'68436004AE', + b'68438454AD', + b'68436004AD', + b'68535469AB', + b'68438454AC', + ], + (Ecu.fwdCamera, 0x753, None): [ + b'68320950AL', + b'68320950AJ', + b'68454268AB', + b'68475160AG', + b'04672892AB', + b'68475160AE', + ], + (Ecu.eps, 0x75A, None): [ + b'68273275AG', + b'68469901AA', + b'68552788AA', + ], + (Ecu.engine, 0x7e0, None): [ + b'68448163AJ', + b'68500630AD', + b'68539650AD', + ], + (Ecu.transmission, 0x7e1, None): [ + b'68360078AL', + b'68384328AD', + b'68360085AL', + b'68360081AM', + b'68502994AD', + b'68445533AB', + b'68540431AB', + b'68484467AC', + ], + (Ecu.gateway, 0x18DACBF1, None): [ + b'68402660AB', + b'68445283AB', + b'68533631AB', + b'68500483AB', + ], + }, } DBC = { From d462a08056d54a957084d594286626a2509c94aa Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 24 Jul 2022 14:56:55 -0700 Subject: [PATCH 244/306] remove CS.steeringRateLimited (#25251) * remove CS.steeringRateLimited * bump cereal * update refs --- cereal | 2 +- selfdrive/car/chrysler/carcontroller.py | 2 -- selfdrive/car/chrysler/interface.py | 2 -- selfdrive/car/ford/carcontroller.py | 2 -- selfdrive/car/ford/interface.py | 2 -- selfdrive/car/gm/carcontroller.py | 2 -- selfdrive/car/gm/interface.py | 2 -- selfdrive/car/hyundai/carcontroller.py | 2 -- selfdrive/car/hyundai/interface.py | 1 - selfdrive/car/mazda/carcontroller.py | 3 --- selfdrive/car/subaru/carcontroller.py | 2 -- selfdrive/car/subaru/interface.py | 2 -- selfdrive/car/toyota/carcontroller.py | 2 -- selfdrive/car/toyota/interface.py | 2 -- selfdrive/car/volkswagen/carcontroller.py | 3 --- selfdrive/car/volkswagen/interface.py | 1 - selfdrive/controls/controlsd.py | 4 ++- selfdrive/controls/lib/latcontrol.py | 6 ++--- selfdrive/controls/lib/latcontrol_angle.py | 4 +-- selfdrive/controls/lib/latcontrol_indi.py | 4 +-- selfdrive/controls/lib/latcontrol_pid.py | 4 +-- selfdrive/controls/lib/latcontrol_torque.py | 6 ++--- .../controls/lib/tests/test_latcontrol.py | 3 +-- selfdrive/test/process_replay/ref_commit | 2 +- .../test/process_replay/test_processes.py | 26 ++++++++++++++----- tools/tuning/measure_steering_accuracy.py | 2 +- 26 files changed, 39 insertions(+), 54 deletions(-) diff --git a/cereal b/cereal index bc999518e7..9ae66d0712 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit bc999518e73c2b04fee3b8207b3c28a8644233ea +Subproject commit 9ae66d07129dcf1b5d6fc5167bbc89691a56d24c diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 344a2f1623..22abf1b677 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -10,7 +10,6 @@ class CarController: self.CP = CP self.apply_steer_last = 0 self.frame = 0 - self.steer_rate_limited = False self.hud_count = 0 self.last_lkas_falling_edge = 0 @@ -67,7 +66,6 @@ class CarController: apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params) if not lkas_active: apply_steer = 0 - self.steer_rate_limited = new_steer != apply_steer self.apply_steer_last = apply_steer can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit)) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index acc08954a8..56cece47bc 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -75,8 +75,6 @@ class CarInterface(CarInterfaceBase): def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) - ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False - # events events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low]) diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index d7666c1d65..11d9bb3c79 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -25,7 +25,6 @@ class CarController: self.frame = 0 self.apply_steer_last = 0 - self.steer_rate_limited = False self.main_on_last = False self.lkas_enabled_last = False self.steer_alert_last = False @@ -46,7 +45,6 @@ class CarController: # apply rate limits new_steer = actuators.steeringAngleDeg apply_steer = apply_ford_steer_angle_limits(new_steer, self.apply_steer_last, CS.out.vEgo) - self.steer_rate_limited = new_steer != apply_steer # send steering commands at 20Hz if (self.frame % CarControllerParams.LKAS_STEER_STEP) == 0: diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 1af04bee41..857ccbab8b 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -70,8 +70,6 @@ class CarInterface(CarInterfaceBase): def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) - ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False - events = self.create_common_events(ret) ret.events = events.to_msg() diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index f763a58532..727c05efdd 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -22,7 +22,6 @@ class CarController: self.lka_steering_cmd_counter_last = -1 self.lka_icon_status_last = (False, False) - self.steer_rate_limited = False self.params = CarControllerParams() @@ -51,7 +50,6 @@ class CarController: if lkas_enabled: new_steer = int(round(actuators.steer * self.params.STEER_MAX)) apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) - self.steer_rate_limited = new_steer != apply_steer else: apply_steer = 0 diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index e0dd10d4a8..bdb42f97e2 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -156,8 +156,6 @@ class CarInterface(CarInterfaceBase): def _update(self, c): ret = self.CS.update(self.cp, self.cp_loopback) - ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False - if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT: be = create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS) diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 981a3309d2..0bdb7d99fd 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -43,7 +43,6 @@ class CarController: self.apply_steer_last = 0 self.car_fingerprint = CP.carFingerprint - self.steer_rate_limited = False self.last_button_frame = 0 self.accel = 0 @@ -59,7 +58,6 @@ class CarController: steer = clip(steer, -0.7, 0.7) new_steer = int(round(steer * self.params.STEER_MAX)) apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) - self.steer_rate_limited = new_steer != apply_steer if not CC.latActive: apply_steer = 0 diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index d5085e322f..969540ad90 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -314,7 +314,6 @@ class CarInterface(CarInterfaceBase): def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) - ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py index a83cef508a..2add59ccb0 100644 --- a/selfdrive/car/mazda/carcontroller.py +++ b/selfdrive/car/mazda/carcontroller.py @@ -12,7 +12,6 @@ class CarController: self.CP = CP self.apply_steer_last = 0 self.packer = CANPacker(dbc_name) - self.steer_rate_limited = False self.brake_counter = 0 self.frame = 0 @@ -20,14 +19,12 @@ class CarController: can_sends = [] apply_steer = 0 - self.steer_rate_limited = False if CC.latActive: # calculate steer and also set limits due to driver torque new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX)) apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, CarControllerParams) - self.steer_rate_limited = new_steer != apply_steer if CC.cruiseControl.cancel: # If brake is pressed, let us wait >70ms before trying to disable crz to avoid diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index 6cb754ac6f..a336572051 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -11,7 +11,6 @@ class CarController: self.es_distance_cnt = -1 self.es_lkas_cnt = -1 self.cruise_button_prev = 0 - self.steer_rate_limited = False self.frame = 0 self.p = CarControllerParams(CP) @@ -33,7 +32,6 @@ class CarController: new_steer = int(round(apply_steer)) apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p) - self.steer_rate_limited = new_steer != apply_steer if not CC.latActive: apply_steer = 0 diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 952885a751..f820cf42ba 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -111,8 +111,6 @@ class CarInterface(CarInterfaceBase): ret = self.CS.update(self.cp, self.cp_cam) - ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False - ret.events = self.create_common_events(ret).to_msg() return ret diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 390e5f8170..858a3815b4 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -20,7 +20,6 @@ class CarController: self.alert_active = False self.last_standstill = False self.standstill_req = False - self.steer_rate_limited = False self.packer = CANPacker(dbc_name) self.gas = 0 @@ -52,7 +51,6 @@ class CarController: # steer torque new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX)) apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits) - self.steer_rate_limited = new_steer != apply_steer if not CC.latActive: apply_steer = 0 diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 21a5d47f62..642c39952e 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -243,8 +243,6 @@ class CarInterface(CarInterfaceBase): def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) - ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False - # events events = self.create_common_events(ret) diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index e38cd9705f..5543d4f05c 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -22,8 +22,6 @@ class CarController: self.graMsgStartFramePrev = 0 self.graMsgBusCounterPrev = 0 - self.steer_rate_limited = False - def update(self, CC, CS, ext_bus): actuators = CC.actuators hud_control = CC.hudControl @@ -46,7 +44,6 @@ class CarController: if CC.latActive: new_steer = int(round(actuators.steer * P.STEER_MAX)) apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P) - self.steer_rate_limited = new_steer != apply_steer if apply_steer == 0: hcaEnabled = False self.hcaEnabledFrameCount = 0 diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index c2b077b6db..225a6a32ca 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -163,7 +163,6 @@ class CarInterface(CarInterfaceBase): buttonEvents = [] ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType) - ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False # Check for and process state-change events (button press or release) from # the turn stalk switch or ACC steering wheel/control stalk buttons. diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index f0927b9c74..47a15c6ec1 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -176,6 +176,7 @@ class Controls: self.logged_comm_issue = None self.button_timers = {ButtonEvent.Type.decelCruise: 0, ButtonEvent.Type.accelCruise: 0} self.last_actuators = car.CarControl.Actuators.new_message() + self.steer_limited = False self.desired_curvature = 0.0 self.desired_curvature_rate = 0.0 @@ -594,7 +595,7 @@ class Controls: lat_plan.curvatures, lat_plan.curvatureRates) actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, params, - self.last_actuators, self.desired_curvature, + self.last_actuators, self.steer_limited, self.desired_curvature, self.desired_curvature_rate, self.sm['liveLocationKalman']) else: lac_log = log.ControlsState.LateralDebugState.new_message() @@ -721,6 +722,7 @@ class Controls: self.last_actuators, can_sends = self.CI.apply(CC) self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid)) CC.actuatorsOutput = self.last_actuators + self.steer_limited = abs(CC.actuators.steer - CC.actuatorsOutput.steer) > 1e-2 force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \ (self.state == State.softDisabling) diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py index 785c8faa8c..78b59fda59 100644 --- a/selfdrive/controls/lib/latcontrol.py +++ b/selfdrive/controls/lib/latcontrol.py @@ -16,14 +16,14 @@ class LatControl(ABC): self.steer_max = 1.0 @abstractmethod - def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk): + def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): pass def reset(self): self.sat_count = 0. - def _check_saturation(self, saturated, CS): - if saturated and CS.vEgo > 10. and not CS.steeringRateLimited and not CS.steeringPressed: + def _check_saturation(self, saturated, CS, steer_limited): + if saturated and CS.vEgo > 10. and not steer_limited and not CS.steeringPressed: self.sat_count += self.sat_count_rate else: self.sat_count -= self.sat_count_rate diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index 2eee71c703..0e5be4a977 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -7,7 +7,7 @@ STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees class LatControlAngle(LatControl): - def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk): + def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): angle_log = log.ControlsState.LateralAngleState.new_message() if CS.vEgo < MIN_STEER_SPEED or not active: @@ -19,7 +19,7 @@ class LatControlAngle(LatControl): angle_steers_des += params.angleOffsetDeg angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD - angle_log.saturated = self._check_saturation(angle_control_saturated, CS) + angle_log.saturated = self._check_saturation(angle_control_saturated, CS, steer_limited) angle_log.steeringAngleDeg = float(CS.steeringAngleDeg) angle_log.steeringAngleDesiredDeg = angle_steers_des return 0, float(angle_steers_des), angle_log diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py index 79c881d11b..2bc3cef76b 100644 --- a/selfdrive/controls/lib/latcontrol_indi.py +++ b/selfdrive/controls/lib/latcontrol_indi.py @@ -63,7 +63,7 @@ class LatControlINDI(LatControl): self.steer_filter.x = 0. self.speed = 0. - def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk): + def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): self.speed = CS.vEgo # Update Kalman filter y = np.array([[math.radians(CS.steeringAngleDeg)], [math.radians(CS.steeringRateDeg)]]) @@ -115,6 +115,6 @@ class LatControlINDI(LatControl): indi_log.delayedOutput = float(self.steer_filter.x) indi_log.delta = float(delta_u) indi_log.output = float(output_steer) - indi_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS) + indi_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited) return float(output_steer), float(steers_des), indi_log diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py index 5dd1b20ae0..6bd678073e 100644 --- a/selfdrive/controls/lib/latcontrol_pid.py +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -17,7 +17,7 @@ class LatControlPID(LatControl): super().reset() self.pid.reset() - def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk): + def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): pid_log = log.ControlsState.LateralPIDState.new_message() pid_log.steeringAngleDeg = float(CS.steeringAngleDeg) pid_log.steeringRateDeg = float(CS.steeringRateDeg) @@ -43,6 +43,6 @@ class LatControlPID(LatControl): pid_log.i = self.pid.i pid_log.f = self.pid.f pid_log.output = output_steer - pid_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS) + pid_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited) return output_steer, angle_steers_des, pid_log diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 46caa41a90..c4604d90e1 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -33,7 +33,7 @@ class LatControlTorque(LatControl): self.kf = CP.lateralTuning.torque.kf self.steering_angle_deadzone_deg = CP.lateralTuning.torque.steeringAngleDeadzoneDeg - def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk): + def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): pid_log = log.ControlsState.LateralTorqueState.new_message() if CS.vEgo < MIN_STEER_SPEED or not active: @@ -66,7 +66,7 @@ class LatControlTorque(LatControl): # convert friction into lateral accel units for feedforward friction_compensation = interp(apply_deadzone(error, lateral_accel_deadzone), [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction]) ff += friction_compensation / self.kf - freeze_integrator = CS.steeringRateLimited or CS.steeringPressed or CS.vEgo < 5 + freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5 output_torque = self.pid.update(error, feedforward=ff, speed=CS.vEgo, @@ -78,7 +78,7 @@ class LatControlTorque(LatControl): pid_log.d = self.pid.d pid_log.f = self.pid.f pid_log.output = -output_torque - pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS) + pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited) pid_log.actualLateralAccel = actual_lateral_accel pid_log.desiredLateralAccel = desired_lateral_accel diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py index 503eaaa6a4..f15ab2fa56 100755 --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ b/selfdrive/controls/lib/tests/test_latcontrol.py @@ -26,7 +26,6 @@ class TestLatControl(unittest.TestCase): controller = controller(CP, CI) - CS = car.CarState.new_message() CS.vEgo = 30 @@ -35,7 +34,7 @@ class TestLatControl(unittest.TestCase): params = log.LiveParametersData.new_message() for _ in range(1000): - _, _, lac_log = controller.update(True, CS, CP, VM, params, last_actuators, 1, 0) + _, _, lac_log = controller.update(True, CS, CP, VM, params, last_actuators, True, 1, 0) self.assertTrue(lac_log.saturated) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index b144852714..ce4f5c1711 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -2bfa96aad8b951988cf9d0dd95d3c9d9019a1c0e \ No newline at end of file +8f918a54cfefcaada91a7eca0c14ca4d4b6f11c8 \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 08933d143f..9e6fee0de0 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -5,7 +5,7 @@ import os import sys from collections import defaultdict from tqdm import tqdm -from typing import Any, Dict +from typing import Any, DefaultDict, Dict from selfdrive.car.car_helpers import interface_names from selfdrive.test.openpilotci import get_url, upload_file @@ -105,7 +105,7 @@ def test_process(cfg, lr, ref_log_path, new_log_path, ignore_fields=None, ignore return str(e), log_msgs -def format_diff(results, ref_commit): +def format_diff(results, log_paths, ref_commit): diff1, diff2 = "", "" diff2 += f"***** tested against commit {ref_commit} *****\n" @@ -115,13 +115,22 @@ def format_diff(results, ref_commit): diff2 += f"***** differences for segment {segment} *****\n" for proc, diff in list(result.items()): - diff1 += f"\t{proc}\n" + # long diff diff2 += f"*** process: {proc} ***\n" + diff2 += f"\tref: {log_paths[segment]['ref']}\n\n" + diff2 += f"\tnew: {log_paths[segment]['new']}\n\n" + # short diff + diff1 += f" {proc}\n" if isinstance(diff, str): - diff1 += f"\t\t{diff}\n" + diff1 += f" ref: {log_paths[segment]['ref']}\n" + diff1 += f" new: {log_paths[segment]['new']}\n\n" + diff1 += f" {diff}\n" failed = True elif len(diff): + diff1 += f" ref: {log_paths[segment]['ref']}\n" + diff1 += f" new: {log_paths[segment]['new']}\n\n" + cnt: Dict[str, int] = {} for d in diff: diff2 += f"\t{str(d)}\n" @@ -130,7 +139,7 @@ def format_diff(results, ref_commit): cnt[k] = 1 if k not in cnt else cnt[k] + 1 for k, v in sorted(cnt.items()): - diff1 += f"\t\t{k}: {v}\n" + diff1 += f" {k}: {v}\n" failed = True return diff1, diff2, failed @@ -187,6 +196,8 @@ if __name__ == "__main__": untested = (set(interface_names) - set(excluded_interfaces)) - {c.lower() for c in tested_cars} assert len(untested) == 0, f"Cars missing routes: {str(untested)}" + + log_paths: DefaultDict[str, Dict[str, str]] = defaultdict(dict) with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool: if not args.upload_only: download_segments = [seg for car, seg in segments if car in tested_cars] @@ -214,13 +225,16 @@ if __name__ == "__main__": dat = None if args.upload_only else log_data[segment] pool_args.append((segment, cfg, args, cur_log_fn, ref_log_path, dat)) + log_paths[segment]['ref'] = ref_log_path + log_paths[segment]['new'] = cur_log_fn + results: Any = defaultdict(dict) p2 = pool.map(run_test_process, pool_args) for (segment, proc, subtest_name, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)): if not args.upload_only: results[segment][proc + subtest_name] = result - diff1, diff2, failed = format_diff(results, ref_commit) + diff1, diff2, failed = format_diff(results, log_paths, ref_commit) if not upload: with open(os.path.join(PROC_REPLAY_DIR, "diff.txt"), "w") as f: f.write(diff2) diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py index 5084247cb0..7abfb6358a 100755 --- a/tools/tuning/measure_steering_accuracy.py +++ b/tools/tuning/measure_steering_accuracy.py @@ -71,7 +71,7 @@ if __name__ == "__main__": active = sm['controlsState'].active steer = sm['carControl'].actuatorsOutput.steer standstill = sm['carState'].standstill - steer_limited = sm['carState'].steeringRateLimited + steer_limited = abs(sm['carControl'].actuators.steer - sm['carControl'].actuatorsOutput.steer) > 1e-2 overriding = sm['carState'].steeringPressed changing_lanes = sm['lateralPlan'].laneChangeState != 0 d_path_points = sm['lateralPlan'].dPathPoints From ef00bf76c1db2ac85f8033e48e89213f1f846d44 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 25 Jul 2022 00:01:16 -0700 Subject: [PATCH 245/306] model_replay: update format_diff call --- selfdrive/test/process_replay/model_replay.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index bccad5d92c..06720d4a1a 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -176,8 +176,9 @@ if __name__ == "__main__": # TODO this tolerence is absurdly large tolerance = 5e-1 if PC else None results: Any = {TEST_ROUTE: {}} + log_paths: Any = {TEST_ROUTE: {'ref': BASE_URL + log_fn, 'new': log_fn}} results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore) - diff1, diff2, failed = format_diff(results, ref_commit) + diff1, diff2, failed = format_diff(results, log_paths, ref_commit) print(diff2) print('-------------\n'*5) From f72c988415a2a1c4299df67cb8e02eee20e5ba77 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 25 Jul 2022 16:20:52 +0200 Subject: [PATCH 246/306] map_renderer.py, output monochrome images (#25272) * map renderer, output monochrome images * pass token/url as argument * greyscale --- selfdrive/navd/map_renderer.cc | 17 +++++++++++------ selfdrive/navd/map_renderer.py | 12 ++++++------ 2 files changed, 17 insertions(+), 12 deletions(-) diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc index cb24f2087e..d0770cfb48 100644 --- a/selfdrive/navd/map_renderer.cc +++ b/selfdrive/navd/map_renderer.cc @@ -153,10 +153,15 @@ void MapRenderer::sendVipc() { uint8_t* MapRenderer::getImage() { QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor); - uint8_t* buf = new uint8_t[cap.sizeInBytes()]; - memcpy(buf, cap.bits(), cap.sizeInBytes()); - return buf; + uint8_t* src = cap.bits(); + uint8_t* dst = new uint8_t[WIDTH * HEIGHT]; + + for (int i = 0; i < WIDTH * HEIGHT; i++) { + dst[i] = src[i * 3]; + } + + return dst; } void MapRenderer::updateRoute(QList coordinates) { @@ -189,7 +194,7 @@ MapRenderer::~MapRenderer() { } extern "C" { - MapRenderer* map_renderer_init() { + MapRenderer* map_renderer_init(char *maps_host = nullptr, char *token = nullptr) { char *argv[] = { (char*)"navd", nullptr @@ -199,8 +204,8 @@ extern "C" { assert(app); QMapboxGLSettings settings; - settings.setApiBaseUrl(MAPS_HOST); - settings.setAccessToken(get_mapbox_token()); + settings.setApiBaseUrl(maps_host == nullptr ? MAPS_HOST : maps_host); + settings.setAccessToken(token == nullptr ? get_mapbox_token() : token); return new MapRenderer(settings, false); } diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py index dc39f335c7..9000622928 100755 --- a/selfdrive/navd/map_renderer.py +++ b/selfdrive/navd/map_renderer.py @@ -3,6 +3,7 @@ import os import time +import numpy as np from cffi import FFI from common.ffi_wrapper import suffix @@ -16,7 +17,7 @@ def get_ffi(): ffi = FFI() ffi.cdef(""" -void* map_renderer_init(); +void* map_renderer_init(char *maps_host, char *token); void map_renderer_update_position(void *inst, float lat, float lon, float bearing); void map_renderer_update_route(void *inst, char *polyline); void map_renderer_update(void *inst); @@ -40,20 +41,19 @@ def wait_ready(lib, renderer): def get_image(lib, renderer): buf = lib.map_renderer_get_image(renderer) - r = list(buf[0:3 * WIDTH * HEIGHT]) + r = list(buf[0:WIDTH * HEIGHT]) lib.map_renderer_free_image(renderer, buf) # Convert to numpy r = np.asarray(r) - return r.reshape((WIDTH, HEIGHT, 3)) + return r.reshape((WIDTH, HEIGHT)) if __name__ == "__main__": import matplotlib.pyplot as plt - import numpy as np ffi, lib = get_ffi() - renderer = lib.map_renderer_init() + renderer = lib.map_renderer_init(ffi.NULL, ffi.NULL) wait_ready(lib, renderer) geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL" @@ -73,6 +73,6 @@ if __name__ == "__main__": print(f"{pos} took {time.time() - t:.2f} s") plt.subplot(2, 2, i + 1) - plt.imshow(get_image(lib, renderer)) + plt.imshow(get_image(lib, renderer), cmap='gray') plt.show() From 4d8f40aa2d60400c808fa276ef40f8f3d6c10fc5 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 25 Jul 2022 17:00:42 +0200 Subject: [PATCH 247/306] docs: add svg images (#25273) * docs: add svg images * important whitespace --- docs/Makefile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/Makefile b/docs/Makefile index 02db7db2d3..d0aa841c4d 100644 --- a/docs/Makefile +++ b/docs/Makefile @@ -32,7 +32,7 @@ clean: @echo "Copying docs & config to build folder..." cp -a "$(DOCSDIR)" "$(BUILDDIR)" cd "$(OPENPILOT_ROOT)" && \ - find . -type f \( -name "*.md" -o -name "*.rst" -o -name "*.png" -o -name "*.jpg" \) \ + find . -type f \( -name "*.md" -o -name "*.rst" -o -name "*.png" -o -name "*.jpg" -o -name "*.svg" \) \ -not -path "*/.*" \ -not -path "./build/*" \ -not -path "./docs/*" \ From dc1590a9d0a23217ecddf4a6e4d704977d25b181 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 25 Jul 2022 10:44:26 -0700 Subject: [PATCH 248/306] Ram 1500: remove harness (#25275) Update values.py --- selfdrive/car/chrysler/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 56b11652ff..48ea6bd14a 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -56,7 +56,7 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { ], CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), - CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22"), + CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22", harness=Harness.none), } # Unique CAN messages: From cff4cdc44b73921b5ef4a6df5c9eeb440d8a7f36 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 25 Jul 2022 12:55:21 -0700 Subject: [PATCH 249/306] 2022 Palisade: add missing FW versions (#25258) * We support the 2022 Palisade * Add fingerprints to exact match --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 12 +++++++----- 2 files changed, 8 insertions(+), 6 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 35cd035311..4d83d2c2ee 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -78,7 +78,7 @@ A supported vehicle is one that just works when you install a comma device. Ever |Hyundai|Kona 2020|SCC + LKAS||||| |Hyundai|Kona Electric 2018-21|SCC + LKAS||||| |Hyundai|Kona Hybrid 2020|SCC + LKAS||||| -|Hyundai|Palisade 2020-21|All||||| +|Hyundai|Palisade 2020-22|All||||| |Hyundai|Santa Fe 2019-20|All||||| |Hyundai|Santa Fe 2021-22|All||||| |Hyundai|Santa Fe Hybrid 2022|All||||| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 791d84305f..45985d2a45 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -119,7 +119,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l), ], CAR.PALISADE: [ - HyundaiCarInfo("Hyundai Palisade 2020-21", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h), + HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h), HyundaiCarInfo("Kia Telluride 2020", harness=Harness.hyundai_h), ], CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e), @@ -712,7 +712,7 @@ FW_VERSIONS = { }, CAR.PALISADE: { (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\000LX2_ SCC F-CUP 1.00 1.05 99110-S8100 ', + b'\xf1\x00LX2_ SCC F-CUP 1.00 1.05 99110-S8100 ', b'\xf1\x00LX2 SCC FHCUP 1.00 1.04 99110-S8100 ', b'\xf1\x00LX2_ SCC FHCU- 1.00 1.05 99110-S8100 ', b'\xf1\x00LX2_ SCC FHCUP 1.00 1.00 99110-S8110 ', @@ -722,7 +722,7 @@ FW_VERSIONS = { ], (Ecu.esp, 0x7d1, None): [ b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360', - b'\xf1\x00LX ESC \x01 103\x31\t\020 58910-S8360', + b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360', b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330', b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330', b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330', @@ -737,7 +737,7 @@ FW_VERSIONS = { b'\xf1\x81640S1051\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103', # modified firmware + b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103', b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103', b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104', b'\xf1\x00ON MDPS C 1.00 1.00 56340-S9000 8B13', @@ -750,6 +750,7 @@ FW_VERSIONS = { b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.08 99211-S8100 200903', b'\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 181105', b'\xf1\x00ON MFC AT USA LHD 1.00 1.03 99211-S9100 200720', + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.00 99211-S8110 210226', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28', @@ -757,7 +758,7 @@ FW_VERSIONS = { b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1', b'\xf1\x87LBLUFN650868KF36\xa9\x98\x89\x88\xa8\x88\x88\x88h\x99\xa6\x89fw\x86gw\x88\x97x\xaa\x7f\xf6\xff\xbb\xbb\x8f\xff+\x82\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8', b'\xf1\x87LBLUFN655162KF36\x98\x88\x88\x88\x98\x88\x88\x88x\x99\xa7\x89x\x99\xa7\x89x\x99\x97\x89g\x7f\xf7\xffwU_\xff\xe9!\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8', - b'\xf1\x87LBLUFN731381KF36\xb9\x99\x89\x98\x98\x88\x88\x88\x89\x99\xa8\x99\x88\x99\xa8\x89\x88\x88\x98\x88V\177\xf6\xff\x99w\x8f\xff\xad\xd8\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\000bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8', + b'\xf1\x87LBLUFN731381KF36\xb9\x99\x89\x98\x98\x88\x88\x88\x89\x99\xa8\x99\x88\x99\xa8\x89\x88\x88\x98\x88V\x7f\xf6\xff\x99w\x8f\xff\xad\xd8\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8', b'\xf1\x87LDKVAA0028604HH1\xa8\x88x\x87vgvw\x88\x99\xa8\x89gw\x86ww\x88\x97x\x97o\xf9\xff\x97w\x7f\xffo\x02\xf1\x81U872\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28', b'\xf1\x87LDKVAA3068374HH1wwww\x87xw\x87y\x99\xa7\x99w\x88\x87xw\x88\x97x\x85\xaf\xfa\xffvU/\xffU\xdc\xf1\x81U872\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28', b'\xf1\x87LDKVBN382172KF26\x98\x88\x88\x88\xa8\x88\x88\x88x\x99\xa7\x89\x87\x88\x98x\x98\x99\xa9\x89\xa5_\xf6\xffDDO\xff\xcd\x16\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7', @@ -798,6 +799,7 @@ FW_VERSIONS = { b'\xf1\x87LDMVBN895969KF37vefV\x87vgfx\x99\xa7\x89\x99\x99\xb9\x99f\x88\x96he_\xf7\xffxwo\xff\x14\xf9\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', b'\xf1\x87LDMVBN899222KF37\xa8\x88x\x87\x97www\x98\x99\x99\x89\x88\x99\x98\x89f\x88\x96hdo\xf7\xff\xbb\xaa\x9f\xff\xe2U\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', b"\xf1\x87LBLUFN622950KF36\xa8\x88\x88\x88\x87w\x87xh\x99\x96\x89\x88\x99\x98\x89\x88\x99\x98\x89\x87o\xf6\xff\x98\x88o\xffx'\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8", + b'\xf1\x87LDMVBN950669KF37\x97www\x96fffy\x99\xa7\x99\xa9\x99\xaa\x99g\x88\x96x\xb8\x8f\xf9\xffTD/\xff\xa7\xcb\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', ], }, CAR.VELOSTER: { From d6105f2d1f2315e208a9e7bd42acd90a2e48ce12 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 25 Jul 2022 22:00:38 +0200 Subject: [PATCH 250/306] cars.md: use markdown images for stars (#25274) * cars.md: use markdown images for stars * See if this works * smaller svg Co-authored-by: Shane Smiskol --- docs/CARS.md | 404 ++++++++++++++++---------------- docs/assets/icon-star-empty.svg | 57 ++++- docs/assets/icon-star-full.svg | 57 ++++- docs/assets/icon-star-half.svg | 69 +++++- selfdrive/car/CARS_template.md | 2 +- 5 files changed, 378 insertions(+), 211 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 4d83d2c2ee..3ee05960e0 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -7,218 +7,218 @@ A supported vehicle is one that just works when you install a comma device. Ever ## How We Rate The Cars ### Stop and Go -- - openpilot operates down to 0 mph. -- - openpilot operates only above a minimum speed. See your car's manual for the minimum speed. +- [![star](assets/icon-star-full.svg)](##) - openpilot operates down to 0 mph. +- [![star](assets/icon-star-empty.svg)](##) - openpilot operates only above a minimum speed. See your car's manual for the minimum speed. ### Steer to 0 -- - openpilot can control the steering wheel down to 0 mph. -- - No steering control below certain speeds. See your car's manual for the minimum speed. +- [![star](assets/icon-star-full.svg)](##) - openpilot can control the steering wheel down to 0 mph. +- [![star](assets/icon-star-empty.svg)](##) - No steering control below certain speeds. See your car's manual for the minimum speed. ### Steering Torque -- - Car has enough steering torque to comfortably take most highway turns. -- - Limited ability to make tighter turns. +- [![star](assets/icon-star-full.svg)](##) - Car has enough steering torque to comfortably take most highway turns. +- [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns. # 196 Supported Cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque| |---|---|---|:---:|:---:|:---:|:---:| -|Acura|ILX 2016-19|AcuraWatch Plus||||| -|Acura|RDX 2016-18|AcuraWatch Plus||||| -|Acura|RDX 2019-22|All||||| -|Audi|A3 2014-19|ACC + Lane Assist||||| -|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist||||| -|Audi|Q2 2018|ACC + Lane Assist||||| -|Audi|Q3 2020-21|ACC + Lane Assist||||| -|Audi|RS3 2018|ACC + Lane Assist||||| -|Audi|S3 2015-17|ACC + Lane Assist||||| -|Cadillac|Escalade ESV 2016[1](#footnotes)|ACC + LKAS||||| -|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise||||| -|Chrysler|Pacifica 2017-18|Adaptive Cruise||||| -|Chrysler|Pacifica 2019-20|Adaptive Cruise||||| -|Chrysler|Pacifica 2021|All||||| -|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise||||| -|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise||||| -|comma|body|All||||| -|Genesis|G70 2018-19|All||||| -|Genesis|G70 2020|All||||| -|Genesis|G80 2017-19|All||||| -|Genesis|G90 2017-18|All||||| -|GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise||||| -|Honda|Accord 2018-22|All||||| -|Honda|Accord Hybrid 2018-22|All||||| -|Honda|Civic 2016-18|Honda Sensing||||| -|Honda|Civic 2019-21|All|||[2](#footnotes)|| -|Honda|Civic 2022|All||||| -|Honda|Civic Hatchback 2017-21|Honda Sensing||||| -|Honda|Civic Hatchback 2022|All||||| -|Honda|CR-V 2015-16|Touring||||| -|Honda|CR-V 2017-22|Honda Sensing||||| -|Honda|CR-V Hybrid 2017-19|Honda Sensing||||| -|Honda|e 2020|All||||| -|Honda|Fit 2018-20|Honda Sensing||||| -|Honda|Freed 2020|Honda Sensing||||| -|Honda|HR-V 2019-22|Honda Sensing||||| -|Honda|Insight 2019-22|All||||| -|Honda|Inspire 2018|All||||| -|Honda|Odyssey 2018-22|Honda Sensing||||| -|Honda|Passport 2019-21|All||||| -|Honda|Pilot 2016-22|Honda Sensing||||| -|Honda|Ridgeline 2017-22|Honda Sensing||||| -|Hyundai|Elantra 2017-19|SCC + LKAS||||| -|Hyundai|Elantra 2021-22|SCC + LKAS||||| -|Hyundai|Elantra Hybrid 2021-22|SCC + LKAS||||| -|Hyundai|Genesis 2015-16|SCC + LKAS||||| -|Hyundai|Ioniq Electric 2019|SCC + LKAS||||| -|Hyundai|Ioniq Electric 2020|SCC + LKAS||||| -|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS||||| -|Hyundai|Ioniq Hybrid 2020-22|SCC + LFA||||| -|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS||||| -|Hyundai|Ioniq Plug-in Hybrid 2020-21|SCC + LKAS||||| -|Hyundai|Kona 2020|SCC + LKAS||||| -|Hyundai|Kona Electric 2018-21|SCC + LKAS||||| -|Hyundai|Kona Hybrid 2020|SCC + LKAS||||| -|Hyundai|Palisade 2020-22|All||||| -|Hyundai|Santa Fe 2019-20|All||||| -|Hyundai|Santa Fe 2021-22|All||||| -|Hyundai|Santa Fe Hybrid 2022|All||||| -|Hyundai|Santa Fe Plug-in Hybrid 2022|All||||| -|Hyundai|Sonata 2018-19|SCC + LKAS||||| -|Hyundai|Sonata 2020-22|All||||| -|Hyundai|Sonata Hybrid 2020-22|All||||| -|Hyundai|Tucson 2021|SCC + LKAS||||| -|Hyundai|Tucson Diesel 2019|SCC + LKAS||||| -|Hyundai|Veloster 2019-20|SCC + LKAS||||| -|Jeep|Grand Cherokee 2016-18|Adaptive Cruise||||| -|Jeep|Grand Cherokee 2019-21|Adaptive Cruise||||| -|Kia|Ceed 2019|SCC + LKAS||||| -|Kia|EV6 2022|All||||| -|Kia|Forte 2018|SCC + LKAS||||| -|Kia|Forte 2019-21|SCC + LKAS||||| -|Kia|K5 2021-22|SCC||||| -|Kia|Niro Electric 2019-20|All||||| -|Kia|Niro Electric 2021|All||||| -|Kia|Niro Electric 2022|All||||| -|Kia|Niro Hybrid 2021|SCC + LKAS||||| -|Kia|Niro Hybrid 2022|SCC + LKAS||||| -|Kia|Niro Plug-in Hybrid 2018-19|SCC + LKAS||||| -|Kia|Optima 2017|SCC + LKAS||||| -|Kia|Optima 2019|SCC + LKAS||||| -|Kia|Seltos 2021|SCC + LKAS||||| -|Kia|Sorento 2018|SCC + LKAS||||| -|Kia|Sorento 2019|SCC + LKAS||||| -|Kia|Stinger 2018-20|SCC + LKAS||||| -|Kia|Telluride 2020|SCC + LKAS||||| -|Lexus|CT Hybrid 2017-18|LSS|[3](#footnotes)|||| -|Lexus|ES 2019-22|All||||| -|Lexus|ES Hybrid 2017-18|LSS|[3](#footnotes)|||| -|Lexus|ES Hybrid 2019-22|All||||| -|Lexus|IS 2017-19|All||||| -|Lexus|NX 2018-19|All|[3](#footnotes)|||| -|Lexus|NX 2020-21|All||||| -|Lexus|NX Hybrid 2018-19|All|[3](#footnotes)|||| -|Lexus|NX Hybrid 2020-21|All||||| -|Lexus|RC 2017-20|All||||| -|Lexus|RX 2016-18|All|[3](#footnotes)|||| -|Lexus|RX 2020-22|All||||| -|Lexus|RX Hybrid 2016-19|All|[3](#footnotes)|||| -|Lexus|RX Hybrid 2020-21|All||||| -|Lexus|UX Hybrid 2019-22|All||||| -|Mazda|CX-5 2022|All||||| -|Mazda|CX-9 2021-22|All||||| -|Nissan|Altima 2019-20|ProPILOT||||| -|Nissan|Leaf 2018-22|ProPILOT||||| -|Nissan|Rogue 2018-20|ProPILOT||||| -|Nissan|X-Trail 2017|ProPILOT||||| -|Ram|1500 2019-22|Adaptive Cruise||||| -|SEAT|Ateca 2018|Driver Assistance||||| -|SEAT|Leon 2014-20|Driver Assistance||||| -|Subaru|Ascent 2019-21|All||||| -|Subaru|Crosstrek 2018-19|EyeSight||||| -|Subaru|Crosstrek 2020-21|EyeSight||||| -|Subaru|Forester 2019-21|All||||| -|Subaru|Impreza 2017-19|EyeSight||||| -|Subaru|Impreza 2020-22|EyeSight||||| -|Subaru|XV 2018-19|EyeSight||||| -|Subaru|XV 2020-21|EyeSight||||| -|Škoda|Kamiq 2021[5](#footnotes)|Driver Assistance||||| -|Škoda|Karoq 2019|Driver Assistance||||| -|Škoda|Kodiaq 2018-19|Driver Assistance||||| -|Škoda|Octavia 2015, 2018-19|Driver Assistance||||| -|Škoda|Octavia RS 2016|Driver Assistance||||| -|Škoda|Scala 2020|Driver Assistance||||| -|Škoda|Superb 2015-18|Driver Assistance||||| -|Toyota|Alphard 2019-20|All||||| -|Toyota|Alphard Hybrid 2021|All||||| -|Toyota|Avalon 2016|TSS-P|[3](#footnotes)|||| -|Toyota|Avalon 2017-18|All|[3](#footnotes)|||| -|Toyota|Avalon 2019-21|All|[3](#footnotes)|||| -|Toyota|Avalon 2022|All||||| -|Toyota|Avalon Hybrid 2019-21|All|[3](#footnotes)|||| -|Toyota|Avalon Hybrid 2022|All||||| -|Toyota|C-HR 2017-21|All||||| -|Toyota|C-HR Hybrid 2017-19|All||||| -|Toyota|Camry 2018-20|All||[4](#footnotes)||| -|Toyota|Camry 2021-22|All||[4](#footnotes)||| -|Toyota|Camry Hybrid 2018-20|All||[4](#footnotes)||| -|Toyota|Camry Hybrid 2021-22|All||||| -|Toyota|Corolla 2017-19|All|[3](#footnotes)|||| -|Toyota|Corolla 2020-22|All||||| -|Toyota|Corolla Cross (Non-US only) 2020-21|All||||| -|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All||||| -|Toyota|Corolla Hatchback 2019-22|All||||| -|Toyota|Corolla Hybrid 2020-22|All||||| -|Toyota|Highlander 2017-19|All|[3](#footnotes)|||| -|Toyota|Highlander 2020-22|All||||| -|Toyota|Highlander Hybrid 2017-19|All|[3](#footnotes)|||| -|Toyota|Highlander Hybrid 2020-22|All||||| -|Toyota|Mirai 2021|All||||| -|Toyota|Prius 2016|TSS-P|[3](#footnotes)|||| -|Toyota|Prius 2017-20|All|[3](#footnotes)|||| -|Toyota|Prius 2021-22|All||||| -|Toyota|Prius Prime 2017-20|All|[3](#footnotes)|||| -|Toyota|Prius Prime 2021-22|All||||| -|Toyota|Prius v 2017|TSS-P|[3](#footnotes)|||| -|Toyota|RAV4 2016|TSS-P|[3](#footnotes)|||| -|Toyota|RAV4 2017-18|All|[3](#footnotes)|||| -|Toyota|RAV4 2019-21|All||||| -|Toyota|RAV4 2022|All||||| -|Toyota|RAV4 Hybrid 2016|TSS-P|[3](#footnotes)|||| -|Toyota|RAV4 Hybrid 2017-18|All|[3](#footnotes)|||| -|Toyota|RAV4 Hybrid 2019-21|All||||| -|Toyota|RAV4 Hybrid 2022|All||||| -|Toyota|Sienna 2018-20|All|[3](#footnotes)|||| -|Volkswagen|Arteon 2018-22[7,8](#footnotes)|Driver Assistance||||| -|Volkswagen|Arteon eHybrid 2020-22[7,8](#footnotes)|Driver Assistance||||| -|Volkswagen|Arteon R 2020-22[7,8](#footnotes)|Driver Assistance||||| -|Volkswagen|Atlas 2018-22[7](#footnotes)|Driver Assistance||||| -|Volkswagen|Atlas Cross Sport 2021-22[7](#footnotes)|Driver Assistance||||| -|Volkswagen|California 2021[7](#footnotes)|Driver Assistance||||| -|Volkswagen|Caravelle 2020[7](#footnotes)|Driver Assistance||||| -|Volkswagen|CC 2018-22[7,8](#footnotes)|Driver Assistance||||| -|Volkswagen|e-Golf 2014-20|Driver Assistance||||| -|Volkswagen|Golf 2015-20[8](#footnotes)|Driver Assistance||||| -|Volkswagen|Golf Alltrack 2015-19|Driver Assistance||||| -|Volkswagen|Golf GTD 2015-20|Driver Assistance||||| -|Volkswagen|Golf GTE 2015-20|Driver Assistance||||| -|Volkswagen|Golf GTI 2015-21|Driver Assistance||||| -|Volkswagen|Golf R 2015-19[8](#footnotes)|Driver Assistance||||| -|Volkswagen|Golf SportsVan 2015-20|Driver Assistance||||| -|Volkswagen|Jetta 2018-22[7](#footnotes)|Driver Assistance||||| -|Volkswagen|Jetta GLI 2021-22[7](#footnotes)|Driver Assistance||||| -|Volkswagen|Passat 2015-22[6,7,8](#footnotes)|Driver Assistance||||| -|Volkswagen|Passat Alltrack 2015-22[7](#footnotes)|Driver Assistance||||| -|Volkswagen|Passat GTE 2015-22[7,8](#footnotes)|Driver Assistance||||| -|Volkswagen|Polo 2020-22[7](#footnotes)|Driver Assistance||||| -|Volkswagen|Polo GTI 2020-22[7](#footnotes)|Driver Assistance||||| -|Volkswagen|T-Cross 2021[7](#footnotes)|Driver Assistance||||| -|Volkswagen|T-Roc 2021[7](#footnotes)|Driver Assistance||||| -|Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance||||| -|Volkswagen|Teramont 2018-22[7](#footnotes)|Driver Assistance||||| -|Volkswagen|Teramont Cross Sport 2021-22[7](#footnotes)|Driver Assistance||||| -|Volkswagen|Teramont X 2021-22[7](#footnotes)|Driver Assistance||||| -|Volkswagen|Tiguan 2019-22[7](#footnotes)|Driver Assistance||||| -|Volkswagen|Touran 2017|Driver Assistance||||| +|Acura|ILX 2016-19|AcuraWatch Plus|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Acura|RDX 2016-18|AcuraWatch Plus|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Acura|RDX 2019-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Audi|A3 2014-19|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Audi|Q2 2018|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Audi|Q3 2020-21|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Audi|RS3 2018|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Audi|S3 2015-17|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Cadillac|Escalade ESV 2016[1](#footnotes)|ACC + LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Chrysler|Pacifica 2017-18|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Chrysler|Pacifica 2019-20|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Chrysler|Pacifica 2021|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|comma|body|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Genesis|G70 2018-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Genesis|G70 2020|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Genesis|G80 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Genesis|G90 2017-18|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Honda|Accord 2018-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Accord Hybrid 2018-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Civic 2016-18|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Civic 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)[2](#footnotes)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Civic 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Honda|Civic Hatchback 2017-21|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Civic Hatchback 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Honda|CR-V 2015-16|Touring|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|CR-V 2017-22|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|CR-V Hybrid 2017-19|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|e 2020|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Fit 2018-20|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Freed 2020|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|HR-V 2019-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Insight 2019-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Inspire 2018|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Odyssey 2018-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Passport 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Pilot 2016-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|Ridgeline 2017-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Hyundai|Elantra 2017-19|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Elantra 2021-22|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Genesis 2015-16|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Ioniq Electric 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Ioniq Electric 2020|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Ioniq Hybrid 2020-22|SCC + LFA|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Ioniq Plug-in Hybrid 2020-21|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Kona 2020|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Kona Electric 2018-21|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Kona Hybrid 2020|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Palisade 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Santa Fe 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Santa Fe 2021-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Santa Fe Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Santa Fe Plug-in Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Sonata 2018-19|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Sonata 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Sonata Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Tucson 2021|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Tucson Diesel 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Veloster 2019-20|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Jeep|Grand Cherokee 2019-21|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Ceed 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|EV6 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Forte 2018|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Forte 2019-21|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|K5 2021-22|SCC|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Niro Electric 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Niro Electric 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Niro Electric 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Niro Hybrid 2021|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Niro Hybrid 2022|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Niro Plug-in Hybrid 2018-19|SCC + LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Optima 2017|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Optima 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Seltos 2021|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Sorento 2018|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Sorento 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Stinger 2018-20|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Telluride 2020|SCC + LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|CT Hybrid 2017-18|LSS|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|ES 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|ES Hybrid 2017-18|LSS|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|ES Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|IS 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|NX 2018-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|NX 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|NX Hybrid 2018-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|NX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|RC 2017-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|RX 2016-18|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|RX 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|RX Hybrid 2016-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|RX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|UX Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Mazda|CX-5 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Mazda|CX-9 2021-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Nissan|Altima 2019-20|ProPILOT|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Nissan|Leaf 2018-22|ProPILOT|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Nissan|Rogue 2018-20|ProPILOT|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Nissan|X-Trail 2017|ProPILOT|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Ram|1500 2019-22|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|SEAT|Ateca 2018|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|SEAT|Leon 2014-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Subaru|Ascent 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Subaru|Crosstrek 2018-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Subaru|Crosstrek 2020-21|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Subaru|Forester 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Subaru|Impreza 2017-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Subaru|Impreza 2020-22|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Subaru|XV 2018-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Subaru|XV 2020-21|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Škoda|Kamiq 2021[5](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Škoda|Karoq 2019|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Škoda|Kodiaq 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Škoda|Octavia 2015, 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Škoda|Octavia RS 2016|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Škoda|Scala 2020|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Škoda|Superb 2015-18|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Alphard 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Alphard Hybrid 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Avalon 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Avalon 2017-18|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Avalon 2019-21|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Avalon 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Avalon Hybrid 2019-21|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Avalon Hybrid 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|C-HR 2017-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|C-HR Hybrid 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Camry 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Camry 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Camry Hybrid 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Camry Hybrid 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Corolla 2017-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Corolla 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Corolla Cross (Non-US only) 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Corolla Hatchback 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Corolla Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Highlander 2017-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Highlander 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Highlander Hybrid 2017-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Highlander Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Mirai 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Prius 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Prius 2017-20|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Prius 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Prius Prime 2017-20|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Prius Prime 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Prius v 2017|TSS-P|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 2017-18|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 Hybrid 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 Hybrid 2017-18|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 Hybrid 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Sienna 2018-20|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Arteon 2018-22[7,8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Arteon eHybrid 2020-22[7,8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Arteon R 2020-22[7,8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Atlas 2018-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Atlas Cross Sport 2021-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|California 2021[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Caravelle 2020[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|CC 2018-22[7,8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|e-Golf 2014-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Golf 2015-20[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Golf GTD 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Golf GTE 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Golf GTI 2015-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Golf R 2015-19[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Jetta 2018-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Jetta GLI 2021-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Passat 2015-22[6,7,8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Passat Alltrack 2015-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Passat GTE 2015-22[7,8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Polo 2020-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Polo GTI 2020-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|T-Cross 2021[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|T-Roc 2021[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Teramont 2018-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Teramont Cross Sport 2021-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Teramont X 2021-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Tiguan 2019-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Touran 2017|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| 1Requires an OBD-II car harness and community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
    diff --git a/docs/assets/icon-star-empty.svg b/docs/assets/icon-star-empty.svg index b12b426622..5d3c32d671 100644 --- a/docs/assets/icon-star-empty.svg +++ b/docs/assets/icon-star-empty.svg @@ -1,3 +1,56 @@ - - + + + + + + image/svg+xml + + + + + + + diff --git a/docs/assets/icon-star-full.svg b/docs/assets/icon-star-full.svg index 8211fdcc2b..294db2b7f2 100644 --- a/docs/assets/icon-star-full.svg +++ b/docs/assets/icon-star-full.svg @@ -1,3 +1,56 @@ - - + + + + + + image/svg+xml + + + + + + + diff --git a/docs/assets/icon-star-half.svg b/docs/assets/icon-star-half.svg index 7f64bc87e5..ab905fddcb 100644 --- a/docs/assets/icon-star-half.svg +++ b/docs/assets/icon-star-half.svg @@ -1,5 +1,66 @@ - - - - + + + + + + image/svg+xml + + + + + + + + + diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md index db05c79377..6a3a41f41c 100644 --- a/selfdrive/car/CARS_template.md +++ b/selfdrive/car/CARS_template.md @@ -1,5 +1,5 @@ {% set footnote_tag = '[{}](#footnotes)' -%} -{% set star_icon = '' -%} +{% set star_icon = '[![star](assets/icon-star-{}.svg)](##)' -%} From 2351ae48b932eb7942178954811695b1a98e66e1 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 25 Jul 2022 21:02:27 +0100 Subject: [PATCH 251/306] Ford: fix gear parsing (#25267) * Ford: fix gear shifter state * Ford: manumatic is drive * add full gear names to CarStateBase * fix for unrecognised gears * Update interfaces.py Co-authored-by: Adeeb Shihadeh --- selfdrive/car/ford/carstate.py | 14 ++------------ selfdrive/car/ford/interface.py | 4 ++-- selfdrive/car/ford/values.py | 1 + selfdrive/car/interfaces.py | 21 +++++++++++++++------ 4 files changed, 20 insertions(+), 20 deletions(-) diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index 67a72fd67c..aaa3af612f 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -1,5 +1,3 @@ -from typing import Dict - from cereal import car from common.conversions import Conversions as CV from opendbc.can.can_define import CANDefine @@ -51,8 +49,8 @@ class CarState(CarStateBase): # gear if self.CP.transmissionType == TransmissionType.automatic: - gear = int(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnGear_D_RqDrv"]) - ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None)) + gear = self.shifter_values.get(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnGear_D_RqDrv"], None) + ret.gearShifter = self.parse_gear_shifter(gear) elif self.CP.transmissionType == TransmissionType.manual: ret.clutchPressed = cp.vl["Engine_Clutch_Data"]["CluPdlPos_Pc_Meas"] > 0 if bool(cp.vl["BCM_Lamp_Stat_FD1"]["RvrseLghtOn_B_Stat"]): @@ -85,14 +83,6 @@ class CarState(CarStateBase): return ret - @staticmethod - def parse_gear_shifter(gear: str) -> car.CarState.GearShifter: - d: Dict[str, car.CarState.GearShifter] = { - 'Park': GearShifter.park, 'Reverse': GearShifter.reverse, 'Neutral': GearShifter.neutral, - 'Manual': GearShifter.manumatic, 'Drive': GearShifter.drive, - } - return d.get(gear, GearShifter.unknown) - @staticmethod def get_can_parser(CP): signals = [ diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 857ccbab8b..405579fa60 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -2,7 +2,7 @@ from cereal import car from common.conversions import Conversions as CV from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint -from selfdrive.car.ford.values import TransmissionType, CAR +from selfdrive.car.ford.values import CAR, TransmissionType, GearShifter from selfdrive.car.interfaces import CarInterfaceBase @@ -70,7 +70,7 @@ class CarInterface(CarInterfaceBase): def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) - events = self.create_common_events(ret) + events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic]) ret.events = events.to_msg() return ret diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index aae011ad3d..6b8396cf07 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -7,6 +7,7 @@ from selfdrive.car.docs_definitions import CarInfo Ecu = car.CarParams.Ecu TransmissionType = car.CarParams.TransmissionType +GearShifter = car.CarState.GearShifter AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points']) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index a451ef2ae1..38a613b0e7 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -2,7 +2,7 @@ import yaml import os import time from abc import abstractmethod, ABC -from typing import Any, Dict, Tuple, List +from typing import Any, Dict, Optional, Tuple, List from cereal import car from common.basedir import BASEDIR @@ -318,13 +318,22 @@ class CarStateBase(ABC): return bool(left_blinker_stalk or self.left_blinker_cnt > 0), bool(right_blinker_stalk or self.right_blinker_cnt > 0) @staticmethod - def parse_gear_shifter(gear: str) -> car.CarState.GearShifter: + def parse_gear_shifter(gear: Optional[str]) -> car.CarState.GearShifter: + if gear is None: + return GearShifter.unknown + d: Dict[str, car.CarState.GearShifter] = { - 'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral, - 'E': GearShifter.eco, 'T': GearShifter.manumatic, 'D': GearShifter.drive, - 'S': GearShifter.sport, 'L': GearShifter.low, 'B': GearShifter.brake + 'P': GearShifter.park, 'PARK': GearShifter.park, + 'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse, + 'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral, + 'E': GearShifter.eco, 'ECO': GearShifter.eco, + 'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic, + 'D': GearShifter.drive, 'DRIVE': GearShifter.drive, + 'S': GearShifter.sport, 'SPORT': GearShifter.sport, + 'L': GearShifter.low, 'LOW': GearShifter.low, + 'B': GearShifter.brake, 'BRAKE': GearShifter.brake, } - return d.get(gear, GearShifter.unknown) + return d.get(gear.upper(), GearShifter.unknown) @staticmethod def get_cam_can_parser(CP): From 6b74be53ae83d255e3513e336b8ed9efbd52a182 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 25 Jul 2022 13:31:39 -0700 Subject: [PATCH 252/306] check vin validity (#25199) --- selfdrive/car/car_helpers.py | 4 ++-- selfdrive/car/vin.py | 6 ++++++ 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 1a9a5f50f3..aa4b37d572 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -7,7 +7,7 @@ from common.basedir import BASEDIR from system.version import is_comma_remote, is_tested_branch from selfdrive.car.interfaces import get_interface_attr from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars -from selfdrive.car.vin import get_vin, VIN_UNKNOWN +from selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN from selfdrive.car.fw_versions import get_fw_versions_ordered, match_fw_to_car, get_present_ecus from system.swaglog import cloudlog import cereal.messaging as messaging @@ -106,7 +106,7 @@ def fingerprint(logcan, sendcan): vin, vin_rx_addr = VIN_UNKNOWN, 0 exact_fw_match, fw_candidates, car_fw = True, set(), [] - if len(vin) != 17: + if not is_valid_vin(vin): cloudlog.event("Malformed VIN", vin=vin, error=True) vin = VIN_UNKNOWN cloudlog.warning("VIN %s", vin) diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index 007c10e772..5ace68649b 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +import re import struct import traceback @@ -15,6 +16,11 @@ UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + struct.pac UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + struct.pack("!H", uds.DATA_IDENTIFIER_TYPE.VIN) VIN_UNKNOWN = "0" * 17 +VIN_RE = "[A-HJ-NPR-Z0-9]{17}" + + +def is_valid_vin(vin: str): + return re.fullmatch(VIN_RE, vin) is not None def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False): From f4d9573ff05ce246f17306e7ffe736cfad06e4b9 Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Mon, 25 Jul 2022 15:53:26 -0500 Subject: [PATCH 253/306] Add several missing LEXUS_ES_TSS2 firmwares (#25268) `@RTDoc#2994` 2022 ES350 (ICE) DongleID/route 6ed275339186a130|2022-07-24--18-21-35 --- selfdrive/car/toyota/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 0f29ae1ee2..ca4172f24c 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1466,6 +1466,7 @@ FW_VERSIONS = { }, CAR.LEXUS_ES_TSS2: { (Ecu.engine, 0x700, None): [ + b'\x018966306U6000\x00\x00\x00\x00', b'\x01896630EC9100\x00\x00\x00\x00', b'\x018966333T5000\x00\x00\x00\x00', b'\x018966333T5100\x00\x00\x00\x00', @@ -1482,18 +1483,21 @@ FW_VERSIONS = { b'8965B33252\x00\x00\x00\x00\x00\x00', b'8965B33590\x00\x00\x00\x00\x00\x00', b'8965B33690\x00\x00\x00\x00\x00\x00', + b'8965B33721\x00\x00\x00\x00\x00\x00', b'8965B48271\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F3301100\x00\x00\x00\x00', b'\x018821F3301200\x00\x00\x00\x00', b'\x018821F3301400\x00\x00\x00\x00', + b'\x018821F6201300\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646F33030D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', b'\x028646F3303200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', b'\x028646F3304100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', b'\x028646F3304300\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', + b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', ], }, From 60eab24e0c0b4ab372ef5aa30191fe4c18d0ddf0 Mon Sep 17 00:00:00 2001 From: John Belmonte Date: Tue, 26 Jul 2022 06:12:38 +0900 Subject: [PATCH 254/306] Skoda: add FW versions for Karoq 2021 (#25271) * fingerprint Skoda Karoq 2021 dongle: 2c4292a5cd10536c route: 2022-07-24--09-44-25 * Update docs Co-authored-by: Shane Smiskol --- docs/CARS.md | 2 +- selfdrive/car/volkswagen/values.py | 7 ++++++- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 3ee05960e0..099ff16b47 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -142,7 +142,7 @@ A supported vehicle is one that just works when you install a comma device. Ever |Subaru|XV 2018-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| |Subaru|XV 2020-21|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Škoda|Kamiq 2021[5](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Škoda|Karoq 2019|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Škoda|Karoq 2019-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Škoda|Kodiaq 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Škoda|Octavia 2015, 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Škoda|Octavia RS 2016|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 34eb75e539..80cd421d64 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -177,7 +177,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"), CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"), CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.KAMIQ]), - CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019"), + CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"), CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"), CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020"), CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-18"), @@ -821,18 +821,23 @@ FW_VERSIONS = { CAR.SKODA_KAROQ_MK1: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8705E906018P \xf1\x896020', + b'\xf1\x8705L906022BS\xf1\x890913', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300041S \xf1\x891615', + b'\xf1\x870GC300014L \xf1\x892802', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\0161213001211001101131122012100', + b'\xf1\x873Q0959655DE\xf1\x890731\xf1\x82\x0e1213001211001101131121012J00', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567T6100500', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100700', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572M \xf1\x890233', + b'\xf1\x872Q0907572T \xf1\x890383', ], }, CAR.SKODA_KODIAQ_MK1: { From 0574b8504f85132bfbe5d8a41913e37ad030401e Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Mon, 25 Jul 2022 16:15:14 -0500 Subject: [PATCH 255/306] VW MQB: Cleanup stock ACC button handling (#25168) * VW MQB: Cleanup stock ACC button handling * use controls resume output as trigger * these can wait until taco bell * pass through of previously fixed value * retry CI * checks already done in carcontroller * don't need these anymore * reduce diff for now * remove parenthesis * update refs * fix packer exception * update refs Co-authored-by: Shane Smiskol --- selfdrive/car/volkswagen/carcontroller.py | 36 +++++------------------ selfdrive/car/volkswagen/carstate.py | 36 ++++++++++------------- selfdrive/car/volkswagen/interface.py | 19 +----------- selfdrive/car/volkswagen/values.py | 24 +++++++-------- selfdrive/car/volkswagen/volkswagencan.py | 22 +++++--------- selfdrive/test/process_replay/ref_commit | 2 +- 6 files changed, 44 insertions(+), 95 deletions(-) diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index 5543d4f05c..99a3ce55f4 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -2,7 +2,7 @@ from cereal import car from opendbc.can.packer import CANPacker from selfdrive.car import apply_std_steer_torque_limits from selfdrive.car.volkswagen import volkswagencan -from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams as P +from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, MQB_LDW_MESSAGES, CarControllerParams as P VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -17,10 +17,6 @@ class CarController: self.hcaSameTorqueCount = 0 self.hcaEnabledFrameCount = 0 - self.graButtonStatesToSend = None - self.graMsgSentCount = 0 - self.graMsgStartFramePrev = 0 - self.graMsgBusCounterPrev = 0 def update(self, CC, CS, ext_bus): actuators = CC.actuators @@ -83,30 +79,12 @@ class CarController: # **** ACC Button Controls ********************************************** # - # FIXME: this entire section is in desperate need of refactoring - - if self.CP.pcmCruise: - if self.frame > self.graMsgStartFramePrev + P.GRA_VBP_STEP: - if CC.cruiseControl.cancel: - # Cancel ACC if it's engaged with OP disengaged. - self.graButtonStatesToSend = BUTTON_STATES.copy() - self.graButtonStatesToSend["cancel"] = True - elif CC.cruiseControl.resume: - # Send Resume button when planner wants car to move - self.graButtonStatesToSend = BUTTON_STATES.copy() - self.graButtonStatesToSend["resumeCruise"] = True - - if CS.graMsgBusCounter != self.graMsgBusCounterPrev: - self.graMsgBusCounterPrev = CS.graMsgBusCounter - if self.graButtonStatesToSend is not None: - if self.graMsgSentCount == 0: - self.graMsgStartFramePrev = self.frame - idx = (CS.graMsgBusCounter + 1) % 16 - can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, self.graButtonStatesToSend, CS, idx)) - self.graMsgSentCount += 1 - if self.graMsgSentCount >= P.GRA_VBP_COUNT: - self.graButtonStatesToSend = None - self.graMsgSentCount = 0 + if self.CP.pcmCruise and self.frame % P.GRA_ACC_STEP == 0: + idx = (CS.gra_stock_values["COUNTER"] + 1) % 16 + if CC.cruiseControl.cancel: + can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, cancel=True)) + elif CC.cruiseControl.resume: + can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, resume=True)) new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / P.STEER_MAX diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 9c4a111e4e..052a1262e4 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -4,18 +4,19 @@ from common.conversions import Conversions as CV from selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine -from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, NetworkLocation, TransmissionType, GearShifter, BUTTON_STATES, CarControllerParams +from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, NetworkLocation, TransmissionType, GearShifter, \ + CarControllerParams, MQB_BUTTONS class CarState(CarStateBase): def __init__(self, CP): super().__init__(CP) + self.button_states = {button.event_type: False for button in MQB_BUTTONS} can_define = CANDefine(DBC_FILES.mqb) if CP.transmissionType == TransmissionType.automatic: self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"] elif CP.transmissionType == TransmissionType.direct: self.shifter_values = can_define.dv["EV_Gearshift"]["GearPosition"] self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"] - self.buttonStates = BUTTON_STATES.copy() def update(self, pt_cp, cam_cp, ext_cp, trans_type): ret = car.CarState.new_message() @@ -114,26 +115,20 @@ class CarState(CarStateBase): if ret.cruiseState.speed > 90: ret.cruiseState.speed = 0 - # Update control button states for turn signals and ACC controls. - self.buttonStates["accelCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Hoch"]) - self.buttonStates["decelCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Runter"]) - self.buttonStates["cancel"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Abbrechen"]) - self.buttonStates["setCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Setzen"]) - self.buttonStates["resumeCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Wiederaufnahme"]) - self.buttonStates["gapAdjustCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Verstellung_Zeitluecke"]) + # Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough ret.leftBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Left"]) ret.rightBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"]) - - # Read ACC hardware button type configuration info that has to pass thru - # to the radar. Ends up being different for steering wheel buttons vs - # third stalk type controls. - self.graHauptschalter = pt_cp.vl["GRA_ACC_01"]["GRA_Hauptschalter"] - self.graTypHauptschalter = pt_cp.vl["GRA_ACC_01"]["GRA_Typ_Hauptschalter"] - self.graButtonTypeInfo = pt_cp.vl["GRA_ACC_01"]["GRA_ButtonTypeInfo"] - self.graTipStufe2 = pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Stufe_2"] - # Pick up the GRA_ACC_01 CAN message counter so we can sync to it for - # later cruise-control button spamming. - self.graMsgBusCounter = pt_cp.vl["GRA_ACC_01"]["COUNTER"] + self.gra_stock_values = pt_cp.vl["GRA_ACC_01"] + buttonEvents = [] + for button in MQB_BUTTONS: + state = pt_cp.vl[button.can_addr][button.can_msg] in button.values + if self.button_states[button.event_type] != state: + event = car.CarState.ButtonEvent.new_message() + event.type = button.event_type + event.pressed = state + buttonEvents.append(event) + self.button_states[button.event_type] = state + ret.buttonEvents = buttonEvents # Additional safety checks performed in CarInterface. ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0 @@ -181,6 +176,7 @@ class CarState(CarStateBase): ("GRA_Tip_Wiederaufnahme", "GRA_ACC_01"), # ACC button, resume ("GRA_Verstellung_Zeitluecke", "GRA_ACC_01"), # ACC button, time gap adj ("GRA_Typ_Hauptschalter", "GRA_ACC_01"), # ACC main button type + ("GRA_Codierung", "GRA_ACC_01"), # ACC button configuration/coding ("GRA_Tip_Stufe_2", "GRA_ACC_01"), # unknown related to stalk type ("GRA_ButtonTypeInfo", "GRA_ACC_01"), # unknown related to stalk type ("COUNTER", "GRA_ACC_01"), # GRA_ACC_01 CAN message counter diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 225a6a32ca..8bab93d4a3 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -1,5 +1,5 @@ from cereal import car -from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES, CANBUS, NetworkLocation, TransmissionType, GearShifter +from selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase @@ -10,8 +10,6 @@ class CarInterface(CarInterfaceBase): def __init__(self, CP, CarController, CarState): super().__init__(CP, CarController, CarState) - self.buttonStatesPrev = BUTTON_STATES.copy() - if CP.networkLocation == NetworkLocation.fwdCamera: self.ext_bus = CANBUS.pt self.cp_ext = self.cp @@ -160,19 +158,8 @@ class CarInterface(CarInterfaceBase): # returns a car.CarState def _update(self, c): - buttonEvents = [] - ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType) - # Check for and process state-change events (button press or release) from - # the turn stalk switch or ACC steering wheel/control stalk buttons. - for button in self.CS.buttonStates: - if self.CS.buttonStates[button] != self.buttonStatesPrev[button]: - be = car.CarState.ButtonEvent.new_message() - be.type = button - be.pressed = self.CS.buttonStates[button] - buttonEvents.append(be) - events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic]) # Low speed steer alert hysteresis logic @@ -184,10 +171,6 @@ class CarInterface(CarInterfaceBase): events.add(EventName.belowSteerSpeed) ret.events = events.to_msg() - ret.buttonEvents = buttonEvents - - # update previous car states - self.buttonStatesPrev = self.CS.buttonStates.copy() return ret diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 80cd421d64..52a03c320c 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -1,4 +1,4 @@ -from collections import defaultdict +from collections import defaultdict, namedtuple from dataclasses import dataclass from enum import Enum from typing import Dict, List, Union @@ -11,6 +11,7 @@ Ecu = car.CarParams.Ecu NetworkLocation = car.CarParams.NetworkLocation TransmissionType = car.CarParams.TransmissionType GearShifter = car.CarState.GearShifter +Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values']) class CarControllerParams: @@ -18,9 +19,6 @@ class CarControllerParams: LDW_STEP = 10 # LDW_02 message frequency 10Hz GRA_ACC_STEP = 3 # GRA_ACC_01 message frequency 33Hz - GRA_VBP_STEP = 100 # Send ACC virtual button presses once a second - GRA_VBP_COUNT = 16 # Send VBP messages for ~0.5s (GRA_ACC_STEP * 16) - # Observed documented MQB limits: 3.00 Nm max, rate of change 5.00 Nm/sec. # Limiting rate-of-change based on real-world testing and Comma's safety # requirements for minimum time to lane departure. @@ -43,14 +41,16 @@ class DBC_FILES: DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict(DBC_FILES.mqb, None)) -BUTTON_STATES = { - "accelCruise": False, - "decelCruise": False, - "cancel": False, - "setCruise": False, - "resumeCruise": False, - "gapAdjustCruise": False -} + +MQB_BUTTONS = [ + Button(car.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]), + Button(car.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]), + Button(car.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]), + Button(car.CarState.ButtonEvent.Type.decelCruise, "GRA_ACC_01", "GRA_Tip_Runter", [1]), + Button(car.CarState.ButtonEvent.Type.cancel, "GRA_ACC_01", "GRA_Abbrechen", [1]), + Button(car.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_ACC_01", "GRA_Verstellung_Zeitluecke", [1]), +] + MQB_LDW_MESSAGES = { "none": 0, # Nothing to display diff --git a/selfdrive/car/volkswagen/volkswagencan.py b/selfdrive/car/volkswagen/volkswagencan.py index 1b42d1a405..f4c21eeed4 100644 --- a/selfdrive/car/volkswagen/volkswagencan.py +++ b/selfdrive/car/volkswagen/volkswagencan.py @@ -32,19 +32,11 @@ def create_mqb_hud_control(packer, bus, enabled, steering_pressed, hud_alert, le }) return packer.make_can_msg("LDW_02", bus, values) -def create_mqb_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx): - values = { - "COUNTER": idx, - "GRA_Hauptschalter": CS.graHauptschalter, - "GRA_Abbrechen": buttonStatesToSend["cancel"], - "GRA_Tip_Setzen": buttonStatesToSend["setCruise"], - "GRA_Tip_Hoch": buttonStatesToSend["accelCruise"], - "GRA_Tip_Runter": buttonStatesToSend["decelCruise"], - "GRA_Tip_Wiederaufnahme": buttonStatesToSend["resumeCruise"], - "GRA_Verstellung_Zeitluecke": 3 if buttonStatesToSend["gapAdjustCruise"] else 0, - "GRA_Typ_Hauptschalter": CS.graTypHauptschalter, - "GRA_Codierung": 2, - "GRA_Tip_Stufe_2": CS.graTipStufe2, - "GRA_ButtonTypeInfo": CS.graButtonTypeInfo - } +def create_mqb_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False): + values = gra_stock_values.copy() + + values["COUNTER"] = idx + values["GRA_Abbrechen"] = cancel + values["GRA_Tip_Wiederaufnahme"] = resume + return packer.make_can_msg("GRA_ACC_01", bus, values) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index ce4f5c1711..0c1fa408e7 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -8f918a54cfefcaada91a7eca0c14ca4d4b6f11c8 \ No newline at end of file +dfacf4d807e04b855832218803b5c025d06569b8 \ No newline at end of file From 49bd53549d3e4ee16d9fcfc9f7a3fa27957d8ddb Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 25 Jul 2022 14:46:21 -0700 Subject: [PATCH 256/306] Chrysler: increase steering angle resolution (#25278) --- opendbc | 2 +- selfdrive/car/chrysler/carstate.py | 5 +++-- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 5 insertions(+), 4 deletions(-) diff --git a/opendbc b/opendbc index 4195e8f4c9..67cf76f252 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 4195e8f4c9998c0a1a6084c3cc71499307bbd81e +Subproject commit 67cf76f2524209ea19f6f867cb4671c88a3347ac diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index 47b28f9e05..fefd351a23 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -63,7 +63,7 @@ class CarState(CarStateBase): ret.genericToggle = cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"] == 1 # steering wheel - ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"] + ret.steeringAngleDeg = cp.vl["STEERING"]["STEERING_ANGLE"] + cp.vl["STEERING"]["STEERING_ANGLE_HP"] ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"] ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"] ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"] @@ -126,7 +126,8 @@ class CarState(CarStateBase): ("WHEEL_SPEED_RR", "ESP_6"), ("WHEEL_SPEED_RL", "ESP_6"), ("WHEEL_SPEED_FR", "ESP_6"), - ("STEER_ANGLE", "STEERING"), + ("STEERING_ANGLE", "STEERING"), + ("STEERING_ANGLE_HP", "STEERING"), ("STEERING_RATE", "STEERING"), ("TURN_SIGNALS", "STEERING_LEVERS"), ("HIGH_BEAM_PRESSED", "STEERING_LEVERS"), diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 0c1fa408e7..0d05747644 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -dfacf4d807e04b855832218803b5c025d06569b8 \ No newline at end of file +ee36966d20fa63ed4b9488bbc75d61e95e464cb7 \ No newline at end of file From 347455325e5cd67e0697708ac980782aec2c3b33 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 25 Jul 2022 15:16:38 -0700 Subject: [PATCH 257/306] Mazda: use torque controller (#25265) * Mazda: use torque controller * update refs * update refs --- selfdrive/car/mazda/interface.py | 14 ++------------ selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 3 insertions(+), 13 deletions(-) diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index 35e3c1bb01..8640903444 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -28,34 +28,24 @@ class CarInterface(CarInterfaceBase): ret.steerLimitTimer = 0.8 tire_stiffness_factor = 0.70 # not optimized yet + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + if candidate in (CAR.CX5, CAR.CX5_2022): ret.mass = 3655 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 15.5 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]] - ret.lateralTuning.pid.kf = 0.00006 elif candidate in (CAR.CX9, CAR.CX9_2021): ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 3.1 ret.steerRatio = 17.6 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]] - ret.lateralTuning.pid.kf = 0.00006 elif candidate == CAR.MAZDA3: ret.mass = 2875 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 14.0 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]] - ret.lateralTuning.pid.kf = 0.00006 elif candidate == CAR.MAZDA6: ret.mass = 3443 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.83 ret.steerRatio = 15.5 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]] - ret.lateralTuning.pid.kf = 0.00006 if candidate not in (CAR.CX5_2022, ): ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 0d05747644..5067208d0e 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -ee36966d20fa63ed4b9488bbc75d61e95e464cb7 \ No newline at end of file +2da0446f3cc0c4fd705f7b199ed1d9e6341fc466 \ No newline at end of file From 5101a7cf8889750e1ed8269f0e456a29f9f444eb Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 25 Jul 2022 15:21:58 -0700 Subject: [PATCH 258/306] Chrylser: some Ram 1500 can steer to 0 (#25279) --- selfdrive/car/chrysler/interface.py | 7 +++++-- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 56cece47bc..3c2bc3131a 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -51,10 +51,13 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 3.88 ret.steerRatio = 16.3 ret.mass = 2493. + STD_CARGO_KG - ret.maxLateralAccel = 2.4 - ret.minSteerSpeed = 14.5 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + ret.minSteerSpeed = 14.5 + if car_fw is not None: + for fw in car_fw: + if fw.ecu == 'eps' and fw.fwVersion in (b"68312176AE", b"68312176AG", b"68273275AG"): + ret.minSteerSpeed = 0. else: raise ValueError(f"Unsupported car: {candidate}") diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 5067208d0e..01e762d336 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -2da0446f3cc0c4fd705f7b199ed1d9e6341fc466 \ No newline at end of file +66790e176b98244bb76ce19fb1aa943b36c87dec \ No newline at end of file From 5d4d2c3b0dfd8607144066317d0bb60962975c5f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 25 Jul 2022 15:55:43 -0700 Subject: [PATCH 259/306] Subaru: move all pre-global cars to torque tune (#25281) * Subaru: move all pre-global cars to torque tune * pid init --- selfdrive/car/subaru/interface.py | 34 ++++++++++++------------------- 1 file changed, 13 insertions(+), 21 deletions(-) diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index f820cf42ba..d246ab2022 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -13,6 +13,7 @@ class CarInterface(CarInterfaceBase): ret.carName = "subaru" ret.radarOffCan = True + ret.dashcamOnly = candidate in PREGLOBAL_CARS if candidate in PREGLOBAL_CARS: ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)] @@ -21,9 +22,9 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)] ret.enableBsm = 0x228 in fingerprint[0] - ret.dashcamOnly = candidate in PREGLOBAL_CARS - ret.steerLimitTimer = 0.4 + ret.steerActuatorDelay = 0.1 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) if candidate == CAR.ASCENT: ret.mass = 2031. + STD_CARGO_KG @@ -31,70 +32,61 @@ class CarInterface(CarInterfaceBase): ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 13.5 ret.steerActuatorDelay = 0.3 # end-to-end angle controller + ret.lateralTuning.init('pid') ret.lateralTuning.pid.kf = 0.00003 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]] - if candidate == CAR.IMPREZA: + elif candidate == CAR.IMPREZA: ret.mass = 1568. + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 15 ret.steerActuatorDelay = 0.4 # end-to-end angle controller + ret.lateralTuning.init('pid') ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]] - if candidate == CAR.IMPREZA_2020: + elif candidate == CAR.IMPREZA_2020: ret.mass = 1480. + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 17 # learned, 14 stock - ret.steerActuatorDelay = 0.1 + ret.lateralTuning.init('pid') ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]] - if candidate == CAR.FORESTER: + elif candidate == CAR.FORESTER: ret.mass = 1568. + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 17 # learned, 14 stock - ret.steerActuatorDelay = 0.1 + ret.lateralTuning.init('pid') ret.lateralTuning.pid.kf = 0.000038 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]] - if candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018): + elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018): ret.safetyConfigs[0].safetyParam = 1 # Outback 2018-2019 and Forester have reversed driver torque signal ret.mass = 1568 + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 20 # learned, 14 stock - ret.steerActuatorDelay = 0.1 - ret.lateralTuning.pid.kf = 0.000039 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20.], [0., 10., 20.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2], [0.003, 0.018, 0.025]] - if candidate == CAR.LEGACY_PREGLOBAL: + elif candidate == CAR.LEGACY_PREGLOBAL: ret.mass = 1568 + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 12.5 # 14.5 stock ret.steerActuatorDelay = 0.15 - ret.lateralTuning.pid.kf = 0.00005 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1, 0.2], [0.01, 0.02]] - if candidate == CAR.OUTBACK_PREGLOBAL: + elif candidate == CAR.OUTBACK_PREGLOBAL: ret.mass = 1568 + STD_CARGO_KG ret.wheelbase = 2.67 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 20 # learned, 14 stock - ret.steerActuatorDelay = 0.1 - ret.lateralTuning.pid.kf = 0.000039 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20.], [0., 10., 20.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2], [0.003, 0.018, 0.025]] # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase From 5a6b0a9f4ca065a14abe085c47bac0ef36455c9b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 25 Jul 2022 19:08:56 -0700 Subject: [PATCH 260/306] fw_versions: fix ECU scanning (#25283) Fix when scanning --- selfdrive/car/fw_versions.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 9c6f6e44f0..1c696b8ed3 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -467,7 +467,7 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, for (addr, rx_addr), version in query.get_data(timeout).items(): f = car.CarParams.CarFw.new_message() - f.ecu = ecu_types[(r.brand, addr[0], addr[1])] + f.ecu = ecu_types.get((r.brand, addr[0], addr[1]), Ecu.unknown) f.fwVersion = version f.address = addr[0] f.responseAddress = rx_addr From 260171fcd8a5659ed2501cc6b425d037323f2fa8 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 25 Jul 2022 19:48:30 -0700 Subject: [PATCH 261/306] EV6: can-fd footnote (#25284) --- docs/CARS.md | 115 ++++++++++++++++---------------- selfdrive/car/hyundai/values.py | 11 ++- 2 files changed, 67 insertions(+), 59 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 099ff16b47..c84008bd63 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -92,7 +92,7 @@ A supported vehicle is one that just works when you install a comma device. Ever |Jeep|Grand Cherokee 2016-18|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Jeep|Grand Cherokee 2019-21|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Ceed 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|EV6 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|EV6 2022[3](#footnotes)|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Forte 2018|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Forte 2019-21|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|K5 2021-22|SCC|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| @@ -109,19 +109,19 @@ A supported vehicle is one that just works when you install a comma device. Ever |Kia|Sorento 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Stinger 2018-20|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Telluride 2020|SCC + LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|CT Hybrid 2017-18|LSS|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|CT Hybrid 2017-18|LSS|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|ES 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|ES Hybrid 2017-18|LSS|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|ES Hybrid 2017-18|LSS|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|ES Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|IS 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|NX 2018-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|NX 2018-19|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|NX 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|NX Hybrid 2018-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|NX Hybrid 2018-19|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|NX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|RC 2017-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|RX 2016-18|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|RX 2016-18|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|RX 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|RX Hybrid 2016-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|RX Hybrid 2016-19|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|RX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|UX Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Mazda|CX-5 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| @@ -141,7 +141,7 @@ A supported vehicle is one that just works when you install a comma device. Ever |Subaru|Impreza 2020-22|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Subaru|XV 2018-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| |Subaru|XV 2020-21|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Škoda|Kamiq 2021[5](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Škoda|Kamiq 2021[6](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Škoda|Karoq 2019-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Škoda|Kodiaq 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Škoda|Octavia 2015, 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| @@ -150,85 +150,86 @@ A supported vehicle is one that just works when you install a comma device. Ever |Škoda|Superb 2015-18|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Alphard 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Alphard Hybrid 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Avalon 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Avalon 2017-18|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Avalon 2019-21|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Avalon 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Avalon 2017-18|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Avalon 2019-21|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Avalon 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Avalon Hybrid 2019-21|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Avalon Hybrid 2019-21|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Avalon Hybrid 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|C-HR 2017-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|C-HR Hybrid 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Camry 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Camry 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Camry Hybrid 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Camry 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[5](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Camry 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)[5](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Camry Hybrid 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[5](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Camry Hybrid 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Corolla 2017-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Corolla 2017-19|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Corolla 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Corolla Cross (Non-US only) 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Corolla Hatchback 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Corolla Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Highlander 2017-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Highlander 2017-19|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Highlander 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Highlander Hybrid 2017-19|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Highlander Hybrid 2017-19|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Highlander Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Mirai 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Prius 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Prius 2017-20|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Prius 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Prius 2017-20|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Prius 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Prius Prime 2017-20|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Prius Prime 2017-20|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Prius Prime 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Prius v 2017|TSS-P|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|RAV4 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|RAV4 2017-18|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Prius v 2017|TSS-P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 2017-18|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|RAV4 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|RAV4 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|RAV4 Hybrid 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|RAV4 Hybrid 2017-18|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 Hybrid 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 Hybrid 2017-18|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|RAV4 Hybrid 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|RAV4 Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Sienna 2018-20|All|[![star](assets/icon-star-half.svg)](##)[3](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Arteon 2018-22[7,8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Arteon eHybrid 2020-22[7,8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Arteon R 2020-22[7,8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Atlas 2018-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Atlas Cross Sport 2021-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|California 2021[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Caravelle 2020[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|CC 2018-22[7,8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Sienna 2018-20|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Arteon 2018-22[8,9](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Arteon eHybrid 2020-22[8,9](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Arteon R 2020-22[8,9](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Atlas 2018-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Atlas Cross Sport 2021-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|California 2021[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Caravelle 2020[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|CC 2018-22[8,9](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Volkswagen|e-Golf 2014-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Golf 2015-20[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Golf 2015-20[9](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Volkswagen|Golf Alltrack 2015-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Volkswagen|Golf GTD 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Volkswagen|Golf GTE 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Volkswagen|Golf GTI 2015-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Golf R 2015-19[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Golf R 2015-19[9](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Volkswagen|Golf SportsVan 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Jetta 2018-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Jetta GLI 2021-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Passat 2015-22[6,7,8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Passat Alltrack 2015-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Passat GTE 2015-22[7,8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Polo 2020-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Polo GTI 2020-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|T-Cross 2021[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|T-Roc 2021[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Teramont 2018-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Teramont Cross Sport 2021-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Teramont X 2021-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Volkswagen|Tiguan 2019-22[7](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Jetta 2018-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Jetta GLI 2021-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Passat 2015-22[7,8,9](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Passat Alltrack 2015-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Passat GTE 2015-22[8,9](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Polo 2020-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Polo GTI 2020-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|T-Cross 2021[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|T-Roc 2021[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Taos 2022[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Teramont 2018-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Teramont Cross Sport 2021-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Teramont X 2021-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Volkswagen|Tiguan 2019-22[8](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Volkswagen|Touran 2017|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| 1Requires an OBD-II car harness and community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
    22019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
    -3When disconnecting the Driver Support Unit (DSU), openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
    -428mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
    -5Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
    -6Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform.
    -7Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.
    -8Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)
    +3Requires a red panda and additional harness box.
    +4When disconnecting the Driver Support Unit (DSU), openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
    +528mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
    +6Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
    +7Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform.
    +8Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.
    +9Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)
    ## Community Maintained Cars Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/). diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 45985d2a45..7a25188e87 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1,10 +1,11 @@ +from enum import Enum from dataclasses import dataclass from typing import Dict, List, Optional, Union from cereal import car from common.conversions import Conversions as CV from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarInfo, Harness +from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness Ecu = car.CarParams.Ecu @@ -86,6 +87,12 @@ class CAR: GENESIS_G90 = "GENESIS G90 2017" +class Footnote(Enum): + CANFD = CarFootnote( + "Requires a red panda and additional harness box.", + Column.MODEL) + + @dataclass class HyundaiCarInfo(CarInfo): # TODO: we can probably remove LKAS. LKAS is standard on many @@ -153,7 +160,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { ], CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c), CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e), - CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.hyundai_p), + CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.hyundai_p, footnotes=[Footnote.CANFD,]), # Genesis CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f), From ab236e5ae0330edd984c8f19e694ab50090e9183 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 26 Jul 2022 17:47:40 +0200 Subject: [PATCH 262/306] fix finding the lte connection (#25286) --- selfdrive/ui/qt/offroad/wifiManager.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/offroad/wifiManager.cc index 124138eea4..fbb64b972e 100644 --- a/selfdrive/ui/qt/offroad/wifiManager.cc +++ b/selfdrive/ui/qt/offroad/wifiManager.cc @@ -303,7 +303,7 @@ void WifiManager::initConnections() { const Connection settings = getConnectionSettings(path); if (settings.value("connection").value("type") == "802-11-wireless") { knownConnections[path] = settings.value("802-11-wireless").value("ssid").toString(); - } else if (path.path() != "/") { + } else if (settings.value("connection").value("id") == "lte") { lteConnectionPath = path; } } From 7700a6c1e6d521f5d04da1ba25968ddf6a17a76e Mon Sep 17 00:00:00 2001 From: Igor Biletskyy Date: Tue, 26 Jul 2022 14:59:51 -0700 Subject: [PATCH 263/306] body: bump opendbc (#25289) --- opendbc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc b/opendbc index 67cf76f252..3fcbe9db72 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 67cf76f2524209ea19f6f867cb4671c88a3347ac +Subproject commit 3fcbe9db7211b2f7524b80c351c7cf1f233c1e52 From a009723513329921aafa6902ce320c3cc537729b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 26 Jul 2022 22:10:14 -0700 Subject: [PATCH 264/306] test models: add env var to filter out models --- selfdrive/car/tests/test_models.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index cb4b868582..929c539842 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -57,6 +57,11 @@ class TestCarModelBase(unittest.TestCase): if cls.__name__ == 'TestCarModel' or cls.__name__.endswith('Base'): raise unittest.SkipTest + if 'FILTER' in os.environ: + print(tuple(os.environ.get('FILTER').split(', '))) + if not cls.car_model.startswith(tuple(os.environ.get('FILTER').split(','))): + raise unittest.SkipTest + if cls.test_route is None: if cls.car_model in non_tested_cars: print(f"Skipping tests for {cls.car_model}: missing route") From f3be47bc55b2ed50ebe803fb461a6d3002b1fc7c Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 27 Jul 2022 16:19:19 +0200 Subject: [PATCH 265/306] plotjuggler: allow loading ci routes (#25294) * plotjuggler: allow loading ci routes * update readme --- tools/plotjuggler/README.md | 9 ++++++--- tools/plotjuggler/juggle.py | 13 ++++++++++--- 2 files changed, 16 insertions(+), 6 deletions(-) diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md index e120edf2fa..25fcb5931a 100644 --- a/tools/plotjuggler/README.md +++ b/tools/plotjuggler/README.md @@ -12,7 +12,8 @@ Once you've cloned and are in openpilot, this command will download PlotJuggler ``` $ ./juggle.py -h -usage: juggle.py [-h] [--demo] [--qlog] [--can] [--stream] [--layout [LAYOUT]] [--install] [--dbc DBC] [route_or_segment_name] [segment_count] +usage: juggle.py [-h] [--demo] [--qlog] [--ci] [--can] [--stream] [--layout [LAYOUT]] [--install] [--dbc DBC] + [route_or_segment_name] [segment_count] A helper to run PlotJuggler on openpilot routes @@ -25,12 +26,14 @@ optional arguments: -h, --help show this help message and exit --demo Use the demo route instead of providing one (default: False) --qlog Use qlogs (default: False) + --ci Download data from openpilot CI bucket (default: False) --can Parse CAN data (default: False) --stream Start PlotJuggler in streaming mode (default: False) --layout [LAYOUT] Run PlotJuggler with a pre-defined layout (default: None) --install Install or update PlotJuggler + plugins (default: False) - --dbc DBC Set the DBC name to load for parsing CAN data. If not set, the DBC will be - automatically inferred from the logs. (default: None) + --dbc DBC Set the DBC name to load for parsing CAN data. If not set, the DBC will be automatically + inferred from the logs. (default: None) + ``` Examples using route name: diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index 96ced28349..6f1038ec0d 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -12,6 +12,7 @@ import argparse from common.basedir import BASEDIR from selfdrive.test.process_replay.compare_logs import save_log +from selfdrive.test.openpilotci import get_url from tools.lib.logreader import LogReader from tools.lib.route import Route, SegmentName from urllib.parse import urlparse, parse_qs @@ -51,7 +52,7 @@ def load_segment(segment_name): try: return list(LogReader(segment_name)) - except ValueError as e: + except (AssertionError, ValueError) as e: print(f"Error parsing {segment_name}: {e}") return [] @@ -73,7 +74,7 @@ def start_juggler(fn=None, dbc=None, layout=None): subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir) -def juggle_route(route_or_segment_name, segment_count, qlog, can, layout, dbc=None): +def juggle_route(route_or_segment_name, segment_count, qlog, can, layout, dbc=None, ci=False): segment_start = 0 if 'cabana' in route_or_segment_name: query = parse_qs(urlparse(route_or_segment_name).query) @@ -81,6 +82,11 @@ def juggle_route(route_or_segment_name, segment_count, qlog, can, layout, dbc=No if route_or_segment_name.startswith(("http://", "https://")) or os.path.isfile(route_or_segment_name): logs = [route_or_segment_name] + elif ci: + route_or_segment_name = SegmentName(route_or_segment_name, allow_route_name=True) + route = route_or_segment_name.route_name.canonical_name + segment_start = max(route_or_segment_name.segment_num, 0) + logs = [get_url(route, i) for i in range(100)] # Assume there not more than 100 segments else: route_or_segment_name = SegmentName(route_or_segment_name, allow_route_name=True) segment_start = max(route_or_segment_name.segment_num, 0) @@ -132,6 +138,7 @@ if __name__ == "__main__": parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one") parser.add_argument("--qlog", action="store_true", help="Use qlogs") + parser.add_argument("--ci", action="store_true", help="Download data from openpilot CI bucket") parser.add_argument("--can", action="store_true", help="Parse CAN data") parser.add_argument("--stream", action="store_true", help="Start PlotJuggler in streaming mode") parser.add_argument("--layout", nargs='?', help="Run PlotJuggler with a pre-defined layout") @@ -157,4 +164,4 @@ if __name__ == "__main__": start_juggler(layout=args.layout) else: route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip() - juggle_route(route_or_segment_name, args.segment_count, args.qlog, args.can, args.layout, args.dbc) + juggle_route(route_or_segment_name, args.segment_count, args.qlog, args.can, args.layout, args.dbc, args.ci) From 25a89d102677ffad42d4c33db41000d1da88639c Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Thu, 28 Jul 2022 00:43:06 +0900 Subject: [PATCH 266/306] navd: include hw.h fix (#25297) --- selfdrive/navd/main.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/navd/main.cc b/selfdrive/navd/main.cc index 3a2fedb7d2..b6eec10328 100644 --- a/selfdrive/navd/main.cc +++ b/selfdrive/navd/main.cc @@ -5,7 +5,7 @@ #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/maps/map_helpers.h" #include "selfdrive/navd/map_renderer.h" -#include "selfdrive/hardware/hw.h" +#include "system/hardware/hw.h" From 787232d762ae42f5f37c454817e82d6697fc0859 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Wed, 27 Jul 2022 13:00:56 -0500 Subject: [PATCH 267/306] VW MQB: Add FW for 2021 Volkswagen Atlas (#25296) --- selfdrive/car/volkswagen/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 52a03c320c..fbbae4c8cd 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -226,6 +226,7 @@ FW_VERSIONS = { CAR.ATLAS_MK1: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8703H906026AA\xf1\x899970', + b'\xf1\x8703H906026AJ\xf1\x890638', b'\xf1\x8703H906026AT\xf1\x891922', b'\xf1\x8703H906026F \xf1\x896696', b'\xf1\x8703H906026F \xf1\x899970', @@ -237,6 +238,7 @@ FW_VERSIONS = { (Ecu.transmission, 0x7e1, None): [ b'\xf1\x8709G927158A \xf1\x893387', b'\xf1\x8709G927158DR\xf1\x893536', + b'\xf1\x8709G927158DR\xf1\x893742', b'\xf1\x8709G927158FT\xf1\x893835', ], (Ecu.srs, 0x715, None): [ @@ -251,6 +253,7 @@ FW_VERSIONS = { b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6090105', ], (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572R \xf1\x890372', b'\xf1\x872Q0907572T \xf1\x890383', b'\xf1\x875Q0907572H \xf1\x890620', b'\xf1\x875Q0907572J \xf1\x890654', From 98146f5858241fedfe2b16c26afc20396665f884 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Thu, 28 Jul 2022 01:35:37 +0200 Subject: [PATCH 268/306] Gather quectel GPS data (#25300) * bump cereal * Use old name * back to default --- cereal | 2 +- selfdrive/sensord/rawgps/rawgpsd.py | 13 ++++++------- 2 files changed, 7 insertions(+), 8 deletions(-) diff --git a/cereal b/cereal index 9ae66d0712..5fce93da72 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 9ae66d07129dcf1b5d6fc5167bbc89691a56d24c +Subproject commit 5fce93da72fbd7cebd025ebdc58fa3ef3b4a3fd5 diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py index 3aa6d4b072..14f0fe3878 100755 --- a/selfdrive/sensord/rawgps/rawgpsd.py +++ b/selfdrive/sensord/rawgps/rawgpsd.py @@ -81,10 +81,9 @@ def main() -> NoReturn: LOG_GNSS_OEMDRE_MEASUREMENT_REPORT, ] pub_types = ['qcomGnss'] - if int(os.getenv("PUBLISH_EXTERNAL", "0")) == 1: - unpack_position, _ = dict_unpacker(position_report) - log_types.append(LOG_GNSS_POSITION_REPORT) - pub_types.append("gpsLocationExternal") + unpack_position, _ = dict_unpacker(position_report) + log_types.append(LOG_GNSS_POSITION_REPORT) + pub_types.append("gpsLocation") # connect to modem diag = ModemDiag() @@ -204,8 +203,8 @@ def main() -> NoReturn: vNED = [report["q_FltVelEnuMps[1]"], report["q_FltVelEnuMps[0]"], -report["q_FltVelEnuMps[2]"]] vNEDsigma = [report["q_FltVelSigmaMps[1]"], report["q_FltVelSigmaMps[0]"], -report["q_FltVelSigmaMps[2]"]] - msg = messaging.new_message('gpsLocationExternal') - gps = msg.gpsLocationExternal + msg = messaging.new_message('gpsLocation') + gps = msg.gpsLocation gps.flags = 1 gps.latitude = report["t_DblFinalPosLatLon[0]"] * 180/math.pi gps.longitude = report["t_DblFinalPosLatLon[1]"] * 180/math.pi @@ -220,7 +219,7 @@ def main() -> NoReturn: gps.bearingAccuracyDeg = report["q_FltHeadingUncRad"] * 180/math.pi gps.speedAccuracy = math.sqrt(sum([x**2 for x in vNEDsigma])) - pm.send('gpsLocationExternal', msg) + pm.send('gpsLocation', msg) if log_type in [LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT]: msg = messaging.new_message('qcomGnss') From e3e694096a3a79e663712797e559e729e6818c7c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 27 Jul 2022 17:24:16 -0700 Subject: [PATCH 269/306] thermald: remove modem registered workaround (#25288) --- selfdrive/thermald/thermald.py | 11 ----------- 1 file changed, 11 deletions(-) diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index f20c649b4e..7277e737d5 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -96,7 +96,6 @@ def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_tex def hw_state_thread(end_event, hw_queue): """Handles non critical hardware state, and sends over queue""" count = 0 - registered_count = 0 prev_hw_state = None modem_version = None @@ -134,16 +133,6 @@ def hw_state_thread(end_event, hw_queue): except queue.Full: pass - if AGNOS and (hw_state.network_info is not None) and (hw_state.network_info.get('state', None) == "REGISTERED"): - registered_count += 1 - else: - registered_count = 0 - - if registered_count > 10: - cloudlog.warning(f"Modem stuck in registered state {hw_state.network_info}. nmcli conn up lte") - os.system("nmcli conn up lte") - registered_count = 0 - # TODO: remove this once the config is in AGNOS if not modem_configured and len(HARDWARE.get_sim_info().get('sim_id', '')) > 0: cloudlog.warning("configuring modem") From b2c1098cd80ff53544c2b65b77c145a5d4af80ad Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 28 Jul 2022 14:58:23 +0200 Subject: [PATCH 270/306] thermald: log modem data usage (#25298) * thermald: log modem data usage * add to deviceState * add cast * set refresh rate * bump cereal * cereal master --- cereal | 2 +- selfdrive/thermald/thermald.py | 15 ++++++++++----- system/hardware/base.py | 3 +++ system/hardware/tici/hardware.py | 23 ++++++++++++++++++++++- 4 files changed, 36 insertions(+), 7 deletions(-) diff --git a/cereal b/cereal index 5fce93da72..a4db5e79e4 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 5fce93da72fbd7cebd025ebdc58fa3ef3b4a3fd5 +Subproject commit a4db5e79e4fac20a906bd951f75b1b91c06148b5 diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 7277e737d5..c765af664f 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -34,7 +34,7 @@ DISCONNECT_TIMEOUT = 5. # wait 5 seconds before going offroad after disconnect PANDA_STATES_TIMEOUT = int(1000 * 1.5 * DT_TRML) # 1.5x the expected pandaState frequency ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp']) -HardwareState = namedtuple("HardwareState", ['network_type', 'network_metered', 'network_strength', 'network_info', 'nvme_temps', 'modem_temps']) +HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats', 'network_metered', 'nvme_temps', 'modem_temps']) # List of thermal bands. We will stay within this region as long as we are within the bounds. # When exiting the bounds, we'll jump to the lower or higher band. Bands are ordered in the dict. @@ -119,11 +119,14 @@ def hw_state_thread(end_event, hw_queue): if (modem_version is not None) and (modem_nv is not None): cloudlog.event("modem version", version=modem_version, nv=modem_nv) + tx, rx = HARDWARE.get_modem_data_usage() + hw_state = HardwareState( network_type=network_type, - network_metered=HARDWARE.get_network_metered(network_type), - network_strength=HARDWARE.get_network_strength(network_type), network_info=HARDWARE.get_network_info(), + network_strength=HARDWARE.get_network_strength(network_type), + network_stats={'wwanTx': tx, 'wwanRx': rx}, + network_metered=HARDWARE.get_network_metered(network_type), nvme_temps=HARDWARE.get_nvme_temperatures(), modem_temps=modem_temps, ) @@ -166,9 +169,10 @@ def thermald_thread(end_event, hw_queue): last_hw_state = HardwareState( network_type=NetworkType.none, + network_info=None, network_metered=False, network_strength=NetworkStrength.unknown, - network_info=None, + network_stats={'wwanTx': -1, 'wwanRx': -1}, nvme_temps=[], modem_temps=[], ) @@ -227,6 +231,7 @@ def thermald_thread(end_event, hw_queue): msg.deviceState.networkType = last_hw_state.network_type msg.deviceState.networkMetered = last_hw_state.network_metered msg.deviceState.networkStrength = last_hw_state.network_strength + msg.deviceState.networkStats = last_hw_state.network_stats if last_hw_state.network_info is not None: msg.deviceState.networkInfo = last_hw_state.network_info @@ -340,7 +345,7 @@ def thermald_thread(end_event, hw_queue): current_power_draw = HARDWARE.get_current_power_draw() statlog.sample("power_draw", current_power_draw) msg.deviceState.powerDrawW = current_power_draw - + som_power_draw = HARDWARE.get_som_power_draw() statlog.sample("som_power_draw", som_power_draw) msg.deviceState.somPowerDrawW = som_power_draw diff --git a/system/hardware/base.py b/system/hardware/base.py index b052a48c5b..c9c02f3a59 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -144,3 +144,6 @@ class HardwareBase(ABC): def recover_internal_panda(self): pass + + def get_modem_data_usage(self): + return -1, -1 diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 66cb98c606..c3f8c7f82a 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -18,6 +18,7 @@ NM = 'org.freedesktop.NetworkManager' NM_CON_ACT = NM + '.Connection.Active' NM_DEV = NM + '.Device' NM_DEV_WL = NM + '.Device.Wireless' +NM_DEV_STATS = NM + '.Device.Statistics' NM_AP = NM + '.AccessPoint' DBUS_PROPS = 'org.freedesktop.DBus.Properties' @@ -49,6 +50,7 @@ class NMMetered(IntEnum): NM_METERED_GUESS_NO = 4 TIMEOUT = 0.1 +REFRESH_RATE_MS = 1000 NetworkType = log.DeviceState.NetworkType NetworkStrength = log.DeviceState.NetworkStrength @@ -143,6 +145,10 @@ class Tici(HardwareBase): wlan_path = self.nm.GetDeviceByIpIface('wlan0', dbus_interface=NM, timeout=TIMEOUT) return self.bus.get_object(NM, wlan_path) + def get_wwan(self): + wwan_path = self.nm.GetDeviceByIpIface('wwan0', dbus_interface=NM, timeout=TIMEOUT) + return self.bus.get_object(NM, wwan_path) + def get_sim_info(self): modem = self.get_modem() sim_path = modem.Get(MM_MODEM, 'Sim', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) @@ -504,6 +510,22 @@ class Tici(HardwareBase): return r + def get_modem_data_usage(self): + try: + wwan = self.get_wwan() + + # Ensure refresh rate is set so values don't go stale + refresh_rate = wwan.Get(NM_DEV_STATS, 'RefreshRateMs', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) + if refresh_rate != REFRESH_RATE_MS: + u = type(refresh_rate) + wwan.Set(NM_DEV_STATS, 'RefreshRateMs', u(REFRESH_RATE_MS), dbus_interface=DBUS_PROPS, timeout=TIMEOUT) + + tx = wwan.Get(NM_DEV_STATS, 'TxBytes', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) + rx = wwan.Get(NM_DEV_STATS, 'RxBytes', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) + return int(tx), int(rx) + except Exception: + return -1, -1 + def reset_internal_panda(self): gpio_init(GPIO.STM_RST_N, True) @@ -511,7 +533,6 @@ class Tici(HardwareBase): time.sleep(2) gpio_set(GPIO.STM_RST_N, 0) - def recover_internal_panda(self): gpio_init(GPIO.STM_RST_N, True) gpio_init(GPIO.STM_BOOT0, True) From 11da2804f6f0ffdc6d9bc0b146c8a308d6b66018 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Thu, 28 Jul 2022 19:56:59 +0200 Subject: [PATCH 271/306] Support quectel gps (#25299) * qcom clock gets corrected randomly it seems * Use quectel gps * fix small laikad bugs * Support both * Support ublox and qcom clock model * fix laikad test * fix typo * Back to original value * More typos Co-authored-by: Comma Device --- selfdrive/locationd/laikad.py | 81 +++++++++++++++++-------- selfdrive/locationd/locationd.cc | 12 +++- selfdrive/locationd/models/gnss_kf.py | 15 ++--- selfdrive/locationd/models/loc_kf.py | 38 ++++++------ selfdrive/locationd/test/test_laikad.py | 6 +- 5 files changed, 98 insertions(+), 54 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index b67c483497..830eb33207 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -19,7 +19,7 @@ from laika.downloader import DownloadFailed from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_ephem from laika.gps_time import GPSTime from laika.helpers import ConstellationId -from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox +from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom from selfdrive.locationd.laikad_helpers import calc_pos_fix_gauss_newton, get_posfix_sympy_fun from selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind from selfdrive.locationd.models.gnss_kf import GNSSKalman @@ -36,7 +36,7 @@ POS_FIX_RESIDUAL_THRESHOLD = 100.0 class Laikad: def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_orbits=True, auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV), - save_ephemeris=False): + save_ephemeris=False, use_qcom=False): """ valid_const: GNSS constellation which can be used auto_fetch_orbits: If true fetch orbits from internet when needed @@ -45,14 +45,14 @@ class Laikad: save_ephemeris: If true saves and loads nav and orbit ephemeris to cache. """ self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER) - self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True) + self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True, erratic_clock=use_qcom) self.auto_fetch_orbits = auto_fetch_orbits self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None self.orbit_fetch_future: Optional[Future] = None self.last_fetch_orbits_t = None - self.got_first_ublox_msg = False + self.got_first_gnss_msg = False self.last_cached_t = None self.save_ephemeris = save_ephemeris self.load_cache() @@ -61,6 +61,7 @@ class Laikad: self.last_pos_fix = [] self.last_pos_residual = [] self.last_pos_fix_t = None + self.use_qcom = use_qcom def load_cache(self): if not self.save_ephemeris: @@ -105,17 +106,40 @@ class Laikad: cloudlog.debug(f"Pos fix failed with median: {residual_median.round()}. All residuals: {np.round(pos_fix_residual)}") return self.last_pos_fix - def process_ublox_msg(self, ublox_msg, ublox_mono_time: int, block=False): - if ublox_msg.which == 'measurementReport': - t = ublox_mono_time * 1e-9 - report = ublox_msg.measurementReport - if report.gpsWeek > 0: - self.got_first_ublox_msg = True - latest_msg_t = GPSTime(report.gpsWeek, report.rcvTow) + def is_good_report(self, gnss_msg): + if gnss_msg.which == 'drMeasurementReport' and self.use_qcom: + constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source) + # TODO support GLONASS + return constellation_id in [ConstellationId.GPS, ConstellationId.SBAS] + elif gnss_msg.which == 'measurementReport' and not self.use_qcom: + return True + else: + return False + + def read_report(self, gnss_msg): + if self.use_qcom: + report = gnss_msg.drMeasurementReport + week = report.gpsWeek + tow = report.gpsMilliseconds / 1000.0 + new_meas = read_raw_qcom(report) + else: + report = gnss_msg.measurementReport + week = report.gpsWeek + tow = report.rcvTow + new_meas = read_raw_ublox(report) + return week, tow, new_meas + + def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False): + if self.is_good_report(gnss_msg): + week, tow, new_meas = self.read_report(gnss_msg) + + t = gnss_mono_time * 1e-9 + if week > 0: + self.got_first_gnss_msg = True + latest_msg_t = GPSTime(week, tow) if self.auto_fetch_orbits: self.fetch_orbits(latest_msg_t, block) - new_meas = read_raw_ublox(report) # Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7] @@ -123,7 +147,7 @@ class Laikad: est_pos = self.get_est_pos(t, processed_measurements) corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) if len(est_pos) > 0 else [] - if ublox_mono_time % 10 == 0: + if gnss_mono_time % 10 == 0: cloudlog.debug(f"Measurements Incoming/Processed/Corrected: {len(new_meas), len(processed_measurements), len(corrected_measurements)}") self.update_localizer(est_pos, t, corrected_measurements) @@ -139,20 +163,21 @@ class Laikad: dat = messaging.new_message("gnssMeasurements") measurement_msg = log.LiveLocationKalman.Measurement.new_message dat.gnssMeasurements = { - "gpsWeek": report.gpsWeek, - "gpsTimeOfWeek": report.rcvTow, + "gpsWeek": week, + "gpsTimeOfWeek": tow, "positionECEF": measurement_msg(value=ecef_pos.tolist(), std=pos_std.tolist(), valid=kf_valid), "velocityECEF": measurement_msg(value=ecef_vel.tolist(), std=vel_std.tolist(), valid=kf_valid), "positionFixECEF": measurement_msg(value=self.last_pos_fix, std=self.last_pos_residual, valid=self.last_pos_fix_t == t), - "ubloxMonoTime": ublox_mono_time, + "ubloxMonoTime": gnss_mono_time, "correctedMeasurements": meas_msgs } return dat - elif ublox_msg.which == 'ephemeris': - ephem = convert_ublox_ephem(ublox_msg.ephemeris) + # TODO this only works on GLONASS, qcom needs live ephemeris parsing too + elif gnss_msg.which == 'ephemeris': + ephem = convert_ublox_ephem(gnss_msg.ephemeris) self.astro_dog.add_navs({ephem.prn: [ephem]}) self.cache_ephemeris(t=ephem.epoch) - # elif ublox_msg.which == 'ionoData': + #elif gnss_msg.which == 'ionoData': # todo add this. Needed to better correct messages offline. First fix ublox_msg.cc to sent them. def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]): @@ -303,24 +328,30 @@ class EphemerisSourceType(IntEnum): def main(sm=None, pm=None): + use_qcom = os.path.isfile("/persist/comma/use-quectel-rawgps") + if use_qcom: + raw_gnss_socket = "qcomGnss" + else: + raw_gnss_socket = "ubloxGnss" + if sm is None: - sm = messaging.SubMaster(['ubloxGnss', 'clocks']) + sm = messaging.SubMaster([raw_gnss_socket, 'clocks']) if pm is None: pm = messaging.PubMaster(['gnssMeasurements']) replay = "REPLAY" in os.environ use_internet = "LAIKAD_NO_INTERNET" not in os.environ - laikad = Laikad(save_ephemeris=not replay, auto_fetch_orbits=use_internet) + laikad = Laikad(save_ephemeris=not replay, auto_fetch_orbits=use_internet, use_qcom=use_qcom) while True: sm.update() - if sm.updated['ubloxGnss']: - ublox_msg = sm['ubloxGnss'] - msg = laikad.process_ublox_msg(ublox_msg, sm.logMonoTime['ubloxGnss'], block=replay) + if sm.updated[raw_gnss_socket]: + gnss_msg = sm[raw_gnss_socket] + msg = laikad.process_gnss_msg(gnss_msg, sm.logMonoTime[raw_gnss_socket], block=replay) if msg is not None: pm.send('gnssMeasurements', msg) - if not laikad.got_first_ublox_msg and sm.updated['clocks']: + if not laikad.got_first_gnss_msg and sm.updated['clocks']: clocks_msg = sm['clocks'] t = GPSTime.from_datetime(datetime.utcfromtimestamp(clocks_msg.wallTimeNanos * 1E-9)) if laikad.auto_fetch_orbits: diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index c33ff6a497..ffdd649a84 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -443,6 +443,8 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) { this->time_check(t); if (log.isSensorEvents()) { this->handle_sensors(t, log.getSensorEvents()); + } else if (log.isGpsLocation()) { + this->handle_gps(t, log.getGpsLocation()); } else if (log.isGpsLocationExternal()) { this->handle_gps(t, log.getGpsLocationExternal()); } else if (log.isCarState()) { @@ -490,11 +492,17 @@ void Localizer::determine_gps_mode(double current_time) { } int Localizer::locationd_thread() { - const std::initializer_list service_list = {"gpsLocationExternal", "sensorEvents", "cameraOdometry", "liveCalibration", "carState", "carParams"}; + const char* gps_location_socket; + if (util::file_exists("/persist/comma/use-quectel-rawgps")) { + gps_location_socket = "gpsLocation"; + } else { + gps_location_socket = "gpsLocationExternal"; + } + const std::initializer_list service_list = {gps_location_socket, "sensorEvents", "cameraOdometry", "liveCalibration", "carState", "carParams"}; PubMaster pm({"liveLocationKalman"}); // TODO: remove carParams once we're always sending at 100Hz - SubMaster sm(service_list, {}, nullptr, {"gpsLocationExternal", "carParams"}); + SubMaster sm(service_list, {}, nullptr, {gps_location_socket, "carParams"}); uint64_t cnt = 0; bool filterInitialized = false; diff --git a/selfdrive/locationd/models/gnss_kf.py b/selfdrive/locationd/models/gnss_kf.py index 5c9cb4b3d1..0d661dc321 100755 --- a/selfdrive/locationd/models/gnss_kf.py +++ b/selfdrive/locationd/models/gnss_kf.py @@ -39,12 +39,6 @@ class GNSSKalman(): 1e14, (100)**2, (0.2)**2, (10)**2, (1)**2]) - # process noise - Q = np.diag([0.03**2, 0.03**2, 0.03**2, - 3**2, 3**2, 3**2, - (.1)**2, (0)**2, (0.005)**2, - .1**2, (.01)**2]) - maha_test_kinds: List[int] = [] # ObservationKind.PSEUDORANGE_RATE, ObservationKind.PSEUDORANGE, ObservationKind.PSEUDORANGE_GLONASS] @staticmethod @@ -120,7 +114,14 @@ class GNSSKalman(): gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, maha_test_kinds=maha_test_kinds) - def __init__(self, generated_dir, cython=False): + def __init__(self, generated_dir, cython=False, erratic_clock=False): + # process noise + clock_error_drift = 100.0 if erratic_clock else 0.1 + self.Q = np.diag([0.03**2, 0.03**2, 0.03**2, + 3**2, 3**2, 3**2, + (clock_error_drift)**2, (0)**2, (0.005)**2, + .1**2, (.01)**2]) + self.dim_state = self.x_initial.shape[0] # init filter diff --git a/selfdrive/locationd/models/loc_kf.py b/selfdrive/locationd/models/loc_kf.py index b1ed8599f1..25bf36d2cb 100755 --- a/selfdrive/locationd/models/loc_kf.py +++ b/selfdrive/locationd/models/loc_kf.py @@ -91,22 +91,6 @@ class LocKalman(): 0.05**2, 0.05**2, 0.05**2, 0.01**2, 0.01**2, 0.01**2]) - # process noise - Q = np.diag([0.03**2, 0.03**2, 0.03**2, - 0.0**2, 0.0**2, 0.0**2, - 0.0**2, 0.0**2, 0.0**2, - 0.1**2, 0.1**2, 0.1**2, - (.1)**2, (0.0)**2, - (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2, - (0.02 / 100)**2, - 3**2, 3**2, 3**2, - 0.001**2, - (0.05 / 60)**2, (0.05 / 60)**2, (0.05 / 60)**2, - (.1)**2, (.01)**2, - 0.005**2, - (0.02 / 100)**2, - (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2, - (0.05 / 60)**2, (0.05 / 60)**2, (0.05 / 60)**2]) # measurements that need to pass mahalanobis distance outlier rejector maha_test_kinds = [ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE] # , ObservationKind.PSEUDORANGE, ObservationKind.PSEUDORANGE_RATE] @@ -345,9 +329,29 @@ class LocKalman(): msckf_params = None gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state_err, eskf_params, msckf_params, maha_test_kinds) - def __init__(self, generated_dir, N=4): + def __init__(self, generated_dir, N=4, erratic_clock=False): name = f"{self.name}_{N}" + + # process noise + clock_error_drift = 100.0 if erratic_clock else 0.1 + self.Q = np.diag([0.03**2, 0.03**2, 0.03**2, + 0.0**2, 0.0**2, 0.0**2, + 0.0**2, 0.0**2, 0.0**2, + 0.1**2, 0.1**2, 0.1**2, + (clock_error_drift)**2, (0)**2, + (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2, + (0.02 / 100)**2, + 3**2, 3**2, 3**2, + 0.001**2, + (0.05 / 60)**2, (0.05 / 60)**2, (0.05 / 60)**2, + (.1)**2, (.01)**2, + 0.005**2, + (0.02 / 100)**2, + (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2, + (0.05 / 60)**2, (0.05 / 60)**2, (0.05 / 60)**2]) + + self.obs_noise = {ObservationKind.ODOMETRIC_SPEED: np.atleast_2d(0.2**2), ObservationKind.PHONE_GYRO: np.diag([0.025**2, 0.025**2, 0.025**2]), ObservationKind.PHONE_ACCEL: np.diag([.5**2, .5**2, .5**2]), diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index bc7a0d7fa4..418625f9bc 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -28,7 +28,7 @@ def get_log(segs=range(0)): def verify_messages(lr, laikad, return_one_success=False): good_msgs = [] for m in lr: - msg = laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime, block=True) + msg = laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True) if msg is not None and len(msg.gnssMeasurements.correctedMeasurements) > 0: good_msgs.append(msg) if return_one_success: @@ -152,7 +152,7 @@ class TestLaikad(unittest.TestCase): self.assertFalse(all(laikad.kf_valid(m.logMonoTime * 1e-9))) kf_valid = False for m in self.logs: - laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime, block=True) + laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True) kf_valid = all(laikad.kf_valid(m.logMonoTime * 1e-9)) if kf_valid: break @@ -201,7 +201,7 @@ class TestLaikad(unittest.TestCase): laikad = Laikad(auto_update=False) has_orbits = False for m in self.logs: - laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime, block=False) + laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=False) if laikad.orbit_fetch_future is not None: laikad.orbit_fetch_future.result() vals = laikad.astro_dog.orbits.values() From da8d8a212141571d2f07ce944af380edae9e62dc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 28 Jul 2022 11:02:42 -0700 Subject: [PATCH 272/306] Toyota: FW fingerprint on bus 0 (#25277) --- selfdrive/car/fw_versions.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 1c696b8ed3..0ed8cc5425 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -144,16 +144,19 @@ REQUESTS: List[Request] = [ "toyota", [SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST], [SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE], + bus=0, ), Request( "toyota", [SHORT_TESTER_PRESENT_REQUEST, OBD_VERSION_REQUEST], [SHORT_TESTER_PRESENT_RESPONSE, OBD_VERSION_RESPONSE], + bus=0, ), Request( "toyota", [TESTER_PRESENT_REQUEST, DEFAULT_DIAGNOSTIC_REQUEST, EXTENDED_DIAGNOSTIC_REQUEST, UDS_VERSION_REQUEST], [TESTER_PRESENT_RESPONSE, DEFAULT_DIAGNOSTIC_RESPONSE, EXTENDED_DIAGNOSTIC_RESPONSE, UDS_VERSION_RESPONSE], + bus=0, ), # Volkswagen Request( From e77dc1ab444ce41749d287337ace74f32170cd65 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Thu, 28 Jul 2022 13:10:01 -0700 Subject: [PATCH 273/306] Lateral Acceleration Error alert (Sensor Invalid) (#25291) * sensor flag in paramsd * increase lateral acc err alert threshold * add invalid sensor alert from paramsd * update ref, bool before adding to msg * account for sign difference in locationd and paramsd * revert ref --- selfdrive/controls/controlsd.py | 2 +- selfdrive/locationd/paramsd.py | 20 +++++++++++++------- 2 files changed, 14 insertions(+), 8 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 47a15c6ec1..2f7c85aa7d 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -347,7 +347,7 @@ class Controls: self.events.add(EventName.vehicleModelInvalid) if not self.sm['lateralPlan'].mpcSolutionValid: self.events.add(EventName.plannerError) - if not self.sm['liveLocationKalman'].sensorsOK and not NOSENSOR: + if not (self.sm['liveParameters'].sensorValid or self.sm['liveLocationKalman'].sensorsOK) and not NOSENSOR: if self.sm.frame > 5 / DT_CTRL: # Give locationd some time to receive all the inputs self.events.add(EventName.sensorDataInvalid) if not self.sm['liveLocationKalman'].posenetOK: diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index ae67dc28ab..86672b0460 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -16,6 +16,8 @@ from system.swaglog import cloudlog MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s ROLL_MAX_DELTA = np.radians(20.0) * DT_MDL # 20deg in 1 second is well within curvature limits ROLL_MIN, ROLL_MAX = math.radians(-10), math.radians(10) +LATERAL_ACC_SENSOR_THRESHOLD = 4.0 + class ParamsLearner: def __init__(self, CP, steer_ratio, stiffness_factor, angle_offset, P_initial=None): @@ -31,6 +33,8 @@ class ParamsLearner: self.active = False self.speed = 0.0 + self.yaw_rate = 0.0 + self.yaw_rate_std = 0.0 self.roll = 0.0 self.steering_pressed = False self.steering_angle = 0.0 @@ -39,8 +43,8 @@ class ParamsLearner: def handle_log(self, t, which, msg): if which == 'liveLocationKalman': - yaw_rate = msg.angularVelocityCalibrated.value[2] - yaw_rate_std = msg.angularVelocityCalibrated.std[2] + self.yaw_rate = msg.angularVelocityCalibrated.value[2] + self.yaw_rate_std = msg.angularVelocityCalibrated.std[2] localizer_roll = msg.orientationNED.value[0] localizer_roll_std = np.radians(1) if np.isnan(msg.orientationNED.std[0]) else msg.orientationNED.std[0] @@ -56,8 +60,8 @@ class ParamsLearner: self.roll = clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA) yaw_rate_valid = msg.angularVelocityCalibrated.valid - yaw_rate_valid = yaw_rate_valid and 0 < yaw_rate_std < 10 # rad/s - yaw_rate_valid = yaw_rate_valid and abs(yaw_rate) < 1 # rad/s + yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10 # rad/s + yaw_rate_valid = yaw_rate_valid and abs(self.yaw_rate) < 1 # rad/s if self.active: if msg.posenetOK: @@ -65,8 +69,8 @@ class ParamsLearner: if yaw_rate_valid: self.kf.predict_and_observe(t, ObservationKind.ROAD_FRAME_YAW_RATE, - np.array([[-yaw_rate]]), - np.array([np.atleast_2d(yaw_rate_std**2)])) + np.array([[-self.yaw_rate]]), + np.array([np.atleast_2d(self.yaw_rate_std**2)])) self.kf.predict_and_observe(t, ObservationKind.ROAD_ROLL, @@ -173,12 +177,14 @@ def main(sm=None, pm=None): angle_offset_average = clip(math.degrees(x[States.ANGLE_OFFSET]), angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA) angle_offset = clip(math.degrees(x[States.ANGLE_OFFSET] + x[States.ANGLE_OFFSET_FAST]), angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA) + # Account for the opposite signs of the yaw rates + sensors_valid = bool(abs(learner.speed * (x[States.YAW_RATE] + learner.yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD) msg = messaging.new_message('liveParameters') liveParameters = msg.liveParameters liveParameters.posenetValid = True - liveParameters.sensorValid = True + liveParameters.sensorValid = sensors_valid liveParameters.steerRatio = float(x[States.STEER_RATIO]) liveParameters.stiffnessFactor = float(x[States.STIFFNESS]) liveParameters.roll = float(x[States.ROAD_ROLL]) From 1f087bceb4a6f569a2f703f348f70048c010ef04 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Thu, 28 Jul 2022 13:17:11 -0700 Subject: [PATCH 274/306] params: add put_bool_nonblocking (#25292) * add bool flag * cleanup Co-authored-by: Willem Melching --- common/params.py | 3 ++- common/params_pyx.pyx | 12 ++++-------- common/tests/test_params.py | 11 ++++++++++- 3 files changed, 16 insertions(+), 10 deletions(-) diff --git a/common/params.py b/common/params.py index 2cfca37129..b6be424d41 100644 --- a/common/params.py +++ b/common/params.py @@ -1,8 +1,9 @@ -from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error +from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking # pylint: disable=no-name-in-module, import-error assert Params assert ParamKeyType assert UnknownKeyName assert put_nonblocking +assert put_bool_nonblocking if __name__ == "__main__": import sys diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx index b3b8248529..36c8cf777a 100755 --- a/common/params_pyx.pyx +++ b/common/params_pyx.pyx @@ -100,11 +100,7 @@ cdef class Params: return self.p.getParamPath(key_bytes).decode("utf-8") def put_nonblocking(key, val, d=""): - def f(key, val): - params = Params(d) - cdef string k = ensure_bytes(key) - params.put(k, val) - - t = threading.Thread(target=f, args=(key, val)) - t.start() - return t + threading.Thread(target=lambda: Params(d).put(key, val)).start() + +def put_bool_nonblocking(key, bool val, d=""): + threading.Thread(target=lambda: Params(d).put_bool(key, val)).start() diff --git a/common/tests/test_params.py b/common/tests/test_params.py index 906198871b..f99ac81a33 100644 --- a/common/tests/test_params.py +++ b/common/tests/test_params.py @@ -4,7 +4,7 @@ import tempfile import shutil import unittest -from common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking +from common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking class TestParams(unittest.TestCase): def setUp(self): @@ -89,6 +89,15 @@ class TestParams(unittest.TestCase): assert q.get("CarParams") is None assert q.get("CarParams", True) == b"test" + def test_put_bool_non_blocking_with_get_block(self): + q = Params(self.tmpdir) + def _delayed_writer(): + time.sleep(0.1) + put_bool_nonblocking("CarParams", True, self.tmpdir) + threading.Thread(target=_delayed_writer).start() + assert q.get("CarParams") is None + assert q.get("CarParams", True) == b"1" + if __name__ == "__main__": unittest.main() From 7fee45ad6c5d78c36137db44ae6503c1e57669ba Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 28 Jul 2022 16:42:42 -0700 Subject: [PATCH 275/306] Subaru: log EPS torque (#25304) * Subaru: log EPS torque * update refs --- opendbc | 2 +- selfdrive/car/subaru/carstate.py | 2 ++ selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 4 insertions(+), 2 deletions(-) diff --git a/opendbc b/opendbc index 3fcbe9db72..e370496206 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 3fcbe9db7211b2f7524b80c351c7cf1f233c1e52 +Subproject commit e3704962060058c1ec1fb48a5aef767153d28fe7 diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index b261186977..9246cbde18 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -47,6 +47,7 @@ class CarState(CarStateBase): ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"] ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"] + ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"] ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint] ret.cruiseState.enabled = cp.vl["CruiseControl"]["Cruise_Activated"] != 0 @@ -80,6 +81,7 @@ class CarState(CarStateBase): signals = [ # sig_name, sig_address ("Steer_Torque_Sensor", "Steering_Torque"), + ("Steer_Torque_Output", "Steering_Torque"), ("Steering_Angle", "Steering_Torque"), ("Steer_Error_1", "Steering_Torque"), ("Cruise_On", "CruiseControl"), diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 01e762d336..22cc2442b1 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -66790e176b98244bb76ce19fb1aa943b36c87dec \ No newline at end of file +cfe79d760f161a46e48b60c1debe11b8f300e717 \ No newline at end of file From f1fecc3da7299a45f1f4728c48ff33b225d43eb1 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Thu, 28 Jul 2022 18:52:10 -0700 Subject: [PATCH 276/306] Sensor Invalid Alert (#25303) * modify text, add soft disable * Update selfdrive/controls/lib/events.py Co-authored-by: Adeeb Shihadeh * Update selfdrive/controls/lib/events.py Co-authored-by: Adeeb Shihadeh Co-authored-by: Adeeb Shihadeh --- selfdrive/controls/lib/events.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 5fdf2ba29f..de666fd507 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -656,11 +656,12 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { EventName.sensorDataInvalid: { ET.PERMANENT: Alert( - "No Data from Device Sensors", - "Reboot your Device", + "Sensor Data Invalid", + "Ensure device is mounted securely", AlertStatus.normal, AlertSize.mid, Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=1.), - ET.NO_ENTRY: NoEntryAlert("No Data from Device Sensors"), + ET.NO_ENTRY: NoEntryAlert("Sensor Data Invalid"), + ET.SOFT_DISABLE: soft_disable_alert("Sensor Data Invalid"), }, EventName.noGps: { From 753f4c7fab565234e455f19e3ca123e44171e042 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 29 Jul 2022 17:46:19 +0200 Subject: [PATCH 277/306] casync unittests (#25306) * simple extract test * add test with loopback * test for chunk reuse * test seeding * add instructions * cleanup * install casync * make more tests work without a loopback --- system/hardware/tici/casync.py | 33 +++-- system/hardware/tici/tests/__init__.py | 0 system/hardware/tici/tests/test_casync.py | 153 ++++++++++++++++++++++ tools/ubuntu_setup.sh | 1 + 4 files changed, 175 insertions(+), 12 deletions(-) create mode 100644 system/hardware/tici/tests/__init__.py create mode 100755 system/hardware/tici/tests/test_casync.py diff --git a/system/hardware/tici/casync.py b/system/hardware/tici/casync.py index 9dff64239e..8ae42fa714 100755 --- a/system/hardware/tici/casync.py +++ b/system/hardware/tici/casync.py @@ -40,10 +40,12 @@ class ChunkReader(ABC): class FileChunkReader(ChunkReader): """Reads chunks from a local file""" def __init__(self, fn: str) -> None: - super().__init__() self.f = open(fn, 'rb') + def __del__(self): + self.f.close() + def read(self, chunk: Chunk) -> bytes: self.f.seek(chunk.offset) return self.f.read(chunk.length) @@ -61,19 +63,24 @@ class RemoteChunkReader(ChunkReader): sha_hex = chunk.sha.hex() url = os.path.join(self.url, sha_hex[:4], sha_hex + ".cacnk") - for i in range(CHUNK_DOWNLOAD_RETRIES): - try: - resp = self.session.get(url, timeout=CHUNK_DOWNLOAD_TIMEOUT) - break - except Exception: - if i == CHUNK_DOWNLOAD_RETRIES - 1: - raise - time.sleep(CHUNK_DOWNLOAD_TIMEOUT) + if os.path.isfile(url): + with open(url, 'rb') as f: + contents = f.read() + else: + for i in range(CHUNK_DOWNLOAD_RETRIES): + try: + resp = self.session.get(url, timeout=CHUNK_DOWNLOAD_TIMEOUT) + break + except Exception: + if i == CHUNK_DOWNLOAD_RETRIES - 1: + raise + time.sleep(CHUNK_DOWNLOAD_TIMEOUT) - resp.raise_for_status() + resp.raise_for_status() + contents = resp.content decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO) - return decompressor.decompress(resp.content) + return decompressor.decompress(contents) def parse_caibx(caibx_path: str) -> List[Chunk]: @@ -120,6 +127,7 @@ def parse_caibx(caibx_path: str) -> List[Chunk]: chunks.append(Chunk(sha, offset, length)) offset = new_offset + caibx.close() return chunks @@ -139,7 +147,8 @@ def extract(target: List[Chunk], progress: Optional[Callable[[int], None]] = None): stats: Dict[str, int] = defaultdict(int) - with open(out_path, 'wb') as out: + mode = 'rb+' if os.path.exists(out_path) else 'wb' + with open(out_path, mode) as out: for cur_chunk in target: # Find source for desired chunk diff --git a/system/hardware/tici/tests/__init__.py b/system/hardware/tici/tests/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/system/hardware/tici/tests/test_casync.py b/system/hardware/tici/tests/test_casync.py new file mode 100755 index 0000000000..8724575ad6 --- /dev/null +++ b/system/hardware/tici/tests/test_casync.py @@ -0,0 +1,153 @@ +#!/usr/bin/env python3 +import os +import unittest +import tempfile +import subprocess + +import system.hardware.tici.casync as casync + +# dd if=/dev/zero of=/tmp/img.raw bs=1M count=2 +# sudo losetup -f /tmp/img.raw +# losetup -a | grep img.raw +LOOPBACK = os.environ.get('LOOPBACK', None) + + +class TestCasync(unittest.TestCase): + @classmethod + def setUpClass(cls): + cls.tmpdir = tempfile.TemporaryDirectory() + + # Build example contents + chunk_a = [i % 256 for i in range(1024)] * 512 + chunk_b = [(256 - i) % 256 for i in range(1024)] * 512 + zeroes = [0] * (1024 * 128) + contents = chunk_a + chunk_b + zeroes + chunk_a + + cls.contents = bytes(contents) + + # Write to file + cls.orig_fn = os.path.join(cls.tmpdir.name, 'orig.bin') + with open(cls.orig_fn, 'wb') as f: + f.write(cls.contents) + + # Create casync files + cls.manifest_fn = os.path.join(cls.tmpdir.name, 'orig.caibx') + cls.store_fn = os.path.join(cls.tmpdir.name, 'store') + subprocess.check_output(["casync", "make", "--compression=xz", "--store", cls.store_fn, cls.manifest_fn, cls.orig_fn]) + + target = casync.parse_caibx(cls.manifest_fn) + hashes = [c.sha.hex() for c in target] + + # Ensure we have chunk reuse + assert len(hashes) > len(set(hashes)) + + def setUp(self): + # Clear target_lo + if LOOPBACK is not None: + self.target_lo = LOOPBACK + with open(self.target_lo, 'wb') as f: + f.write(b"0" * len(self.contents)) + + self.target_fn = os.path.join(self.tmpdir.name, next(tempfile._get_candidate_names())) + self.seed_fn = os.path.join(self.tmpdir.name, next(tempfile._get_candidate_names())) + + def tearDown(self): + for fn in [self.target_fn, self.seed_fn]: + try: + os.unlink(fn) + except FileNotFoundError: + pass + + def test_simple_extract(self): + target = casync.parse_caibx(self.manifest_fn) + + sources = [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))] + stats = casync.extract(target, sources, self.target_fn) + + with open(self.target_fn, 'rb') as target_f: + self.assertEqual(target_f.read(), self.contents) + + self.assertEqual(stats['remote'], len(self.contents)) + + def test_seed(self): + target = casync.parse_caibx(self.manifest_fn) + + # Populate seed with half of the target contents + with open(self.seed_fn, 'wb') as seed_f: + seed_f.write(self.contents[:len(self.contents) // 2]) + + sources = [('seed', casync.FileChunkReader(self.seed_fn), casync.build_chunk_dict(target))] + sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))] + stats = casync.extract(target, sources, self.target_fn) + + with open(self.target_fn, 'rb') as target_f: + self.assertEqual(target_f.read(), self.contents) + + self.assertGreater(stats['seed'], 0) + self.assertLess(stats['remote'], len(self.contents)) + + def test_already_done(self): + """Test that an already flashed target doesn't download any chunks""" + target = casync.parse_caibx(self.manifest_fn) + + with open(self.target_fn, 'wb') as f: + f.write(self.contents) + + sources = [('target', casync.FileChunkReader(self.target_fn), casync.build_chunk_dict(target))] + sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))] + + stats = casync.extract(target, sources, self.target_fn) + + with open(self.target_fn, 'rb') as f: + self.assertEqual(f.read(), self.contents) + + self.assertEqual(stats['target'], len(self.contents)) + + def test_chunk_reuse(self): + """Test that chunks that are reused are only downloaded once""" + target = casync.parse_caibx(self.manifest_fn) + + # Ensure target exists + with open(self.target_fn, 'wb'): + pass + + sources = [('target', casync.FileChunkReader(self.target_fn), casync.build_chunk_dict(target))] + sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))] + + stats = casync.extract(target, sources, self.target_fn) + + with open(self.target_fn, 'rb') as f: + self.assertEqual(f.read(), self.contents) + + self.assertLess(stats['remote'], len(self.contents)) + + @unittest.skipUnless(LOOPBACK, "requires loopback device") + def test_lo_simple_extract(self): + target = casync.parse_caibx(self.manifest_fn) + sources = [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))] + + stats = casync.extract(target, sources, self.target_lo) + + with open(self.target_lo, 'rb') as target_f: + self.assertEqual(target_f.read(len(self.contents)), self.contents) + + self.assertEqual(stats['remote'], len(self.contents)) + + @unittest.skipUnless(LOOPBACK, "requires loopback device") + def test_lo_chunk_reuse(self): + """Test that chunks that are reused are only downloaded once""" + target = casync.parse_caibx(self.manifest_fn) + + sources = [('target', casync.FileChunkReader(self.target_lo), casync.build_chunk_dict(target))] + sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))] + + stats = casync.extract(target, sources, self.target_lo) + + with open(self.target_lo, 'rb') as f: + self.assertEqual(f.read(len(self.contents)), self.contents) + + self.assertLess(stats['remote'], len(self.contents)) + + +if __name__ == "__main__": + unittest.main() diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh index bd12b878f1..379df37adb 100755 --- a/tools/ubuntu_setup.sh +++ b/tools/ubuntu_setup.sh @@ -14,6 +14,7 @@ function install_ubuntu_common_requirements() { autoconf \ build-essential \ ca-certificates \ + casync \ clang \ cmake \ make \ From 22408781f7d7df5ff0395f80c1b15d6407acd0ff Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Fri, 29 Jul 2022 13:52:24 -0700 Subject: [PATCH 278/306] Remove RHD toggle: determine by driver side instead (#24802) * driverview * auto choose * useless * remove * modeld not use toggle * remove from params * should have commissue anyway * delete icon file * deal with init more elegantly and prohibit switching when engaged * nonblock save when not unstable * filter very low speeds * a few more secs dont harm * draw icon * match * radius * use const * ref commit * new transs * put_bool_nonblocking * 5k route tune * ref comm Co-authored-by: Comma Device --- common/params.cc | 2 +- .../offroad/icon_openpilot_mirrored.png | Bin 18150 -> 0 bytes selfdrive/modeld/modeld.cc | 5 +- selfdrive/modeld/models/driving.cc | 8 +- selfdrive/modeld/models/driving.h | 2 +- selfdrive/monitoring/dmonitoringd.py | 9 +- selfdrive/monitoring/driver_monitor.py | 20 ++- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/ui/qt/offroad/driverview.cc | 5 +- selfdrive/ui/qt/offroad/settings.cc | 6 - selfdrive/ui/qt/onroad.cc | 4 +- selfdrive/ui/qt/onroad.h | 2 + selfdrive/ui/translations/main_ko.ts | 156 +++++++++--------- selfdrive/ui/translations/main_zh-CHS.ts | 156 +++++++++--------- selfdrive/ui/translations/main_zh-CHT.ts | 156 +++++++++--------- 15 files changed, 270 insertions(+), 263 deletions(-) delete mode 100644 selfdrive/assets/offroad/icon_openpilot_mirrored.png diff --git a/common/params.cc b/common/params.cc index 1ead28d6cd..11b24fe9c1 100644 --- a/common/params.cc +++ b/common/params.cc @@ -124,7 +124,7 @@ std::unordered_map keys = { {"IsMetric", PERSISTENT}, {"IsOffroad", CLEAR_ON_MANAGER_START}, {"IsOnroad", PERSISTENT}, - {"IsRHD", PERSISTENT}, + {"IsRhdDetected", PERSISTENT}, {"IsTakingSnapshot", CLEAR_ON_MANAGER_START}, {"IsTestedBranch", CLEAR_ON_MANAGER_START}, {"IsUpdateAvailable", CLEAR_ON_MANAGER_START}, diff --git a/selfdrive/assets/offroad/icon_openpilot_mirrored.png b/selfdrive/assets/offroad/icon_openpilot_mirrored.png deleted file mode 100644 index 23a7d5a5528b7811887b68448dad93be1705e48d..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 18150 zcmW(+1zgi_6Cd3@y1PdA=k@iC{mJ2OGrrb?*D#1 ztLORMbI(0@Pu+cQNhU_xB!mov004kQS4ZOs0DuYn?~RX*uGxJV=868oc2PA{1ppc{ zi0)uG=rWt5&J#lbAeaXLh>QgQZqQYcy8yr|Q2<~c3IKo$003I=k`9Oh`T?eczP1M7 zF(G537hNLo*0Fwx{zg*)>;dmvT+h%y@ceWQHSvC7;~x zxe2|q2_|=DJZ1Ys?_+P_LQHp%(q%+9RWX8M4^MeQdT#-!EQ-PeE{o!fRPa1UznDbh zlXZOj+K4^Wz^Dd_+6IN&0gu;HQ4Wk!$usIPj=rfC7U_yW+PrhxJjccGd1X`wU#UOA}oiLkD&!|2CSy zft02=4CR|+1*yVU0HwiQT160DlH08R}+yDHlxh>P5BTp&Smilup7VLvu}KuSO-;DQ=0l_ 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"liveCalibration"}); + SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState"}); // setup filter to track dropped frames FirstOrderFilter frame_dropped_filter(0., 10., 1. / MODEL_FREQ); @@ -111,6 +111,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl // TODO: path planner timeout? sm.update(0); int desire = ((int)sm["lateralPlan"].getLateralPlan().getDesire()); + bool is_rhd = ((bool)sm["driverMonitoringState"].getDriverMonitoringState().getIsRHD()); frame_id = sm["roadCameraState"].getRoadCameraState().getFrameId(); if (sm.updated("liveCalibration")) { auto extrinsic_matrix = sm["liveCalibration"].getLiveCalibration().getExtrinsicMatrix(); @@ -146,7 +147,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl } double mt1 = millis_since_boot(); - ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, prepare_only); + ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, is_rhd, prepare_only); double mt2 = millis_since_boot(); float model_execution_time = (mt2 - mt1) / 1000.0; diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index 59c0b249d9..9bf7e62184 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -49,14 +49,12 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context) { #endif #ifdef TRAFFIC_CONVENTION - const int idx = Params().getBool("IsRHD") ? 1 : 0; - s->traffic_convention[idx] = 1.0; s->m->addTrafficConvention(s->traffic_convention, TRAFFIC_CONVENTION_LEN); #endif } ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf, - const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool prepare_only) { + const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, bool prepare_only) { #ifdef DESIRE if (desire_in != NULL) { for (int i = 1; i < DESIRE_LEN; i++) { @@ -72,6 +70,10 @@ ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf, } #endif + int rhd_idx = is_rhd; + s->traffic_convention[rhd_idx] = 1.0; + s->traffic_convention[1-rhd_idx] = 0.0; + // if getInputBuf is not NULL, net_input_buf will be auto net_input_buf = s->frame->prepare(buf->buf_cl, buf->width, buf->height, buf->stride, buf->uv_offset, transform, static_cast(s->m->getInputBuf())); s->m->addImage(net_input_buf, s->frame->buf_size); diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h index 97e65fbc0e..d551bdf488 100644 --- a/selfdrive/modeld/models/driving.h +++ b/selfdrive/modeld/models/driving.h @@ -268,7 +268,7 @@ struct ModelState { void model_init(ModelState* s, cl_device_id device_id, cl_context context); ModelOutput *model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* buf_wide, - const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool prepare_only); + const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, bool prepare_only); void model_free(ModelState* s); void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop, const ModelOutput &net_outputs, uint64_t timestamp_eof, diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index c31e9da43b..35eee5b035 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -3,7 +3,7 @@ import gc import cereal.messaging as messaging from cereal import car -from common.params import Params +from common.params import Params, put_bool_nonblocking from common.realtime import set_realtime_priority from selfdrive.controls.lib.events import Events from selfdrive.locationd.calibrationd import Calibration @@ -20,7 +20,7 @@ def dmonitoringd_thread(sm=None, pm=None): if sm is None: sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2']) - driver_status = DriverStatus(rhd=Params().get_bool("IsRHD")) + driver_status = DriverStatus(rhd_saved=Params().get_bool("IsRhdDetected")) sm['liveCalibration'].calStatus = Calibration.INVALID sm['liveCalibration'].rpyCalib = [0, 0, 0] @@ -83,6 +83,11 @@ def dmonitoringd_thread(sm=None, pm=None): } pm.send('driverMonitoringState', dat) + # save rhd virtual toggle every 5 mins + if (sm['driverStateV2'].frameId % 6000 == 0 and + driver_status.wheelpos_learner.filtered_stat.n > driver_status.settings._WHEELPOS_FILTER_MIN_COUNT and + driver_status.wheel_on_right == (driver_status.wheelpos_learner.filtered_stat.M > driver_status.settings._WHEELPOS_THRESHOLD)): + put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right) def main(sm=None, pm=None): dmonitoringd_thread(sm, pm) diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index 48d4303aa5..9ff3125c15 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -57,8 +57,9 @@ class DRIVER_MONITOR_SETTINGS(): self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON) # valid data counts before calibration completes, 1min cumulative self._POSE_OFFSET_MAX_COUNT = int(360 / self._DT_DMON) # stop deweighting new data after 6 min, aka "short term memory" + self._WHEELPOS_CALIB_MIN_SPEED = 11 self._WHEELPOS_THRESHOLD = 0.5 - self._WHEELPOS_FILTER_MIN_COUNT = int(5 / self._DT_DMON) + self._WHEELPOS_FILTER_MIN_COUNT = int(15 / self._DT_DMON) # allow 15 seconds to converge wheel side self._RECOVERY_FACTOR_MAX = 5. # relative to minus step change self._RECOVERY_FACTOR_MIN = 1.25 # relative to minus step change @@ -115,7 +116,7 @@ class DriverBlink(): self.right_blink = 0. class DriverStatus(): - def __init__(self, rhd=False, settings=DRIVER_MONITOR_SETTINGS()): + def __init__(self, rhd_saved=False, settings=DRIVER_MONITOR_SETTINGS()): # init policy settings self.settings = settings @@ -138,7 +139,8 @@ class DriverStatus(): self.driver_distracted = False self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON) self.wheel_on_right = False - self.rhd_toggled = rhd + self.wheel_on_right_last = None + self.wheel_on_right_default = rhd_saved self.face_detected = False self.terminal_alert_cnt = 0 self.terminal_time = 0 @@ -227,13 +229,18 @@ class DriverStatus(): def update_states(self, driver_state, cal_rpy, car_speed, op_engaged): rhd_pred = driver_state.wheelOnRightProb - if car_speed > 0.01: + # calibrates only when there's movement and either face detected + if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or + driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD): self.wheelpos_learner.push_and_update(rhd_pred) if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT: self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD else: - self.wheel_on_right = rhd_pred > self.settings._WHEELPOS_THRESHOLD - driver_data = driver_state.rightDriverData if self.rhd_toggled else driver_state.leftDriverData + self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished + # make sure no switching when engaged + if op_engaged and self.wheel_on_right_last is not None and self.wheel_on_right_last != self.wheel_on_right: + self.wheel_on_right = self.wheel_on_right_last + driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition, driver_data.faceOrientationStd, driver_data.facePositionStd, driver_data.readyProb, driver_data.notReadyProb)): @@ -243,6 +250,7 @@ class DriverStatus(): self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy) if self.wheel_on_right: self.pose.yaw *= -1 + self.wheel_on_right_last = self.wheel_on_right self.pose.pitch_std = driver_data.faceOrientationStd[0] self.pose.yaw_std = driver_data.faceOrientationStd[1] model_std_max = max(self.pose.pitch_std, self.pose.yaw_std) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 22cc2442b1..35226a30eb 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -cfe79d760f161a46e48b60c1debe11b8f300e717 \ No newline at end of file +912413daa4c36a788cf2c801fc49829d46ae3072 \ No newline at end of file diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index 5bf70584a1..be8b84d45e 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -31,7 +31,6 @@ DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverStateV2"}), QWidg void DriverViewScene::showEvent(QShowEvent* event) { frame_updated = false; - is_rhd = params.getBool("IsRHD"); params.putBool("IsDriverViewEnabled", true); } @@ -60,7 +59,7 @@ void DriverViewScene::paintEvent(QPaintEvent* event) { cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2(); cereal::DriverStateV2::DriverData::Reader driver_data; - // is_rhd = driver_state.getWheelOnRightProb() > 0.5; + is_rhd = driver_state.getWheelOnRightProb() > 0.5; driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData(); bool face_detected = driver_data.getFaceProb() > 0.7; @@ -85,7 +84,7 @@ void DriverViewScene::paintEvent(QPaintEvent* event) { // icon const int img_offset = 60; - const int img_x = rect().left() + img_offset; + const int img_x = is_rhd ? rect().right() - FACE_IMG_SIZE - img_offset : rect().left() + img_offset; const int img_y = rect().bottom() - FACE_IMG_SIZE - img_offset; p.setOpacity(face_detected ? 1.0 : 0.2); p.drawPixmap(img_x, img_y, face_img); diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 0956f6c8dd..e6e21bd8d3 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -41,12 +41,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { tr("Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h)."), "../assets/offroad/icon_warning.png", }, - { - "IsRHD", - tr("Enable Right-Hand Drive"), - tr("Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat."), - "../assets/offroad/icon_openpilot_mirrored.png", - }, { "IsMetric", tr("Use Metric System"), diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index fbfa7e646d..0ab1424023 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -217,6 +217,7 @@ void NvgWindow::updateState(const UIState &s) { if (sm.frame % (UI_FREQ / 2) == 0) { setProperty("engageable", cs.getEngageable() || cs.getEnabled()); setProperty("dmActive", sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode()); + setProperty("rightHandDM", sm["driverMonitoringState"].getDriverMonitoringState().getIsRHD()); } if (s.scene.calibration_valid) { @@ -381,7 +382,8 @@ void NvgWindow::drawHud(QPainter &p) { // dm icon if (!hideDM) { - drawIcon(p, radius / 2 + (bdr_s * 2), rect().bottom() - footer_h / 2, + int dm_icon_x = rightHandDM ? rect().right() - radius / 2 - (bdr_s * 2) : radius / 2 + (bdr_s * 2); + drawIcon(p, dm_icon_x, rect().bottom() - footer_h / 2, dm_img, blackColor(70), dmActive ? 1.0 : 0.2); } p.restore(); diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index dc1e69da2a..7f51a73510 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -39,6 +39,7 @@ class NvgWindow : public CameraViewWidget { Q_PROPERTY(bool engageable MEMBER engageable); Q_PROPERTY(bool dmActive MEMBER dmActive); Q_PROPERTY(bool hideDM MEMBER hideDM); + Q_PROPERTY(bool rightHandDM MEMBER rightHandDM); Q_PROPERTY(int status MEMBER status); public: @@ -62,6 +63,7 @@ private: bool engageable = false; bool dmActive = false; bool hideDM = false; + bool rightHandDM = false; bool has_us_speed_limit = false; bool has_eu_speed_limit = false; int status = STATUS_DISENGAGED; diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 9928a57e14..fe10008635 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -108,152 +108,152 @@ DevicePanel - + Dongle ID Dongle ID - + N/A N/A - + Serial Serial - + Driver Camera 운전자 카메라 - + PREVIEW 미리보기 - + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 운전자 모니터링이 좋은 가시성을 갖도록 운전자를 향한 카메라를 미리 봅니다. (차량연결은 해제되어있어야 합니다) - + Reset Calibration 캘리브레이션 재설정 - + RESET 재설정 - + Are you sure you want to reset calibration? 캘리브레이션을 재설정하시겠습니까? - + Review Training Guide 트레이닝 가이드 다시보기 - + REVIEW 다시보기 - + Review the rules, features, and limitations of openpilot openpilot의 규칙, 기능 및 제한 다시보기 - + Are you sure you want to review the training guide? 트레이닝 가이드를 다시보시겠습니까? - + Regulatory 규제 - + VIEW 보기 - + Change Language 언어 변경 - + CHANGE 변경 - + Select a language 언어를 선택하세요 - + Reboot 재부팅 - + Power Off 전원 종료 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot은 장치를 좌측 또는 우측은 4° 이내, 위쪽 5° 또는 아래쪽은 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다. - + Your device is pointed %1° %2 and %3° %4. 사용자의 장치가 %1° %2 및 %3° %4를 가리키고 있습니다. - + down 아래로 - + up 위로 - + left 좌측으로 - + right 우측으로 - + Are you sure you want to reboot? 재부팅 하시겠습니까? - + Disengage to Reboot 재부팅 하려면 해제하세요 - + Are you sure you want to power off? 전원을 종료하시겠습니까? - + Disengage to Power Off 전원을 종료하려면 해제하세요 @@ -294,7 +294,7 @@ DriverViewScene - + camera starting 카메라 시작중 @@ -498,20 +498,20 @@ location set mph     - - + + MAX MAX - - + + SPEED SPEED - - + + LIMIT LIMIT @@ -710,33 +710,33 @@ location set SettingsWindow - + × × - + Device 장치 - - + + Network 네트워크 - + Toggles 토글 - + Software 소프트웨어 - + Navigation 네비게이션 @@ -975,89 +975,89 @@ location set SoftwarePanel - + Git Branch Git 브렌치 - + Git Commit Git 커밋 - + OS Version OS 버전 - + Version 버전 - + Last Update Check 최신 업데이트 검사 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 최근에 openpilot이 업데이트를 성공적으로 확인했습니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다. - + Check for Update 업데이트 확인 - + CHECKING 확인중 - + Switch Branch 브랜치 변경 - + ENTER 입력하세요 - - + + The new branch will be pulled the next time the updater runs. 다음 업데이트 프로그램이 실행될 때 새 브랜치가 적용됩니다. - + Enter branch name 브랜치명 입력 - + UNINSTALL 제거 - + Uninstall %1 %1 제거 - + Are you sure you want to uninstall? 제거하시겠습니까? - + failed to fetch update 업데이트를 가져올수없습니다 - - + + CHECK 확인 @@ -1165,72 +1165,70 @@ location set 차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향 지시등이 활성화되지 않은 상태에서 감지된 차선 위를 주행할 경우 차선이탈 경고를 사용합니다.     - Enable Right-Hand Drive - 우측핸들 사용 + 우측핸들 사용 - Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat. - openpilot이 좌측 교통 규칙을 준수하고 우측 운전석에서 운전자 모니터링을 수행합니다. + openpilot이 좌측 교통 규칙을 준수하고 우측 운전석에서 운전자 모니터링을 수행합니다. - + Use Metric System 미터법 사용 - + Display speed in km/h instead of mph. mph 대신 km/h로 속도를 표시합니다. - + Record and Upload Driver Camera 운전자 카메라 녹화 및 업로드 - + Upload data from the driver facing camera and help improve the driver monitoring algorithm. 운전자 카메라에서 데이터를 업로드하고 운전자 모니터링 알고리즘을 개선합니다. - + Disengage On Accelerator Pedal 가속페달 조작시 해제 - + When enabled, pressing the accelerator pedal will disengage openpilot. 활성화된 경우 가속 페달을 누르면 openpilot이 해제됩니다. - + Show ETA in 24h format 24시간 형식으로 도착예정시간 표시 - + Use 24h format instead of am/pm 오전/오후 대신 24시간 형식 사용 - + Show Map on Left Side of UI UI 왼쪽에 지도 표시 - + 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! diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index da0841c3b5..5c949b0d3b 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -108,152 +108,152 @@ DevicePanel - + Dongle ID 设备ID（Dongle ID） - + N/A N/A - + Serial 序列号 - + Driver Camera 驾驶员摄像头 - + PREVIEW 预览 - + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 打开并预览驾驶员摄像头，以确保驾驶员监控具有良好视野。仅熄火时可用。 - + Reset Calibration 重置设备校准 - + RESET 重置 - + Are you sure you want to reset calibration? 您确定要重置设备校准吗？ - + Review Training Guide 新手指南 - + REVIEW 查看 - + Review the rules, features, and limitations of openpilot 查看openpilot的使用规则，以及其功能和限制。 - + Are you sure you want to review the training guide? 您确定要查看新手指南吗？ - + Regulatory 监管信息 - + VIEW 查看 - + Change Language 切换语言 - + CHANGE 切换 - + Select a language 选择语言 - + Reboot 重启 - + Power Off 关机 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下8°之间。一般来说，openpilot会持续更新校准，很少需要重置。 - + Your device is pointed %1° %2 and %3° %4. 您的设备校准为%1° %2、%3° %4。 - + down 朝下 - + up 朝上 - + left 朝左 - + right 朝右 - + Are you sure you want to reboot? 您确定要重新启动吗？ - + Disengage to Reboot 取消openpilot以重新启动 - + Are you sure you want to power off? 您确定要关机吗？ - + Disengage to Power Off 取消openpilot以关机 @@ -294,7 +294,7 @@ DriverViewScene - + camera starting 正在启动相机 @@ -496,20 +496,20 @@ location set mph     - - + + MAX 最高定速 - - + + SPEED SPEED - - + + LIMIT LIMIT @@ -708,33 +708,33 @@ location set SettingsWindow - + × × - + Device 设备 - - + + Network 网络 - + Toggles 设定 - + Software 软件 - + Navigation 导航 @@ -973,89 +973,89 @@ location set SoftwarePanel - + Git Branch Git Branch - + Git Commit Git Commit - + OS Version 系统版本 - + Version 软件版本 - + Last Update Check 上次检查更新 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 上一次成功检查更新的时间。更新程序仅在汽车熄火时运行。 - + Check for Update 检查更新 - + CHECKING 正在检查更新 - + Switch Branch 切换分支 - + ENTER 输入 - - + + The new branch will be pulled the next time the updater runs. 分支将在更新服务下次启动时自动切换。 - + Enter branch name 输入分支名称 - + UNINSTALL 卸载 - + Uninstall %1 卸载 %1 - + Are you sure you want to uninstall? 您确定要卸载吗？ - + failed to fetch update 获取更新失败 - - + + CHECK 查看 @@ -1163,72 +1163,70 @@ location set 车速超过31mph（50km/h）时，若检测到车辆越过车道线且未打转向灯，系统将发出警告以提醒您返回车道。     - Enable Right-Hand Drive - 启用右舵模式 + 启用右舵模式 - Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat. - 允许openpilot遵守左侧交通惯例并在右侧驾驶座上执行驾驶员监控。 + 允许openpilot遵守左侧交通惯例并在右侧驾驶座上执行驾驶员监控。 - + Use Metric System 使用公制单位 - + Display speed in km/h instead of mph. 显示车速时，以km/h代替mph。 - + Record and Upload Driver Camera 录制并上传驾驶员摄像头 - + Upload data from the driver facing camera and help improve the driver monitoring algorithm. 上传驾驶员摄像头的数据，帮助改进驾驶员监控算法。 - + Disengage On Accelerator Pedal 踩油门时取消控制 - + When enabled, pressing the accelerator pedal will disengage openpilot. 启用后，踩下油门踏板将取消openpilot。 - + Show ETA in 24h format 以24小时格式显示预计到达时间 - + Use 24h format instead of am/pm 使用24小时制代替am/pm - + Show Map on Left Side of UI 在介面左侧显示地图 - + 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！ diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 85d40c60a3..d1b1566a5a 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -108,152 +108,152 @@ DevicePanel - + Dongle ID Dongle ID - + N/A 無法使用 - + Serial 序號 - + Driver Camera 駕駛員攝像頭 - + PREVIEW 預覽 - + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 預覽駕駛員監控鏡頭畫面，以確保其具有良好視野。（僅在熄火時可用） - + Reset Calibration 重置校準 - + RESET 重置 - + Are you sure you want to reset calibration? 您確定要重置校準嗎？ - + Review Training Guide 觀看使用教學 - + REVIEW 觀看 - + Review the rules, features, and limitations of openpilot 觀看 openpilot 的使用規則、功能和限制 - + Are you sure you want to review the training guide? 您確定要觀看使用教學嗎？ - + Regulatory 法規/監管 - + VIEW 觀看 - + Change Language 更改語言 - + CHANGE 更改 - + Select a language 選擇語言 - + Reboot 重新啟動 - + Power Off 關機 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。 - + Your device is pointed %1° %2 and %3° %4. 你的設備目前朝%2 %1° 以及朝%4 %3° 。 - + down 下 - + up 上 - + left 左 - + right 右 - + Are you sure you want to reboot? 您確定要重新啟動嗎？ - + Disengage to Reboot 請先取消控車才能重新啟動 - + Are you sure you want to power off? 您確定您要關機嗎？ - + Disengage to Power Off 請先取消控車才能關機 @@ -294,7 +294,7 @@ DriverViewScene - + camera starting 開啟相機中 @@ -498,20 +498,20 @@ location set mph     - - + + MAX 最高 - - + + SPEED 速度 - - + + LIMIT 速限 @@ -713,33 +713,33 @@ location set SettingsWindow - + × × - + Device 設備 - - + + Network 網路 - + Toggles 設定 - + Software 軟體 - + Navigation 導航 @@ -978,89 +978,89 @@ location set SoftwarePanel - + Git Branch Git 分支 - + Git Commit Git 提交 - + OS Version 系統版本 - + Version 版本 - + Last Update Check 上次檢查時間 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 上次成功檢查更新的時間。更新系統只會在車子熄火時執行。 - + Check for Update 檢查更新 - + CHECKING 檢查中 - + Switch Branch 切換分支 - + ENTER 切換 - - + + The new branch will be pulled the next time the updater runs. 新的分支將會在下次檢查更新時切換過去。 - + Enter branch name 輸入分支名稱 - + UNINSTALL 卸載 - + Uninstall %1 卸載 %1 - + Are you sure you want to uninstall? 您確定您要卸載嗎？ - + failed to fetch update 下載更新失敗 - - + + CHECK 檢查 @@ -1168,72 +1168,70 @@ location set 車速在時速 50 公里 (31 英里) 以上且未打方向燈的情況下，如果偵測到車輛駛出目前車道線時，發出車道偏離警告。     - Enable Right-Hand Drive - 啟用右駕模式 + 啟用右駕模式 - Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat. - openpilot 將對右側駕駛進行監控 (但仍遵守靠左駕的交通慣例)。 + openpilot 將對右側駕駛進行監控 (但仍遵守靠左駕的交通慣例)。 - + Use Metric System 使用公制單位 - + Display speed in km/h instead of mph. 啟用後，速度單位顯示將從 mp/h 改為 km/h。 - + Record and Upload Driver Camera 記錄並上傳駕駛監控影像 - + Upload data from the driver facing camera and help improve the driver monitoring algorithm. 上傳駕駛監控的錄像來協助我們提升駕駛監控的準確率。 - + Disengage On Accelerator Pedal 油門取消控車 - + When enabled, pressing the accelerator pedal will disengage openpilot. 啟用後，踩踏油門將會取消 openpilot 控制。 - + Show ETA in 24h format 預計到達時間單位改用 24 小時制 - + Use 24h format instead of am/pm 使用 24 小時制。(預設值為 12 小時制) - + Show Map on Left Side of UI 將地圖顯示在畫面的左側 - + 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！ From efa326e20856ff3a8ecff6f53d75a132ee0e4e1e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 31 Jul 2022 12:43:27 -0700 Subject: [PATCH 279/306] Subaru: 2020 Outback support (#25248) * Subaru: 2020 Outback support * bump panda * bump panda * update refs * update refs --- RELEASES.md | 1 + docs/CARS.md | 3 +- panda | 2 +- selfdrive/car/subaru/carcontroller.py | 20 ++- selfdrive/car/subaru/carstate.py | 185 ++++++++++++++++------- selfdrive/car/subaru/interface.py | 22 ++- selfdrive/car/subaru/subarucan.py | 28 +++- selfdrive/car/subaru/values.py | 66 +++++++- selfdrive/car/tests/routes.py | 6 +- selfdrive/car/torque_data/override.yaml | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 11 files changed, 254 insertions(+), 82 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index b47a18a3de..5b63be2e43 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,5 +1,6 @@ Version 0.8.16 (2022-XX-XX) ======================== +* Subaru Outback 2020-22 support Version 0.8.15 (2022-07-20) ======================== diff --git a/docs/CARS.md b/docs/CARS.md index c84008bd63..b9986f358b 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -19,7 +19,7 @@ A supported vehicle is one that just works when you install a comma device. Ever - [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns. -# 196 Supported Cars +# 197 Supported Cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque| |---|---|---|:---:|:---:|:---:|:---:| @@ -139,6 +139,7 @@ A supported vehicle is one that just works when you install a comma device. Ever |Subaru|Forester 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Subaru|Impreza 2017-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| |Subaru|Impreza 2020-22|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Subaru|Outback 2020-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Subaru|XV 2018-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| |Subaru|XV 2020-21|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Škoda|Kamiq 2021[6](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| diff --git a/panda b/panda index a1686ca3ca..4b86b83991 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit a1686ca3ca55b004179f10bfc45af5fbd701ca64 +Subproject commit 4b86b83991e6be699c1eba79ea82846533f55467 diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index a336572051..b5429daef2 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -1,17 +1,20 @@ from opendbc.can.packer import CANPacker from selfdrive.car import apply_std_steer_torque_limits from selfdrive.car.subaru import subarucan -from selfdrive.car.subaru.values import DBC, PREGLOBAL_CARS, CarControllerParams +from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP self.apply_steer_last = 0 - self.es_distance_cnt = -1 + self.frame = 0 + self.es_lkas_cnt = -1 + self.es_distance_cnt = -1 + self.es_dashstatus_cnt = -1 self.cruise_button_prev = 0 - self.frame = 0 + self.last_cancel_frame = 0 self.p = CarControllerParams(CP) self.packer = CANPacker(DBC[CP.carFingerprint]['pt']) @@ -67,9 +70,14 @@ class CarController: self.es_distance_cnt = CS.es_distance_msg["COUNTER"] else: - if self.es_distance_cnt != CS.es_distance_msg["COUNTER"]: - can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, pcm_cancel_cmd)) - self.es_distance_cnt = CS.es_distance_msg["COUNTER"] + if pcm_cancel_cmd and (self.frame - self.last_cancel_frame) > 0.2: + bus = 1 if self.CP.carFingerprint in GLOBAL_GEN2 else 0 + can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd)) + self.last_cancel_frame = self.frame + + if self.es_dashstatus_cnt != CS.es_dashstatus_msg["COUNTER"]: + can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg)) + self.es_dashstatus_cnt = CS.es_dashstatus_msg["COUNTER"] if self.es_lkas_cnt != CS.es_lkas_msg["COUNTER"]: can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert, diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index 9246cbde18..7b2580c92d 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine from common.conversions import Conversions as CV from selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser -from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, PREGLOBAL_CARS +from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, GLOBAL_GEN2, PREGLOBAL_CARS class CarState(CarStateBase): @@ -13,7 +13,7 @@ class CarState(CarStateBase): can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) self.shifter_values = can_define.dv["Transmission"]["Gear"] - def update(self, cp, cp_cam): + def update(self, cp, cp_cam, cp_body): ret = car.CarState.new_message() ret.gas = cp.vl["Throttle"]["Throttle_Pedal"] / 255. @@ -21,13 +21,15 @@ class CarState(CarStateBase): if self.car_fingerprint in PREGLOBAL_CARS: ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 2 else: - ret.brakePressed = cp.vl["Brake_Status"]["Brake"] == 1 + cp_brakes = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp + ret.brakePressed = cp_brakes.vl["Brake_Status"]["Brake"] == 1 + cp_wheels = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp ret.wheelSpeeds = self.get_wheel_speeds( - cp.vl["Wheel_Speeds"]["FL"], - cp.vl["Wheel_Speeds"]["FR"], - cp.vl["Wheel_Speeds"]["RL"], - cp.vl["Wheel_Speeds"]["RR"], + cp_wheels.vl["Wheel_Speeds"]["FL"], + cp_wheels.vl["Wheel_Speeds"]["FR"], + cp_wheels.vl["Wheel_Speeds"]["RL"], + cp_wheels.vl["Wheel_Speeds"]["RR"], ) ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. # Kalman filter, even though Subaru raw wheel speed is heaviliy filtered by default @@ -35,8 +37,8 @@ class CarState(CarStateBase): ret.standstill = ret.vEgoRaw < 0.01 # continuous blinker signals for assisted lane change - ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp( - 50, cp.vl["Dashlights"]["LEFT_BLINKER"], cp.vl["Dashlights"]["RIGHT_BLINKER"]) + ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["Dashlights"]["LEFT_BLINKER"], + cp.vl["Dashlights"]["RIGHT_BLINKER"]) if self.CP.enableBsm: ret.leftBlindspot = (cp.vl["BSD_RCTA"]["L_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["L_APPROACHING"] == 1) @@ -50,8 +52,9 @@ class CarState(CarStateBase): ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"] ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint] - ret.cruiseState.enabled = cp.vl["CruiseControl"]["Cruise_Activated"] != 0 - ret.cruiseState.available = cp.vl["CruiseControl"]["Cruise_On"] != 0 + cp_cruise = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp + ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0 + ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0 ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS if (self.car_fingerprint in PREGLOBAL_CARS and cp.vl["Dash_State2"]["UNITS"] == 1) or \ @@ -72,10 +75,59 @@ class CarState(CarStateBase): ret.steerFaultTemporary = cp.vl["Steering_Torque"]["Steer_Warning"] == 1 ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1 self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"]) - self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"]) + + cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam + self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"]) + self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"]) return ret + @staticmethod + def get_common_global_signals(): + signals = [ + ("Cruise_On", "CruiseControl"), + ("Cruise_Activated", "CruiseControl"), + ("FL", "Wheel_Speeds"), + ("FR", "Wheel_Speeds"), + ("RL", "Wheel_Speeds"), + ("RR", "Wheel_Speeds"), + ("Brake", "Brake_Status"), + ] + checks = [ + ("CruiseControl", 20), + ("Wheel_Speeds", 50), + ("Brake_Status", 50), + ] + + return signals, checks + + @staticmethod + def get_global_es_distance_signals(): + signals = [ + ("COUNTER", "ES_Distance"), + ("Signal1", "ES_Distance"), + ("Cruise_Fault", "ES_Distance"), + ("Cruise_Throttle", "ES_Distance"), + ("Signal2", "ES_Distance"), + ("Car_Follow", "ES_Distance"), + ("Signal3", "ES_Distance"), + ("Cruise_Brake_Active", "ES_Distance"), + ("Distance_Swap", "ES_Distance"), + ("Cruise_EPB", "ES_Distance"), + ("Signal4", "ES_Distance"), + ("Close_Distance", "ES_Distance"), + ("Signal5", "ES_Distance"), + ("Cruise_Cancel", "ES_Distance"), + ("Cruise_Set", "ES_Distance"), + ("Cruise_Resume", "ES_Distance"), + ("Signal6", "ES_Distance"), + ] + checks = [ + ("ES_Distance", 20), + ] + + return signals, checks + @staticmethod def get_can_parser(CP): signals = [ @@ -84,17 +136,11 @@ class CarState(CarStateBase): ("Steer_Torque_Output", "Steering_Torque"), ("Steering_Angle", "Steering_Torque"), ("Steer_Error_1", "Steering_Torque"), - ("Cruise_On", "CruiseControl"), - ("Cruise_Activated", "CruiseControl"), ("Brake_Pedal", "Brake_Pedal"), ("Throttle_Pedal", "Throttle"), ("LEFT_BLINKER", "Dashlights"), ("RIGHT_BLINKER", "Dashlights"), ("SEATBELT_FL", "Dashlights"), - ("FL", "Wheel_Speeds"), - ("FR", "Wheel_Speeds"), - ("RL", "Wheel_Speeds"), - ("RR", "Wheel_Speeds"), ("DOOR_OPEN_FR", "BodyInfo"), ("DOOR_OPEN_FL", "BodyInfo"), ("DOOR_OPEN_RR", "BodyInfo"), @@ -107,7 +153,6 @@ class CarState(CarStateBase): ("Throttle", 100), ("Dashlights", 10), ("Brake_Pedal", 50), - ("Wheel_Speeds", 50), ("Transmission", 100), ("Steering_Torque", 50), ("BodyInfo", 1), @@ -123,36 +168,47 @@ class CarState(CarStateBase): checks.append(("BSD_RCTA", 17)) if CP.carFingerprint not in PREGLOBAL_CARS: + if CP.carFingerprint not in GLOBAL_GEN2: + signals += CarState.get_common_global_signals()[0] + checks += CarState.get_common_global_signals()[1] + signals += [ ("Steer_Warning", "Steering_Torque"), - ("Brake", "Brake_Status"), ("UNITS", "Dashlights"), ] checks += [ ("Dashlights", 10), ("BodyInfo", 10), - ("Brake_Status", 50), - ("CruiseControl", 20), ] else: - signals.append(("UNITS", "Dash_State2")) - - checks.append(("Dash_State2", 1)) - - if CP.carFingerprint == CAR.FORESTER_PREGLOBAL: - checks += [ - ("Dashlights", 20), - ("BodyInfo", 1), - ("CruiseControl", 50), + signals += [ + ("FL", "Wheel_Speeds"), + ("FR", "Wheel_Speeds"), + ("RL", "Wheel_Speeds"), + ("RR", "Wheel_Speeds"), + ("UNITS", "Dash_State2"), + ("Cruise_On", "CruiseControl"), + ("Cruise_Activated", "CruiseControl"), ] - - if CP.carFingerprint in (CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018): checks += [ - ("Dashlights", 10), - ("CruiseControl", 50), + ("Wheel_Speeds", 50), + ("Dash_State2", 1), ] + if CP.carFingerprint == CAR.FORESTER_PREGLOBAL: + checks += [ + ("Dashlights", 20), + ("BodyInfo", 1), + ("CruiseControl", 50), + ] + + if CP.carFingerprint in (CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018): + checks += [ + ("Dashlights", 10), + ("CruiseControl", 50), + ] + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) @staticmethod @@ -187,26 +243,32 @@ class CarState(CarStateBase): ] else: signals = [ - ("Cruise_Set_Speed", "ES_DashStatus"), + ("Counter", "ES_DashStatus"), + ("PCB_Off", "ES_DashStatus"), + ("LDW_Off", "ES_DashStatus"), + ("Signal1", "ES_DashStatus"), + ("Cruise_State_Msg", "ES_DashStatus"), + ("LKAS_State_Msg", "ES_DashStatus"), + ("Signal2", "ES_DashStatus"), + ("Cruise_Soft_Disable", "ES_DashStatus"), + ("EyeSight_Status_Msg", "ES_DashStatus"), + ("Signal3", "ES_DashStatus"), + ("Cruise_Distance", "ES_DashStatus"), + ("Signal4", "ES_DashStatus"), ("Conventional_Cruise", "ES_DashStatus"), - - ("COUNTER", "ES_Distance"), - ("Signal1", "ES_Distance"), - ("Cruise_Fault", "ES_Distance"), - ("Cruise_Throttle", "ES_Distance"), - ("Signal2", "ES_Distance"), - ("Car_Follow", "ES_Distance"), - ("Signal3", "ES_Distance"), - ("Cruise_Brake_Active", "ES_Distance"), - ("Distance_Swap", "ES_Distance"), - ("Cruise_EPB", "ES_Distance"), - ("Signal4", "ES_Distance"), - ("Close_Distance", "ES_Distance"), - ("Signal5", "ES_Distance"), - ("Cruise_Cancel", "ES_Distance"), - ("Cruise_Set", "ES_Distance"), - ("Cruise_Resume", "ES_Distance"), - ("Signal6", "ES_Distance"), + ("Signal5", "ES_DashStatus"), + ("Cruise_Disengaged", "ES_DashStatus"), + ("Cruise_Activated", "ES_DashStatus"), + ("Signal6", "ES_DashStatus"), + ("Cruise_Set_Speed", "ES_DashStatus"), + ("Cruise_Fault", "ES_DashStatus"), + ("Cruise_On", "ES_DashStatus"), + ("Display_Own_Car", "ES_DashStatus"), + ("Brake_Lights", "ES_DashStatus"), + ("Car_Follow", "ES_DashStatus"), + ("Signal7", "ES_DashStatus"), + ("Far_Distance", "ES_DashStatus"), + ("Cruise_State", "ES_DashStatus"), ("COUNTER", "ES_LKAS_State"), ("LKAS_Alert_Msg", "ES_LKAS_State"), @@ -227,8 +289,21 @@ class CarState(CarStateBase): checks = [ ("ES_DashStatus", 10), - ("ES_Distance", 20), ("ES_LKAS_State", 10), ] + if CP.carFingerprint not in GLOBAL_GEN2: + signals += CarState.get_global_es_distance_signals()[0] + checks += CarState.get_global_es_distance_signals()[1] + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) + + @staticmethod + def get_body_can_parser(CP): + if CP.carFingerprint in GLOBAL_GEN2: + signals, checks = CarState.get_common_global_signals() + signals += CarState.get_global_es_distance_signals()[0] + checks += CarState.get_global_es_distance_signals()[1] + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1) + + return None \ No newline at end of file diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index d246ab2022..049da10a16 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -1,8 +1,9 @@ #!/usr/bin/env python3 from cereal import car +from panda import Panda from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase -from selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS +from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS class CarInterface(CarInterfaceBase): @@ -16,11 +17,13 @@ class CarInterface(CarInterfaceBase): ret.dashcamOnly = candidate in PREGLOBAL_CARS if candidate in PREGLOBAL_CARS: - ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)] ret.enableBsm = 0x25c in fingerprint[0] + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)] else: - ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)] ret.enableBsm = 0x228 in fingerprint[0] + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)] + if candidate in GLOBAL_GEN2: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_GEN2 ret.steerLimitTimer = 0.4 ret.steerActuatorDelay = 0.1 @@ -68,6 +71,14 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]] + elif candidate == CAR.OUTBACK: + ret.mass = 1568. + STD_CARGO_KG + ret.wheelbase = 2.67 + ret.centerToFront = ret.wheelbase * 0.5 + ret.steerRatio = 17 + ret.steerActuatorDelay = 0.1 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018): ret.safetyConfigs[0].safetyParam = 1 # Outback 2018-2019 and Forester have reversed driver torque signal ret.mass = 1568 + STD_CARGO_KG @@ -88,6 +99,9 @@ class CarInterface(CarInterfaceBase): ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 20 # learned, 14 stock + else: + raise ValueError(f"unknown car: {candidate}") + # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) @@ -101,7 +115,7 @@ class CarInterface(CarInterfaceBase): # returns a car.CarState def _update(self, c): - ret = self.CS.update(self.cp, self.cp_cam) + ret = self.CS.update(self.cp, self.cp_cam, self.cp_body) ret.events = self.create_common_events(ret).to_msg() diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index 5f2233be9d..d83b639a41 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -14,13 +14,12 @@ def create_steering_control(packer, apply_steer): def create_steering_status(packer): return packer.make_can_msg("ES_LKAS_State", 0, {}) -def create_es_distance(packer, es_distance_msg, pcm_cancel_cmd): - +def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd): values = copy.copy(es_distance_msg) + values["COUNTER"] = (values["COUNTER"] + 1) % 0x10 if pcm_cancel_cmd: values["Cruise_Cancel"] = 1 - - return packer.make_can_msg("ES_Distance", 0, values) + return packer.make_can_msg("ES_Distance", bus, values) def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart): @@ -34,6 +33,18 @@ def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_ if values["LKAS_Alert"] == 27: values["LKAS_Alert"] = 0 + # Filter the stock LKAS sending an audible alert when "Keep hands on wheel" alert is active (2020+ models) + if values["LKAS_Alert"] == 28 and values["LKAS_Alert_Msg"] == 7: + values["LKAS_Alert"] = 0 + + # Filter the stock LKAS sending an audible alert when "Keep hands on wheel OFF" alert is active (2020+ models) + if values["LKAS_Alert"] == 30: + values["LKAS_Alert"] = 0 + + # Filter the stock LKAS sending "Keep hands on wheel OFF" alert (2020+ models) + if values["LKAS_Alert_Msg"] == 7: + values["LKAS_Alert_Msg"] = 0 + # Show Keep hands on wheel alert for openpilot steerRequired alert if visual_alert == VisualAlert.steerRequired: values["LKAS_Alert_Msg"] = 1 @@ -56,6 +67,15 @@ def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_ return packer.make_can_msg("ES_LKAS_State", 0, values) +def create_es_dashstatus(packer, dashstatus_msg): + values = copy.copy(dashstatus_msg) + + # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts + if values["LKAS_State_Msg"] in [2, 3]: + values["LKAS_State_Msg"] = 0 + + return packer.make_can_msg("ES_DashStatus", 0, values) + # *** Subaru Pre-global *** def subaru_preglobal_checksum(packer, values, addr): diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 362e9ccd6a..e242ba321a 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -11,23 +11,32 @@ Ecu = car.CarParams.Ecu class CarControllerParams: def __init__(self, CP): - if CP.carFingerprint == CAR.IMPREZA_2020: - self.STEER_MAX = 1439 - else: - self.STEER_MAX = 2047 self.STEER_STEP = 2 # how often we update the steer cmd self.STEER_DELTA_UP = 50 # torque increase per refresh, 0.8s to max self.STEER_DELTA_DOWN = 70 # torque decrease per refresh self.STEER_DRIVER_ALLOWANCE = 60 # allowed driver torque before start limiting - self.STEER_DRIVER_MULTIPLIER = 10 # weight driver torque heavily + self.STEER_DRIVER_MULTIPLIER = 50 # weight driver torque heavily self.STEER_DRIVER_FACTOR = 1 # from dbc + if CP.carFingerprint in GLOBAL_GEN2: + self.STEER_MAX = 1000 + self.STEER_DELTA_UP = 40 + self.STEER_DELTA_DOWN = 40 + elif CP.carFingerprint == CAR.IMPREZA_2020: + self.STEER_MAX = 1439 + else: + self.STEER_MAX = 2047 + class CAR: + # Global platform ASCENT = "SUBARU ASCENT LIMITED 2019" IMPREZA = "SUBARU IMPREZA LIMITED 2019" IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020" FORESTER = "SUBARU FORESTER 2019" + OUTBACK = "SUBARU OUTBACK 6TH GEN" + + # Pre-global FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018" LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018" OUTBACK_PREGLOBAL = "SUBARU OUTBACK 2015 - 2017" @@ -42,6 +51,7 @@ class SubaruCarInfo(CarInfo): CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"), + CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All"), CAR.IMPREZA: [ SubaruCarInfo("Subaru Impreza 2017-19"), SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), @@ -396,6 +406,47 @@ FW_VERSIONS = { b'\xbb\xfb\xe0`\000', ], }, + CAR.OUTBACK: { + (Ecu.esp, 0x7b0, None): [ + b'\xa1 \x06\x01', + b'\xa1 \a\x00', + b'\xa1 \b\001', + b'\xa1 \x06\x00', + b'\xa1 "\t\x01', + b'\xa1 \x08\x02', + b'\xa1 \x06\x02', + b'\xa1 \x08\x00', + ], + (Ecu.eps, 0x746, None): [ + b'\x9b\xc0\x10\x00', + b'\x9b\xc0\x20\x00', + b'\x1b\xc0\x10\x00', + ], + (Ecu.fwdCamera, 0x787, None): [ + b'\x00\x00eJ\x00\x1f@ \x19\x00', + b'\000\000e\x80\000\037@ \031\000', + b'\x00\x00e\x9a\x00\x1f@ 1\x00', + b'\x00\x00eJ\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xbc,\xa0q\x07', + b'\xbc\"`@\a', + b'\xde"`0\a', + b'\xf1\x82\xbc,\xa0q\a', + b'\xf1\x82\xe3,\xa0@\x07', + b'\xe2"`p\x07', + b'\xf1\x82\xe2,\xa0@\x07', + b'\xbc"`q\x07', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xa5\xfe\xf7@\x00', + b'\xa5\xf6D@\x00', + b'\xa5\xfe\xf6@\x00', + b'\xa7\x8e\xf40\x00', + b'\xf1\x82\xa7\xf6D@\x00', + b'\xa7\xfe\xf4@\x00', + ], + }, } STEER_THRESHOLD = { @@ -403,6 +454,7 @@ STEER_THRESHOLD = { CAR.IMPREZA: 80, CAR.IMPREZA_2020: 80, CAR.FORESTER: 80, + CAR.OUTBACK: 80, CAR.FORESTER_PREGLOBAL: 75, CAR.LEGACY_PREGLOBAL: 75, CAR.OUTBACK_PREGLOBAL: 75, @@ -414,10 +466,12 @@ DBC = { CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None), CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None), CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None), + CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None), CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None), CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None), CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None), CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None), } -PREGLOBAL_CARS = [CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018] +GLOBAL_GEN2 = (CAR.OUTBACK, ) +PREGLOBAL_CARS = (CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018) \ No newline at end of file diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 96eb5f67b9..626f2a987a 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -187,13 +187,11 @@ routes = [ TestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER), TestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA), TestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020), - # Dashcam + TestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=3), + # Pre-global, dashcam TestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL), - # Dashcam TestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.LEGACY_PREGLOBAL), - # Dashcam TestRoute("5ab784f361e19b78|2020-06-08--16-30-41", SUBARU.OUTBACK_PREGLOBAL), - # Dashcam TestRoute("e19eb5d5353b1ac1|2020-08-09--14-37-56", SUBARU.OUTBACK_PREGLOBAL_2018), TestRoute("fbbfa6af821552b9|2020-03-03--08-09-43", NISSAN.XTRAIL), diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 8e6f62c4e7..27a8c26fd6 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -22,6 +22,7 @@ COMMA BODY: [.nan, 1000, .nan] # Totally new cars KIA EV6 2022: [3.5, 2.5, 0.0] RAM 1500 5TH GEN: [2.0, 2.0, 0.0] +SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 35226a30eb..80f5980fb6 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -912413daa4c36a788cf2c801fc49829d46ae3072 \ No newline at end of file +01e23eec1394b07d2c537f0e28493b10e05923c2 \ No newline at end of file From e076b2bd3456a370f0865ad3f008b74ad17e22f0 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 31 Jul 2022 12:47:17 -0700 Subject: [PATCH 280/306] outback harness isn't on the site yet --- selfdrive/car/subaru/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index e242ba321a..12f6dd1e6e 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -51,7 +51,7 @@ class SubaruCarInfo(CarInfo): CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"), - CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All"), + CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness=Harness.none), CAR.IMPREZA: [ SubaruCarInfo("Subaru Impreza 2017-19"), SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), From 26d29d21380d3cd4b357a8ab986e71b52bb59844 Mon Sep 17 00:00:00 2001 From: Jeroen <33349469+jeroenlammersma@users.noreply.github.com> Date: Sun, 31 Jul 2022 22:18:02 +0200 Subject: [PATCH 281/306] sim: role_name attribute used by ScenarioRunner for CARLA (#25315) --- tools/sim/bridge.py | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py index 17dc2c7a62..fa4ce2b41d 100755 --- a/tools/sim/bridge.py +++ b/tools/sim/bridge.py @@ -304,6 +304,7 @@ class CarlaBridge: world_map = world.get_map() vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[1] + vehicle_bp.set_attribute('role_name', 'hero') spawn_points = world_map.get_spawn_points() assert len(spawn_points) > self._args.num_selected_spawn_point, f'''No spawn point {self._args.num_selected_spawn_point}, try a value between 0 and {len(spawn_points)} for this town.''' From 20c140b10eef52b6f6d6b9e142ed944264865bac Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 31 Jul 2022 15:36:37 -0700 Subject: [PATCH 282/306] plotjuggler: add max torque layout --- .../plotjuggler/layouts/max-torque-debug.xml | 98 +++++++++++++++++++ 1 file changed, 98 insertions(+) create mode 100644 tools/plotjuggler/layouts/max-torque-debug.xml diff --git a/tools/plotjuggler/layouts/max-torque-debug.xml b/tools/plotjuggler/layouts/max-torque-debug.xml new file mode 100644 index 0000000000..05aa208e26 --- /dev/null +++ b/tools/plotjuggler/layouts/max-torque-debug.xml @@ -0,0 +1,98 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + if (v3 == 0 and v4 == 1) then + return (value * v1 ^ 2) - (v2 * 9.81) +end +return 0 + /controlsState/curvature + + /carState/vEgo + /liveParameters/roll + /carState/steeringPressed + /carControl/latActive + + + + + return (value * v1 ^ 2) - (v2 * 9.81) + /controlsState/desiredCurvature + + /carState/vEgo + /liveParameters/roll + + + + + return (value * v1 ^ 2) - (v2 * 9.81) + /controlsState/curvature + + /carState/vEgo + /liveParameters/roll + + + + + + + From 811365800cc22a1ac5ca9ca2934218fb9b404056 Mon Sep 17 00:00:00 2001 From: martinl Date: Mon, 1 Aug 2022 05:33:27 +0300 Subject: [PATCH 283/306] Subaru: Add ES_Distance Cruise_Soft_Disable (#24474) Co-authored-by: Adeeb Shihadeh --- opendbc | 2 +- selfdrive/car/subaru/carstate.py | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/opendbc b/opendbc index e370496206..24acbb7c2b 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit e3704962060058c1ec1fb48a5aef767153d28fe7 +Subproject commit 24acbb7c2b35de01ed89679e78f7c470f5f777ba diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index 7b2580c92d..2d1e768485 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -111,6 +111,8 @@ class CarState(CarStateBase): ("Signal2", "ES_Distance"), ("Car_Follow", "ES_Distance"), ("Signal3", "ES_Distance"), + ("Cruise_Soft_Disable", "ES_Distance"), + ("Signal7", "ES_Distance"), ("Cruise_Brake_Active", "ES_Distance"), ("Distance_Swap", "ES_Distance"), ("Cruise_EPB", "ES_Distance"), From 9eb27259c7b9bf267671b16d17ae9a21b43105f3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 1 Aug 2022 09:48:03 -0700 Subject: [PATCH 284/306] Subaru: set cruiseState.standstill (#25320) * Subaru: set cruiseState.standstill * only global --- selfdrive/car/subaru/carstate.py | 3 +++ selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index 2d1e768485..de5e62cb7e 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -57,6 +57,9 @@ class CarState(CarStateBase): ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0 ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS + if self.car_fingerprint not in PREGLOBAL_CARS: + ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3 + if (self.car_fingerprint in PREGLOBAL_CARS and cp.vl["Dash_State2"]["UNITS"] == 1) or \ (self.car_fingerprint not in PREGLOBAL_CARS and cp.vl["Dashlights"]["UNITS"] == 1): ret.cruiseState.speed *= CV.MPH_TO_KPH diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 80f5980fb6..ef0a47fbb8 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -01e23eec1394b07d2c537f0e28493b10e05923c2 \ No newline at end of file +20c140b10eef52b6f6d6b9e142ed944264865bac \ No newline at end of file From 21719aa824f0b88ee2bc248347831cb21004a87f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 1 Aug 2022 09:56:20 -0700 Subject: [PATCH 285/306] internal installer: set param for disable radar toggle --- selfdrive/ui/installer/installer.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc index fe31a2dcb1..ee98c4d3d9 100644 --- a/selfdrive/ui/installer/installer.cc +++ b/selfdrive/ui/installer/installer.cc @@ -182,6 +182,7 @@ 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) { From c8a90ef5866888ae5104c4fa9a61299de1879406 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 1 Aug 2022 13:26:24 -0700 Subject: [PATCH 286/306] Prepare for new supported vehicles webpage (#25021) * add well maintained footnote * stash * some updates for the website * one extensible sort function, pass sort function into template, continue to use "openpilot ACC" * use items same * return a final dict * Fix descriptions * Required * Add detail sentence * Make string packages into namedtuple * add temp year parsing * revert this * one unified class like harness * fix static analysis * Fix body Fix body * Make specifics strong * remove years * Make Camry footnote more clear * Revert this too * Add notCar text, fix steer speed > enable speed (remove comma, no speed mention) * fix missing years * group_by_make * Use full package text * Only use full package text * Check car name if notCar, fix imports * add_years no longer needed, remove 'with Stop and Go' * fix that fix that fix that * Exception for Nissan and Subaru * Adjust DSU footnote text * Fix speed overrides in sentence, CR-V package imp * init() was being called multiple times, only need to run once to set row --- docs/CARS.md | 122 +++++++++++++++--------------- selfdrive/car/CARS_template.md | 2 +- selfdrive/car/chrysler/values.py | 2 +- selfdrive/car/docs.py | 16 +++- selfdrive/car/docs_definitions.py | 65 +++++++++++++--- selfdrive/car/gm/values.py | 4 +- selfdrive/car/honda/values.py | 2 +- selfdrive/car/hyundai/values.py | 6 +- selfdrive/car/nissan/values.py | 2 +- selfdrive/car/subaru/values.py | 2 +- selfdrive/car/toyota/values.py | 20 ++--- 11 files changed, 150 insertions(+), 93 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index b9986f358b..3c81ba36b2 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -32,19 +32,19 @@ A supported vehicle is one that just works when you install a comma device. Ever |Audi|Q3 2020-21|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Audi|RS3 2018|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Audi|S3 2015-17|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Cadillac|Escalade ESV 2016[1](#footnotes)|ACC + LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Chrysler|Pacifica 2017-18|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Chrysler|Pacifica 2019-20|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Cadillac|Escalade ESV 2016[1](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise Control|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Chrysler|Pacifica 2017-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Chrysler|Pacifica 2019-20|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Chrysler|Pacifica 2021|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |comma|body|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Genesis|G70 2018-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Genesis|G70 2020|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Genesis|G80 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Genesis|G90 2017-18|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise Control|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Honda|Accord 2018-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| |Honda|Accord Hybrid 2018-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| |Honda|Civic 2016-18|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| @@ -52,7 +52,7 @@ A supported vehicle is one that just works when you install a comma device. Ever |Honda|Civic 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Honda|Civic Hatchback 2017-21|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| |Honda|Civic Hatchback 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Honda|CR-V 2015-16|Touring|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Honda|CR-V 2015-16|Touring Trim|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| |Honda|CR-V 2017-22|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| |Honda|CR-V Hybrid 2017-19|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| |Honda|e 2020|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| @@ -65,53 +65,53 @@ A supported vehicle is one that just works when you install a comma device. Ever |Honda|Passport 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| |Honda|Pilot 2016-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| |Honda|Ridgeline 2017-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Hyundai|Elantra 2017-19|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Elantra 2021-22|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Genesis 2015-16|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Ioniq Electric 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Ioniq Electric 2020|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Ioniq Hybrid 2020-22|SCC + LFA|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Ioniq Plug-in Hybrid 2020-21|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Kona 2020|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Kona Electric 2018-21|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Kona Hybrid 2020|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC) & LFA|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Kona 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Hyundai|Palisade 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Hyundai|Santa Fe 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Hyundai|Santa Fe 2021-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Hyundai|Santa Fe Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Hyundai|Santa Fe Plug-in Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Sonata 2018-19|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Hyundai|Sonata 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Hyundai|Sonata Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Tucson 2021|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Tucson Diesel 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Veloster 2019-20|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Jeep|Grand Cherokee 2019-21|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Ceed 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Tucson 2021|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|EV6 2022[3](#footnotes)|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Forte 2018|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Forte 2019-21|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|K5 2021-22|SCC|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Forte 2019-21|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|K5 2021-22|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Niro Electric 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Niro Electric 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Niro Electric 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Niro Hybrid 2021|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Niro Hybrid 2022|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Niro Plug-in Hybrid 2018-19|SCC + LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Optima 2017|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Optima 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Seltos 2021|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Sorento 2018|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Sorento 2019|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Stinger 2018-20|SCC + LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Telluride 2020|SCC + LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|CT Hybrid 2017-18|LSS|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Niro Plug-in Hybrid 2018-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Optima 2017|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Optima 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Seltos 2021|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Sorento 2018|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Sorento 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Stinger 2018-20|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Telluride 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|CT Hybrid 2017-18|Lexus Safety System+|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|ES 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Lexus|ES Hybrid 2017-18|LSS|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Lexus|ES Hybrid 2017-18|Lexus Safety System+|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|ES Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|IS 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|NX 2018-19|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| @@ -126,22 +126,22 @@ A supported vehicle is one that just works when you install a comma device. Ever |Lexus|UX Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Mazda|CX-5 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Mazda|CX-9 2021-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Nissan|Altima 2019-20|ProPILOT|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Nissan|Leaf 2018-22|ProPILOT|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Nissan|Rogue 2018-20|ProPILOT|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Nissan|X-Trail 2017|ProPILOT|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Ram|1500 2019-22|Adaptive Cruise|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Nissan|Altima 2019-20|ProPILOT Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Nissan|Leaf 2018-22|ProPILOT Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Nissan|Rogue 2018-20|ProPILOT Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Nissan|X-Trail 2017|ProPILOT Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Ram|1500 2019-22|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |SEAT|Ateca 2018|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |SEAT|Leon 2014-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Subaru|Ascent 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Subaru|Crosstrek 2018-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Subaru|Crosstrek 2020-21|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Subaru|Crosstrek 2020-21|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Subaru|Forester 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Subaru|Impreza 2017-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Subaru|Impreza 2020-22|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Subaru|Impreza 2017-19|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Subaru|Impreza 2020-22|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Subaru|Outback 2020-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Subaru|XV 2018-19|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| -|Subaru|XV 2020-21|EyeSight|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Subaru|XV 2018-19|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| +|Subaru|XV 2020-21|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Škoda|Kamiq 2021[6](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Škoda|Karoq 2019-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Škoda|Kodiaq 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| @@ -151,7 +151,7 @@ A supported vehicle is one that just works when you install a comma device. Ever |Škoda|Superb 2015-18|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Alphard 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Alphard Hybrid 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Avalon 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Avalon 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Avalon 2017-18|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Avalon 2019-21|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Avalon 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| @@ -174,17 +174,17 @@ A supported vehicle is one that just works when you install a comma device. Ever |Toyota|Highlander Hybrid 2017-19|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Highlander Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Mirai 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Prius 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Prius 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Prius 2017-20|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Prius 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Prius Prime 2017-20|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|Prius Prime 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|Prius v 2017|TSS-P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|RAV4 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|Prius v 2017|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|RAV4 2017-18|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|RAV4 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|RAV4 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Toyota|RAV4 Hybrid 2016|TSS-P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|RAV4 Hybrid 2017-18|All|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|RAV4 Hybrid 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Toyota|RAV4 Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| @@ -225,8 +225,8 @@ A supported vehicle is one that just works when you install a comma device. Ever 1Requires an OBD-II car harness and community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
    22019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
    3Requires a red panda and additional harness box.
    -4When disconnecting the Driver Support Unit (DSU), openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
    -528mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
    +4When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
    +5openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
    6Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
    7Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform.
    8Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.
    diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md index 6a3a41f41c..e448c19d35 100644 --- a/selfdrive/car/CARS_template.md +++ b/selfdrive/car/CARS_template.md @@ -9,7 +9,7 @@ A supported vehicle is one that just works when you install a comma device. Ever ## How We Rate The Cars -{% for star_row in star_descriptions.values() %} +{% for star_row in STAR_DESCRIPTIONS.values() %} {% for name, stars in star_row.items() %} ### {{name}} {% for star, description in stars %} diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 48ea6bd14a..66c76bbcf3 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -42,7 +42,7 @@ RAM_CARS = {CAR.RAM_1500, } @dataclass class ChryslerCarInfo(CarInfo): - package: str = "Adaptive Cruise" + package: str = "Adaptive Cruise Control" harness: Enum = Harness.fca CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py index 3a81788c68..5793596a43 100755 --- a/selfdrive/car/docs.py +++ b/selfdrive/car/docs.py @@ -1,5 +1,6 @@ #!/usr/bin/env python3 import argparse +from collections import defaultdict import jinja2 import os from enum import Enum @@ -40,13 +41,22 @@ def get_all_car_info(only_tier_cols: bool = False) -> List[CarInfo]: car_info = (car_info,) for _car_info in car_info: - all_car_info.append(_car_info.init(CP, footnotes)) + if not hasattr(_car_info, "row"): + _car_info.init(CP, footnotes) + all_car_info.append(_car_info) # Sort cars by make and model + year sorted_cars: List[CarInfo] = natsorted(all_car_info, key=lambda car: car.name.lower()) return sorted_cars +def group_by_make(all_car_info: List[CarInfo]) -> Dict[str, List[CarInfo]]: + sorted_car_info = defaultdict(list) + for car_info in all_car_info: + sorted_car_info[car_info.make].append(car_info) + return dict(sorted_car_info) + + def generate_cars_md(all_car_info: List[CarInfo], template_fn: str, only_tier_cols: bool) -> str: with open(template_fn, "r") as f: template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True) @@ -60,8 +70,8 @@ def generate_cars_md(all_car_info: List[CarInfo], template_fn: str, only_tier_co del car.row[c] footnotes = [fn.value.text for fn in get_all_footnotes(only_tier_cols)] - cars_md: str = template.render(all_car_info=all_car_info, - footnotes=footnotes, Star=Star, Column=cols, star_descriptions=STAR_DESCRIPTIONS) + cars_md: str = template.render(all_car_info=all_car_info, group_by_make=group_by_make, + footnotes=footnotes, Star=Star, Column=cols, STAR_DESCRIPTIONS=STAR_DESCRIPTIONS) return cars_md diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 015646972d..c305a2eeec 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -1,11 +1,12 @@ import re - -from cereal import car from collections import namedtuple from dataclasses import dataclass, field from enum import Enum from typing import Dict, List, Optional, Tuple, Union, no_type_check +from cereal import car +from common.conversions import Conversions as CV + GOOD_TORQUE_THRESHOLD = 1.0 # m/s^2 MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)" @@ -42,6 +43,24 @@ def get_footnotes(footnotes: List[Enum], column: Column) -> List[Enum]: return [fn for fn in footnotes if fn.value.column == column] +# TODO: store years as a list +def get_year_list(years): + years_list = [] + if len(years) == 0: + return years_list + + for year in years.split(','): + year = year.strip() + if len(year) == 4: + years_list.append(str(year)) + elif "-" in year and len(year) == 7: + start, end = year.split("-") + years_list.extend(map(str, range(int(start), int(f"20{end}") + 1))) + else: + raise Exception(f"Malformed year string: {years}") + return years_list + + def split_name(name: str) -> Tuple[str, str, str]: make, model = name.split(" ", 1) years = "" @@ -64,17 +83,16 @@ class CarInfo: def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]): # TODO: set all the min steer speeds in carParams and remove this - min_steer_speed = CP.minSteerSpeed if self.min_steer_speed is not None: - min_steer_speed = self.min_steer_speed assert CP.minSteerSpeed == 0, f"{CP.carFingerprint}: Minimum steer speed set in both CarInfo and CarParams" + else: + self.min_steer_speed = CP.minSteerSpeed assert self.harness is not None, f"{CP.carFingerprint}: Need to specify car harness" # TODO: set all the min enable speeds in carParams correctly and remove this - min_enable_speed = CP.minEnableSpeed - if self.min_enable_speed is not None: - min_enable_speed = self.min_enable_speed + if self.min_enable_speed is None: + self.min_enable_speed = CP.minEnableSpeed self.car_name = CP.carName self.car_fingerprint = CP.carFingerprint @@ -85,8 +103,8 @@ class CarInfo: Column.PACKAGE: self.package, # StarColumns Column.LONGITUDINAL: Star.FULL if CP.openpilotLongitudinalControl and not CP.radarOffCan else Star.EMPTY, - Column.FSR_LONGITUDINAL: Star.FULL if min_enable_speed <= 0. else Star.EMPTY, - Column.FSR_STEERING: Star.FULL if min_steer_speed <= 0. else Star.EMPTY, + Column.FSR_LONGITUDINAL: Star.FULL if self.min_enable_speed <= 0. else Star.EMPTY, + Column.FSR_STEERING: Star.FULL if self.min_steer_speed <= 0. else Star.EMPTY, Column.STEERING_TORQUE: Star.EMPTY, } @@ -115,8 +133,37 @@ class CarInfo: else: self.tier = Tier.BRONZE + self.year_list = get_year_list(self.years) + self.detail_sentence = self.get_detail_sentence(CP) + return self + def get_detail_sentence(self, CP): + if not CP.notCar: + sentence_builder = "openpilot upgrades your {car_model} with automated lane centering{alc} and adaptive cruise control{acc}." + + if self.min_steer_speed > self.min_enable_speed: + alc = f" above {self.min_steer_speed * CV.MS_TO_MPH:.0f} mph," if self.min_steer_speed > 0 else " at all speeds," + else: + alc = "" + + # Exception for Nissan and Subaru which do not auto-resume yet + if CP.carName not in ("nissan", "subaru"): + acc = f" while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph" if self.min_enable_speed > 0 else " that automatically resumes from a stop" + else: + acc = "" + + if self.row[Column.STEERING_TORQUE] != Star.FULL: + sentence_builder += " This car may not be able to take tight turns on its own." + + return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc) + + else: + if CP.carFingerprint == "COMMA BODY": + return "The body is a robotics dev kit that can run openpilot. Learn more." + else: + raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}") + @no_type_check def get_column(self, column: Column, star_icon: str, footnote_tag: str) -> str: item: Union[str, Star] = self.row[column] diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 328ca7c286..1cae6aa506 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -67,7 +67,7 @@ class Footnote(Enum): @dataclass class GMCarInfo(CarInfo): - package: str = "Adaptive Cruise" + package: str = "Adaptive Cruise Control" harness: Enum = Harness.none footnotes: List[Enum] = field(default_factory=lambda: [Footnote.OBD_II]) @@ -79,7 +79,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = { CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017", harness=Harness.custom), CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"), CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"), - CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "ACC + LKAS"), + CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"), # TODO: can probably just be ACC? } diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 5749b53476..b8ae3d11f9 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -124,7 +124,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { HondaCarInfo("Honda Civic Hatchback 2022", "All", min_steer_speed=0., harness=Harness.bosch_b), ], CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec), - CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring", harness=Harness.nidec), + CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", harness=Harness.nidec), CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", harness=Harness.bosch_a), CAR.CRV_EU: None, # HondaCarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch_a), diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 7a25188e87..797de06fb8 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -97,7 +97,7 @@ class Footnote(Enum): class HyundaiCarInfo(CarInfo): # TODO: we can probably remove LKAS. LKAS is standard on many # HKG and for others, it's likely packaged together with SCC - package: str = "SCC + LKAS" + package: str = "Smart Cruise Control (SCC) & LKAS" CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { @@ -107,7 +107,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.ELANTRA_GT_I30: None, # dashcamOnly and same platform as CAR.ELANTRA CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", 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_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", "SCC + LFA", harness=Harness.hyundai_h), + CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", "Smart Cruise Control (SCC) & LFA", harness=Harness.hyundai_h), CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c), CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", harness=Harness.hyundai_h), CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness=Harness.hyundai_c), @@ -137,7 +137,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Forte 2018", harness=Harness.hyundai_b), HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g), ], - CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "SCC", harness=Harness.hyundai_a), + CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a), CAR.KIA_NIRO_EV: [ HyundaiCarInfo("Kia Niro Electric 2019-20", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f), HyundaiCarInfo("Kia Niro Electric 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c), diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index 5ffef691d1..2126e550ef 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -28,7 +28,7 @@ class CAR: @dataclass class NissanCarInfo(CarInfo): - package: str = "ProPILOT" + package: str = "ProPILOT Assist" harness: Enum = Harness.nissan_a diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 12f6dd1e6e..b18ec68d0b 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -45,7 +45,7 @@ class CAR: @dataclass class SubaruCarInfo(CarInfo): - package: str = "EyeSight" + package: str = "EyeSight Driver Assistance" harness: Enum = Harness.subaru diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index ca4172f24c..7757c1b3cf 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -87,11 +87,11 @@ class CAR: class Footnote(Enum): DSU = CarFootnote( - "When disconnecting the Driver Support Unit (DSU), openpilot Adaptive Cruise Control (ACC) will replace stock " + - "Adaptive Cruise Control (ACC). NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).", + "When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace " + + "stock Adaptive Cruise Control (ACC). NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).", Column.LONGITUDINAL, star=Star.HALF) CAMRY = CarFootnote( - "28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.", + "openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.", Column.FSR_LONGITUDINAL) @@ -106,7 +106,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.ALPHARD_TSS2: ToyotaCarInfo("Toyota Alphard 2019-20"), CAR.ALPHARDH_TSS2: ToyotaCarInfo("Toyota Alphard Hybrid 2021"), CAR.AVALON: [ - ToyotaCarInfo("Toyota Avalon 2016", "TSS-P", footnotes=[Footnote.DSU]), + ToyotaCarInfo("Toyota Avalon 2016", "Toyota Safety Sense P", footnotes=[Footnote.DSU]), ToyotaCarInfo("Toyota Avalon 2017-18", footnotes=[Footnote.DSU]), ], CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21", footnotes=[Footnote.DSU]), @@ -135,21 +135,21 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19", footnotes=[Footnote.DSU]), CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-22"), CAR.PRIUS: [ - ToyotaCarInfo("Toyota Prius 2016", "TSS-P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]), + ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]), ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]), ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]), ], - CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "TSS-P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU]), + CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU]), CAR.PRIUS_TSS2: [ ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), ], CAR.RAV4: [ - ToyotaCarInfo("Toyota RAV4 2016", "TSS-P", footnotes=[Footnote.DSU]), + ToyotaCarInfo("Toyota RAV4 2016", "Toyota Safety Sense P", footnotes=[Footnote.DSU]), ToyotaCarInfo("Toyota RAV4 2017-18", footnotes=[Footnote.DSU]) ], CAR.RAV4H: [ - ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "TSS-P", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU]), + ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU]), ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU]) ], CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"), @@ -160,8 +160,8 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", footnotes=[Footnote.DSU]), # Lexus - CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]), - CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]), + CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+", footnotes=[Footnote.DSU]), + CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "Lexus Safety System+", footnotes=[Footnote.DSU]), CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"), CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-22", video_link="https://youtu.be/BZ29osRVJeg?t=12"), CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"), From 7547d887e0277a8394d3f7030900f3aa4af76e63 Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Mon, 1 Aug 2022 16:27:55 -0500 Subject: [PATCH 287/306] Add missing AUDI_A3_MK3 transmission & SRS f/w (#25328) * Add missing AUDI_A3_MK3 trans & SRS f/w + cleanup @Lord_Veit#2600 Audi A3 E-Tron (EU) DongleID/route 7a66a72837a92935|2022-08-01--20-08-22 https://discord.com/channels/469524606043160576/524592892627517450/1003759334796316752 Cleanup was simply replacing `\0` w/ `\x`... a problem I noticed while adding missing firmware. * Add missing AUDI_A3_MK3 trans & SRS f/w Reverted previous "cleanup"... which was actually more of a disaster. --- selfdrive/car/volkswagen/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index fbbae4c8cd..25f7eb1424 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -685,6 +685,7 @@ FW_VERSIONS = { b'\xf1\x870D9300013B \xf1\x894931', b'\xf1\x870D9300041N \xf1\x894512', b'\xf1\x870D9300043T \xf1\x899699', + b'\xf1\x870DD300046 \xf1\x891604', b'\xf1\x870DD300046A \xf1\x891602', b'\xf1\x870DD300046F \xf1\x891602', b'\xf1\x870DD300046G \xf1\x891601', @@ -695,6 +696,7 @@ FW_VERSIONS = { (Ecu.srs, 0x715, None): [ b'\xf1\x875Q0959655AB\xf1\x890388\xf1\x82\0211111001111111206110412111321139114', b'\xf1\x875Q0959655AM\xf1\x890315\xf1\x82\x1311111111111111311411011231129321212100', + b'\xf1\x875Q0959655AM\xf1\x890318\xf1\x82\x1311111111111112311411011531159321212100', b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1311110011131100311111011731179321342100', b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221', b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023121111111211--261117141112231291163221', From 09800b623ee36686f44a7789519fcf26ed5a5efa Mon Sep 17 00:00:00 2001 From: martinl Date: Tue, 2 Aug 2022 00:32:42 +0300 Subject: [PATCH 288/306] Subaru: Add missing Forester 2021 engine fw (#25322) FPv2: Add Forester 2021 engine fw --- selfdrive/car/subaru/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index b18ec68d0b..9465f75edf 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -240,6 +240,7 @@ FW_VERSIONS = { b'\xcb\"`@\a', b'\xcb\"`p\a', b'\xf1\x00\xa2\x10\n', + b'\xcf"`p\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\032\xf6B0\000', From d810d45421aa3af9ee62fb2026aa56f1e6d4fb8a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 1 Aug 2022 17:07:30 -0700 Subject: [PATCH 289/306] Car docs diff: print detail sentence changes (#25332) * Detail sentence changes * fix * after everything else * fix static analysis * nice emoji --- selfdrive/debug/print_docs_diff.py | 14 +++++++++++--- 1 file changed, 11 insertions(+), 3 deletions(-) diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py index 44c821a4fc..469ceb8fe9 100755 --- a/selfdrive/debug/print_docs_diff.py +++ b/selfdrive/debug/print_docs_diff.py @@ -83,21 +83,29 @@ def print_car_info_diff(path): for new_car, base_car in car_changes: # Tier changes if base_car.tier != new_car.tier: - changes["tier"].append(f"- Tier for {base_car.make} {base_car.model} changed! ({base_car.tier.name.title()} {ARROW_SYMBOL} {new_car.tier.name.title()})") + changes["tier"].append(f"- Tier for {base_car.make} {base_car.name} changed! ({base_car.tier.name.title()} {ARROW_SYMBOL} {new_car.tier.name.title()})") # Column changes row_diff = build_column_diff(base_car, new_car) if ARROW_SYMBOL in row_diff: changes["column"].append(row_diff) + # Detail sentence changes + if base_car.detail_sentence != new_car.detail_sentence: + changes["detail"].append(f"- Sentence for {base_car.make} {base_car.name} changed!\n" + + " ```diff\n" + + f" + {base_car.detail_sentence}\n" + + f" - {new_car.detail_sentence}\n" + + "```") + # Print diff if any(len(c) for c in changes.values()): markdown_builder = ["### ⚠️ This PR makes changes to [CARS.md](../blob/master/docs/CARS.md) ⚠️"] - for title, category in (("## 🏅 Tier Changes", "tier"), ("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"), ("## ➕ Added", "additions")): + for title, category in (("## 🏅 Tier Changes", "tier"), ("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"), ("## ➕ Added", "additions"), ("## 📖 Detail Sentence Changes", "detail")): if len(changes[category]): markdown_builder.append(title) - if "Tier" not in title: + if category not in ("tier", "detail"): markdown_builder.append(COLUMNS) markdown_builder.append(COLUMN_HEADER) markdown_builder.extend(changes[category]) From 35338196aca2619e8d32d8f75c03b400ae9ece5b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 1 Aug 2022 17:44:22 -0700 Subject: [PATCH 290/306] CarInfo: detail sentence exception for Toyota stock longitudinal (#25331) * Exception for 2022 RAV4 * Exception for all stock long Toyota Exception for all stock long Toyota * fix exception fix fix fix --- selfdrive/car/docs_definitions.py | 11 ++++++----- selfdrive/debug/print_docs_diff.py | 10 +++++----- 2 files changed, 11 insertions(+), 10 deletions(-) diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index c305a2eeec..21df85030f 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -147,11 +147,12 @@ class CarInfo: else: alc = "" - # Exception for Nissan and Subaru which do not auto-resume yet - if CP.carName not in ("nissan", "subaru"): - acc = f" while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph" if self.min_enable_speed > 0 else " that automatically resumes from a stop" - else: - acc = "" + # Exception for Nissan, Subaru, and stock long Toyota which do not auto-resume yet + acc = "" + if self.min_enable_speed > 0: + acc = f" while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph" + elif CP.carName not in ("nissan", "subaru", "toyota") or (CP.carName == "toyota" and CP.openpilotLongitudinalControl): + acc = " that automatically resumes from a stop" if self.row[Column.STEERING_TORQUE] != Star.FULL: sentence_builder += " This car may not be able to take tight turns on its own." diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py index 469ceb8fe9..b7721ca3a5 100755 --- a/selfdrive/debug/print_docs_diff.py +++ b/selfdrive/debug/print_docs_diff.py @@ -83,7 +83,7 @@ def print_car_info_diff(path): for new_car, base_car in car_changes: # Tier changes if base_car.tier != new_car.tier: - changes["tier"].append(f"- Tier for {base_car.make} {base_car.name} changed! ({base_car.tier.name.title()} {ARROW_SYMBOL} {new_car.tier.name.title()})") + changes["tier"].append(f"- Tier for {base_car.name} changed! ({base_car.tier.name.title()} {ARROW_SYMBOL} {new_car.tier.name.title()})") # Column changes row_diff = build_column_diff(base_car, new_car) @@ -92,11 +92,11 @@ def print_car_info_diff(path): # Detail sentence changes if base_car.detail_sentence != new_car.detail_sentence: - changes["detail"].append(f"- Sentence for {base_car.make} {base_car.name} changed!\n" + + changes["detail"].append(f"- Sentence for {base_car.name} changed!\n" + " ```diff\n" + - f" + {base_car.detail_sentence}\n" + - f" - {new_car.detail_sentence}\n" + - "```") + f" - {base_car.detail_sentence}\n" + + f" + {new_car.detail_sentence}\n" + + " ```") # Print diff if any(len(c) for c in changes.values()): From 7aa563dc89e968f12b16d9ed401c7b8fc9e419b2 Mon Sep 17 00:00:00 2001 From: royjr Date: Mon, 1 Aug 2022 22:05:00 -0400 Subject: [PATCH 291/306] Civic 2022: Add missing srs fw version (#25314) Add fingerprint from a7f4cd3bd223a19e --- selfdrive/car/honda/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index b8ae3d11f9..88e118cc3d 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -1415,6 +1415,7 @@ FW_VERSIONS = { (Ecu.srs, 0x18DA53F1, None): [ b'77959-T20-A970\x00\x00', b'77959-T47-A940\x00\x00', + b'77959-T47-A950\x00\x00', ], (Ecu.combinationMeter, 0x18DA60F1, None): [ b'78108-T21-A220\x00\x00', From 82fbd1414428f9c4cb9b7542a55858ea5cdcd3b0 Mon Sep 17 00:00:00 2001 From: Comma Device Date: Mon, 1 Aug 2022 19:25:35 -0700 Subject: [PATCH 292/306] update tici power monitor --- system/hardware/tici/power_monitor.py | 71 ++++++++++----------------- 1 file changed, 27 insertions(+), 44 deletions(-) diff --git a/system/hardware/tici/power_monitor.py b/system/hardware/tici/power_monitor.py index 07362c8398..3e00376b23 100755 --- a/system/hardware/tici/power_monitor.py +++ b/system/hardware/tici/power_monitor.py @@ -1,15 +1,16 @@ #!/usr/bin/env python3 import sys import time -import numpy as np +import datetime from typing import List from common.realtime import Ratekeeper +from common.filter_simple import FirstOrderFilter -def average(avg, sample): - # Weighted avg between existing value and new sample - return ((avg[0] * avg[1] + sample) / (avg[1] + 1), avg[1] + 1) +def read_power(): + with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/power1_input") as f: + return int(f.read()) / 1e6 def sample_power(seconds=5) -> List[float]: rate = 123 @@ -17,8 +18,7 @@ def sample_power(seconds=5) -> List[float]: pwrs = [] for _ in range(rate*seconds): - with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/power1_input") as f: - pwrs.append(int(f.read()) / 1e6) + pwrs.append(read_power()) rk.keep_time() return pwrs @@ -27,47 +27,30 @@ def get_power(seconds=5): return np.mean(pwrs) -if __name__ == '__main__': - - sample_time = None +if __name__ == "__main__": + duration = None if len(sys.argv) > 1: - sample_time = int(sys.argv[1]) - - start_time = time.monotonic() - try: - voltage_average = (0, 0) # average, count - current_average = (0, 0) - power_average = (0, 0) - while sample_time is None or time.monotonic() - start_time < sample_time: - with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/in1_input") as f: - voltage_total = int(f.read()) / 1000. - - with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/curr1_input") as f: - current_total = int(f.read()) + duration = int(sys.argv[1]) - # SOM measurements are questionable - #with open("/sys/class/power_supply/bms/voltage_now") as f: - # voltage = int(f.read()) / 1e6 # volts - #with open("/sys/class/power_supply/bms/current_now") as f: - # current = int(f.read()) / 1e3 # ma - - power_total = voltage_total*current_total + rate = 23 + rk = Ratekeeper(rate, print_delay_threshold=None) + fltr = FirstOrderFilter(0, 5, 1. / rate, initialized=False) - # compute averages - voltage_average = average(voltage_average, voltage_total) - current_average = average(current_average, current_total) - power_average = average(power_average, power_total) + measurements = [] + start_time = time.monotonic() - print(f"now: {power_total:.2f} mW, avg: {power_average[0]:.2f} mW") - time.sleep(0.25) + try: + while duration is None or time.monotonic() - start_time < duration: + fltr.update(read_power()) + if rk.frame % rate == 0: + measurements.append(fltr.x) + t = datetime.timedelta(seconds=time.monotonic() - start_time) + avg = sum(measurements) / len(measurements) + print(f"Now: {fltr.x:.2f} W, Avg: {avg:.2f} W over {t}") + rk.keep_time() except KeyboardInterrupt: pass - finally: - stop_time = time.monotonic() - print("\n----------------------Average-----------------------------------") - voltage = voltage_average[0] - current = current_average[0] - power = power_average[0] - print(f"{voltage:.2f} volts {current:12.2f} ma {power:12.2f} mW {power_total:12.2f} mW") - print(f" {stop_time - start_time:.2f} Seconds {voltage_average[1]} samples") - print("----------------------------------------------------------------") + + t = datetime.timedelta(seconds=time.monotonic() - start_time) + avg = sum(measurements) / len(measurements) + print(f"\nAverage power: {avg:.2f}W over {t}") From 73ddddd9877ee2c37ec3b26c440eae51170175ee Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Mon, 1 Aug 2022 22:29:48 -0400 Subject: [PATCH 293/306] VW MQB: Add video for Arteon/CC family (#25330) * VW MQB: Add video for Arteon/CC family * single line is fine Co-authored-by: Shane Smiskol --- selfdrive/car/volkswagen/values.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 25f7eb1424..9f58d68f81 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -122,10 +122,10 @@ class VWCarInfo(CarInfo): CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { CAR.ARTEON_MK1: [ - VWCarInfo("Volkswagen Arteon 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533), - VWCarInfo("Volkswagen Arteon R 2020-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533), - VWCarInfo("Volkswagen Arteon eHybrid 2020-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533), - VWCarInfo("Volkswagen CC 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533), + VWCarInfo("Volkswagen Arteon 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533, video_link="https://youtu.be/FAomFKPFlDA"), + VWCarInfo("Volkswagen Arteon R 2020-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533, video_link="https://youtu.be/FAomFKPFlDA"), + VWCarInfo("Volkswagen Arteon eHybrid 2020-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533, video_link="https://youtu.be/FAomFKPFlDA"), + VWCarInfo("Volkswagen CC 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533, video_link="https://youtu.be/FAomFKPFlDA"), ], CAR.ATLAS_MK1: [ VWCarInfo("Volkswagen Atlas 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), From e7b3ebdb17c1bb931af704f2c36defdc8874ac28 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 1 Aug 2022 20:02:53 -0700 Subject: [PATCH 294/306] power monitor: fix missing numpy import --- system/hardware/tici/power_monitor.py | 1 + 1 file changed, 1 insertion(+) diff --git a/system/hardware/tici/power_monitor.py b/system/hardware/tici/power_monitor.py index 3e00376b23..f9d1e3cc41 100755 --- a/system/hardware/tici/power_monitor.py +++ b/system/hardware/tici/power_monitor.py @@ -2,6 +2,7 @@ import sys import time import datetime +import numpy as np from typing import List from common.realtime import Ratekeeper From ee6570da4a3fd7e8cbb27feae50c59064f1d55c4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 1 Aug 2022 20:03:32 -0700 Subject: [PATCH 295/306] enable panda deep sleep (#24949) --- panda | 2 +- selfdrive/boardd/boardd.cc | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/panda b/panda index 4b86b83991..8b26ce940f 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 4b86b83991e6be699c1eba79ea82846533f55467 +Subproject commit 8b26ce940f8193012ede411fa55ed30e2c34c536 diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index f47b5936be..240935175b 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -193,9 +193,11 @@ Panda *usb_connect(std::string serial="", uint32_t index=0) { return nullptr; } + // common panda config if (getenv("BOARDD_LOOPBACK")) { panda->set_loopback(true); } + panda->enable_deepsleep(); // power on charging, only the first time. Panda can also change mode and it causes a brief disconneciton #ifndef __x86_64__ From 772b748689cff4d6dc6aab6a8a20247b29a86056 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Mon, 1 Aug 2022 20:35:14 -0700 Subject: [PATCH 296/306] Cleanup calibration code (#25119) * First attempt * worksish * tests pass * cleanup * get rid of garbahe * fix name * Still used in xx * add debug functions * used * Revert "used" This reverts commit 276e8ebab06d2d4f0e9927ba32b7d8aca2bf88c3. * Update ref --- common/transformations/camera.py | 15 +- common/transformations/model.py | 147 ++++++------------ selfdrive/locationd/calibrationd.py | 6 - selfdrive/modeld/SConscript | 4 +- selfdrive/modeld/modeld.cc | 56 +++---- selfdrive/test/process_replay/model_replay.py | 4 +- selfdrive/test/process_replay/ref_commit | 2 +- 7 files changed, 85 insertions(+), 149 deletions(-) diff --git a/common/transformations/camera.py b/common/transformations/camera.py index 5d100d1047..b20ed5c64b 100644 --- a/common/transformations/camera.py +++ b/common/transformations/camera.py @@ -77,6 +77,7 @@ def get_view_frame_from_road_frame(roll, pitch, yaw, height): return np.hstack((view_from_road, [[0], [height], [0]])) + # aka 'extrinsic_matrix' def get_view_frame_from_calib_frame(roll, pitch, yaw, height): device_from_calib= orient.rot_from_euler([roll, pitch, yaw]) @@ -94,12 +95,6 @@ def vp_from_ke(m): return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0]) -def vp_from_rpy(rpy, intrinsics=fcam_intrinsics): - e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22) - ke = np.dot(intrinsics, e) - return vp_from_ke(ke) - - def roll_from_ke(m): # note: different from calibration.h/RollAnglefromKE: i think that one's just wrong return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]), @@ -163,11 +158,3 @@ def img_from_device(pt_device): pt_img = pt_view/pt_view[:, 2:3] return pt_img.reshape(input_shape)[:, :2] - -def get_camera_frame_from_calib_frame(camera_frame_from_road_frame, intrinsics=fcam_intrinsics): - camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)] - calib_frame_from_ground = np.dot(intrinsics, - get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)] - ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground) - camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame) - return camera_frame_from_calib_frame diff --git a/common/transformations/model.py b/common/transformations/model.py index 62eb86423b..811a17eafe 100644 --- a/common/transformations/model.py +++ b/common/transformations/model.py @@ -1,10 +1,7 @@ import numpy as np from common.transformations.camera import (FULL_FRAME_SIZE, - FOCAL, - get_view_frame_from_road_frame, - get_view_frame_from_calib_frame, - vp_from_ke) + get_view_frame_from_calib_frame) # segnet SEGNET_SIZE = (512, 384) @@ -14,21 +11,6 @@ def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size= [0.0, float(segnet_size[1]) / full_frame_size[1]]]) segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx -# model -MODEL_INPUT_SIZE = (320, 160) -MODEL_YUV_SIZE = (MODEL_INPUT_SIZE[0], MODEL_INPUT_SIZE[1] * 3 // 2) -MODEL_CX = MODEL_INPUT_SIZE[0] / 2. -MODEL_CY = 21. - -model_fl = 728.0 -model_height = 1.22 - -# canonical model transform -model_intrinsics = np.array([ - [model_fl, 0.0, MODEL_CX], - [0.0, model_fl, MODEL_CY], - [0.0, 0.0, 1.0]]) - # MED model MEDMODEL_INPUT_SIZE = (512, 256) @@ -63,104 +45,73 @@ sbigmodel_intrinsics = np.array([ [0.0, sbigmodel_fl, 0.5 * (256 + MEDMODEL_CY)], [0.0, 0.0, 1.0]]) -model_frame_from_road_frame = np.dot(model_intrinsics, - get_view_frame_from_road_frame(0, 0, 0, model_height)) - -bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics, - get_view_frame_from_road_frame(0, 0, 0, model_height)) - bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics, get_view_frame_from_calib_frame(0, 0, 0, 0)) -sbigmodel_frame_from_road_frame = np.dot(sbigmodel_intrinsics, - get_view_frame_from_road_frame(0, 0, 0, model_height)) sbigmodel_frame_from_calib_frame = np.dot(sbigmodel_intrinsics, get_view_frame_from_calib_frame(0, 0, 0, 0)) -medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics, - get_view_frame_from_road_frame(0, 0, 0, model_height)) - medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics, get_view_frame_from_calib_frame(0, 0, 0, 0)) -model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics)) medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics)) -# 'camera from model camera' -def get_model_height_transform(camera_frame_from_road_frame, height): - camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([ - [1, 0, 0], - [0, 1, 0], - [0, 0, 0], - [0, 0, 1], - ])) - - camera_frame_from_road_high = np.dot(camera_frame_from_road_frame, np.array([ - [1, 0, 0], - [0, 1, 0], - [0, 0, height - model_height], - [0, 0, 1], - ])) - - road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high) - high_camera_from_low_camera = np.dot(camera_frame_from_road_ground, road_high_from_camera_frame) - - return high_camera_from_low_camera - - -# camera_frame_from_model_frame aka 'warp matrix' -# was: calibration.h/CalibrationTransform -def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height, camera_fl=FOCAL): - vp = vp_from_ke(camera_frame_from_road_frame) - - model_zoom = camera_fl / model_fl - model_camera_from_model_frame = np.array([ - [model_zoom, 0.0, vp[0] - MODEL_CX * model_zoom], - [0.0, model_zoom, vp[1] - MODEL_CY * model_zoom], - [0.0, 0.0, 1.0], - ]) - - # This function is super slow, so skip it if height is very close to canonical - # TODO: speed it up! - if abs(height - model_height) > 0.001: - camera_from_model_camera = get_model_height_transform(camera_frame_from_road_frame, height) - else: - camera_from_model_camera = np.eye(3) +### This function mimics the update_calibration logic in modeld.cc +### Manually verified to give similar results to xx.uncommon.utils.transform_img +def get_warp_matrix(rpy_calib, wide_cam=False, big_model=False, tici=True): + from common.transformations.orientation import rot_from_euler + from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics - return np.dot(camera_from_model_camera, model_camera_from_model_frame) - - -def get_camera_frame_from_medmodel_frame(camera_frame_from_road_frame): - camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)] - medmodel_frame_from_ground = medmodel_frame_from_road_frame[:, (0, 1, 3)] - - ground_from_medmodel_frame = np.linalg.inv(medmodel_frame_from_ground) - camera_frame_from_medmodel_frame = np.dot(camera_frame_from_ground, ground_from_medmodel_frame) + if tici and wide_cam: + intrinsics = tici_ecam_intrinsics + elif tici: + intrinsics = tici_fcam_intrinsics + else: + intrinsics = eon_fcam_intrinsics - return camera_frame_from_medmodel_frame + if big_model: + sbigmodel_from_calib = sbigmodel_frame_from_calib_frame[:, (0,1,2)] + calib_from_model = np.linalg.inv(sbigmodel_from_calib) + else: + medmodel_from_calib = medmodel_frame_from_calib_frame[:, (0,1,2)] + calib_from_model = np.linalg.inv(medmodel_from_calib) + device_from_calib = rot_from_euler(rpy_calib) + camera_from_calib = intrinsics.dot(view_frame_from_device_frame.dot(device_from_calib)) + warp_matrix = camera_from_calib.dot(calib_from_model) + return warp_matrix -def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame): - camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)] - bigmodel_frame_from_ground = bigmodel_frame_from_road_frame[:, (0, 1, 3)] +### This is old, just for debugging +def get_warp_matrix_old(rpy_calib, wide_cam=False, big_model=False, tici=True): + from common.transformations.orientation import rot_from_euler + from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics - ground_from_bigmodel_frame = np.linalg.inv(bigmodel_frame_from_ground) - camera_frame_from_bigmodel_frame = np.dot(camera_frame_from_ground, ground_from_bigmodel_frame) - return camera_frame_from_bigmodel_frame + def get_view_frame_from_road_frame(roll, pitch, yaw, height): + device_from_road = rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1])) + view_from_road = view_frame_from_device_frame.dot(device_from_road) + return np.hstack((view_from_road, [[0], [height], [0]])) + if tici and wide_cam: + intrinsics = tici_ecam_intrinsics + elif tici: + intrinsics = tici_fcam_intrinsics + else: + intrinsics = eon_fcam_intrinsics -def get_model_frame(snu_full, camera_frame_from_model_frame, size): - idxs = camera_frame_from_model_frame.dot(np.column_stack([np.tile(np.arange(size[0]), size[1]), - np.tile(np.arange(size[1]), (size[0], 1)).T.flatten(), - np.ones(size[0] * size[1])]).T).T.astype(int) - calib_flat = snu_full[idxs[:, 1], idxs[:, 0]] - if len(snu_full.shape) == 3: - calib = calib_flat.reshape((size[1], size[0], 3)) - elif len(snu_full.shape) == 2: - calib = calib_flat.reshape((size[1], size[0])) + model_height = 1.22 + if big_model: + model_from_road = np.dot(sbigmodel_intrinsics, + get_view_frame_from_road_frame(0, 0, 0, model_height)) else: - raise ValueError("shape of input img is weird") - return calib + model_from_road = np.dot(medmodel_intrinsics, + get_view_frame_from_road_frame(0, 0, 0, model_height)) + ground_from_model = np.linalg.inv(model_from_road[:, (0, 1, 3)]) + + E = get_view_frame_from_road_frame(*rpy_calib, 1.22) + camera_frame_from_road_frame = intrinsics.dot(E) + camera_frame_from_ground = camera_frame_from_road_frame[:,(0,1,3)] + warp_matrix = camera_frame_from_ground .dot(ground_from_model) + return warp_matrix diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 81bcc6ce1c..9e6536f9b5 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -17,8 +17,6 @@ import cereal.messaging as messaging from common.conversions import Conversions as CV from common.params import Params, put_nonblocking from common.realtime import set_realtime_priority -from common.transformations.model import model_height -from common.transformations.camera import get_view_frame_from_road_frame from common.transformations.orientation import rot_from_euler, euler_from_rot from system.swaglog import cloudlog @@ -180,7 +178,6 @@ class Calibrator: def get_msg(self) -> capnp.lib.capnp._DynamicStructBuilder: smooth_rpy = self.get_smooth_rpy() - extrinsic_matrix = get_view_frame_from_road_frame(0, smooth_rpy[1], smooth_rpy[2], model_height) msg = messaging.new_message('liveCalibration') liveCalibration = msg.liveCalibration @@ -188,16 +185,13 @@ class Calibrator: liveCalibration.validBlocks = self.valid_blocks liveCalibration.calStatus = self.cal_status liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100) - liveCalibration.extrinsicMatrix = extrinsic_matrix.flatten().tolist() liveCalibration.rpyCalib = smooth_rpy.tolist() liveCalibration.rpyCalibSpread = self.calib_spread.tolist() if self.not_car: - extrinsic_matrix = get_view_frame_from_road_frame(0, 0, 0, model_height) liveCalibration.validBlocks = INPUTS_NEEDED liveCalibration.calStatus = Calibration.CALIBRATED liveCalibration.calPerc = 100. - liveCalibration.extrinsicMatrix = extrinsic_matrix.flatten().tolist() liveCalibration.rpyCalib = [0, 0, 0] liveCalibration.rpyCalibSpread = self.calib_spread.tolist() diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 3e9738d864..a108e2c9d5 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -1,6 +1,6 @@ import os -Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc') +Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations') lenv = env.Clone() libs = [cereal, messaging, common, visionipc, gpucommon, @@ -82,4 +82,4 @@ lenv.Program('_dmonitoringmodeld', [ lenv.Program('_modeld', [ "modeld.cc", "models/driving.cc", - ]+common_model, LIBS=libs) + ]+common_model, LIBS=libs + transformations) diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc index 6039599e62..653661a3a8 100644 --- a/selfdrive/modeld/modeld.cc +++ b/selfdrive/modeld/modeld.cc @@ -6,6 +6,8 @@ #include #include "cereal/messaging/messaging.h" +#include "common/transformations/orientation.hpp" + #include "cereal/visionipc/visionipc_client.h" #include "common/clutil.h" #include "common/params.h" @@ -14,40 +16,43 @@ #include "system/hardware/hw.h" #include "selfdrive/modeld/models/driving.h" + ExitHandler do_exit; -mat3 update_calibration(Eigen::Matrix &extrinsics, bool wide_camera, bool bigmodel_frame) { +mat3 update_calibration(Eigen::Vector3d device_from_calib_euler, bool wide_camera, bool bigmodel_frame) { /* import numpy as np - from common.transformations.model import medmodel_frame_from_road_frame - medmodel_frame_from_ground = medmodel_frame_from_road_frame[:, (0, 1, 3)] - ground_from_medmodel_frame = np.linalg.inv(medmodel_frame_from_ground) + from common.transformations.model import medmodel_frame_from_calib_frame + medmodel_frame_from_calib_frame = medmodel_frame_from_calib_frame[:, :3] + calib_from_smedmodel_frame = np.linalg.inv(medmodel_frame_from_calib_frame) */ - static const auto ground_from_medmodel_frame = (Eigen::Matrix() << + static const auto calib_from_medmodel = (Eigen::Matrix() << 0.00000000e+00, 0.00000000e+00, 1.00000000e+00, - -1.09890110e-03, 0.00000000e+00, 2.81318681e-01, - -1.84808520e-20, 9.00738606e-04, -4.28751576e-02).finished(); + 1.09890110e-03, 0.00000000e+00, -2.81318681e-01, + -2.25466395e-20, 1.09890110e-03,-5.23076923e-02).finished(); - static const auto ground_from_sbigmodel_frame = (Eigen::Matrix() << + static const auto calib_from_sbigmodel = (Eigen::Matrix() << 0.00000000e+00, 7.31372216e-19, 1.00000000e+00, - -2.19780220e-03, 4.11497335e-19, 5.62637363e-01, - -5.46146580e-20, 1.80147721e-03, -2.73464241e-01).finished(); + 2.19780220e-03, 4.11497335e-19, -5.62637363e-01, + -6.66298828e-20, 2.19780220e-03, -3.33626374e-01).finished(); + + static const auto view_from_device = (Eigen::Matrix() << + 0.0, 1.0, 0.0, + 0.0, 0.0, 1.0, + 1.0, 0.0, 0.0).finished(); - const auto cam_intrinsics = Eigen::Matrix(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v); - static const mat3 yuv_transform = get_model_yuv_transform(); - auto ground_from_model_frame = bigmodel_frame ? ground_from_sbigmodel_frame : ground_from_medmodel_frame; - auto camera_frame_from_road_frame = cam_intrinsics * extrinsics; - Eigen::Matrix camera_frame_from_ground; - camera_frame_from_ground.col(0) = camera_frame_from_road_frame.col(0); - camera_frame_from_ground.col(1) = camera_frame_from_road_frame.col(1); - camera_frame_from_ground.col(2) = camera_frame_from_road_frame.col(3); + const auto cam_intrinsics = Eigen::Matrix(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v); + Eigen::Matrix device_from_calib = euler2rot(device_from_calib_euler).cast (); + auto calib_from_model = bigmodel_frame ? calib_from_sbigmodel : calib_from_medmodel; + auto camera_from_calib = cam_intrinsics * view_from_device * device_from_calib; + auto warp_matrix = camera_from_calib * calib_from_model; - auto warp_matrix = camera_frame_from_ground * ground_from_model_frame; mat3 transform = {}; for (int i=0; i<3*3; i++) { transform.v[i] = warp_matrix(i / 3, i % 3); } + static const mat3 yuv_transform = get_model_yuv_transform(); return matmul3(yuv_transform, transform); } @@ -114,14 +119,13 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl bool is_rhd = ((bool)sm["driverMonitoringState"].getDriverMonitoringState().getIsRHD()); frame_id = sm["roadCameraState"].getRoadCameraState().getFrameId(); if (sm.updated("liveCalibration")) { - auto extrinsic_matrix = sm["liveCalibration"].getLiveCalibration().getExtrinsicMatrix(); - Eigen::Matrix extrinsic_matrix_eigen; - for (int i = 0; i < 4*3; i++) { - extrinsic_matrix_eigen(i / 4, i % 4) = extrinsic_matrix[i]; + auto rpy_calib = sm["liveCalibration"].getLiveCalibration().getRpyCalib(); + Eigen::Vector3d device_from_calib_euler; + for (int i=0; i<3; i++) { + device_from_calib_euler(i) = rpy_calib[i]; } - - model_transform_main = update_calibration(extrinsic_matrix_eigen, main_wide_camera, false); - model_transform_extra = update_calibration(extrinsic_matrix_eigen, true, true); + model_transform_main = update_calibration(device_from_calib_euler, main_wide_camera, false); + model_transform_extra = update_calibration(device_from_calib_euler, true, true); live_calib_seen = true; } diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 06720d4a1a..8b41d6df1b 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -10,7 +10,7 @@ import cereal.messaging as messaging from cereal.visionipc import VisionIpcServer, VisionStreamType from common.spinner import Spinner from common.timeout import Timeout -from common.transformations.camera import get_view_frame_from_road_frame, tici_f_frame_size, tici_d_frame_size +from common.transformations.camera import tici_f_frame_size, tici_d_frame_size from system.hardware import PC from selfdrive.manager.process_config import managed_processes from selfdrive.test.openpilotci import BASE_URL, get_url @@ -35,7 +35,7 @@ def get_log_fn(ref_commit, test_route): def replace_calib(msg, calib): msg = msg.as_builder() if calib is not None: - msg.liveCalibration.extrinsicMatrix = get_view_frame_from_road_frame(*calib, 1.22).flatten().tolist() + msg.liveCalibration.rpyCalib = calib.tolist() return msg diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index ef0a47fbb8..d1c0ef985e 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -20c140b10eef52b6f6d6b9e142ed944264865bac \ No newline at end of file +6d9bd0e80ccdf39827bded1883adbc922224bdf1 From 32201bbbbda0ce4c2ff8cad81ecfe45ca15e4f81 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Mon, 1 Aug 2022 22:06:58 -0700 Subject: [PATCH 297/306] Quectel unix timestamp (#25329) * Use laika * Fix bug * Better timestamp name * Better name * bump cereal --- cereal | 2 +- selfdrive/locationd/locationd.cc | 2 +- selfdrive/locationd/ublox_msg.cc | 2 +- selfdrive/sensord/rawgps/rawgpsd.py | 5 ++--- 4 files changed, 5 insertions(+), 6 deletions(-) diff --git a/cereal b/cereal index a4db5e79e4..fbd45de6e6 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit a4db5e79e4fac20a906bd951f75b1b91c06148b5 +Subproject commit fbd45de6e6bc71b4561eaef65dd86fce952c5d55 diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index ffdd649a84..7714931b94 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -284,7 +284,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(10.0 * log.getAccuracy(),2) + std::pow(10.0 * log.getVerticalAccuracy(),2)).asDiagonal(); MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(log.getSpeedAccuracy() * 10.0, 2)).asDiagonal(); - this->unix_timestamp_millis = log.getTimestamp(); + this->unix_timestamp_millis = log.getUnixTimestampMillis(); double gps_est_error = (this->kf->get_x().segment(STATE_ECEF_POS_START) - ecef_pos).norm(); VectorXd orientation_ecef = quat2euler(vector2quat(this->kf->get_x().segment(STATE_ECEF_ORIENTATION_START))); diff --git a/selfdrive/locationd/ublox_msg.cc b/selfdrive/locationd/ublox_msg.cc index c9833410e7..c9f732e9ab 100644 --- a/selfdrive/locationd/ublox_msg.cc +++ b/selfdrive/locationd/ublox_msg.cc @@ -144,7 +144,7 @@ kj::Array UbloxMsgParser::gen_nav_pvt(ubx_t::nav_pvt_t *msg) { timeinfo.tm_sec = msg->sec(); std::time_t utc_tt = timegm(&timeinfo); - gpsLoc.setTimestamp(utc_tt * 1e+03 + msg->nano() * 1e-06); + gpsLoc.setUnixTimestampMillis(utc_tt * 1e+03 + msg->nano() * 1e-06); float f[] = { msg->vel_n() * 1e-03f, msg->vel_e() * 1e-03f, msg->vel_d() * 1e-03f }; gpsLoc.setVNED(f); gpsLoc.setVerticalAccuracy(msg->v_acc() * 1e-03); diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py index 14f0fe3878..e3336f4870 100755 --- a/selfdrive/sensord/rawgps/rawgpsd.py +++ b/selfdrive/sensord/rawgps/rawgpsd.py @@ -7,10 +7,10 @@ import math import time from typing import NoReturn from struct import unpack_from, calcsize, pack - import cereal.messaging as messaging from cereal import log from system.swaglog import cloudlog +from laika.gps_time import GPSTime from selfdrive.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv from selfdrive.sensord.rawgps.structs import dict_unpacker @@ -211,8 +211,7 @@ def main() -> NoReturn: gps.altitude = report["q_FltFinalPosAlt"] gps.speed = math.sqrt(sum([x**2 for x in vNED])) gps.bearingDeg = report["q_FltHeadingRad"] * 180/math.pi - # TODO: this probably isn't right, use laika for this - gps.timestamp = report['w_GpsWeekNumber']*604800*1000 + report['q_GpsFixTimeMs'] + gps.unixTimestampMillis = GPSTime(report['w_GpsWeekNumber'], 1e-3*report['q_GpsFixTimeMs']).as_datetime().timestamp()*1e3 gps.source = log.GpsLocationData.SensorSource.qcomdiag gps.vNED = vNED gps.verticalAccuracy = report["q_FltVdop"] From ecba8732088d27fac84c9d1c84c6082e0638009f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 2 Aug 2022 12:44:21 -0700 Subject: [PATCH 298/306] Multilang: handle localized plurals (#25337) * Add localized plural handling * Do another location with plurals * fix test --- selfdrive/ui/qt/util.cc | 6 +- selfdrive/ui/qt/widgets/input.cc | 2 +- selfdrive/ui/tests/test_translations.py | 2 +- selfdrive/ui/translations/languages.json | 2 +- selfdrive/ui/translations/main_en.ts | 38 +++++ selfdrive/ui/translations/main_ja.ts | 200 +++++++++++++---------- selfdrive/ui/translations/main_ko.ts | 40 ++++- selfdrive/ui/translations/main_zh-CHS.ts | 40 ++++- selfdrive/ui/translations/main_zh-CHT.ts | 40 ++++- selfdrive/ui/update_translations.py | 10 +- 10 files changed, 259 insertions(+), 121 deletions(-) create mode 100644 selfdrive/ui/translations/main_en.ts diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index a7d5438ae4..381c065901 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -79,13 +79,13 @@ QString timeAgo(const QDateTime &date) { s = "now"; } else if (diff < 60 * 60) { int minutes = diff / 60; - s = QObject::tr("%1 minute%2 ago").arg(minutes).arg(minutes > 1 ? "s" : ""); + s = QObject::tr("%n minute(s) ago", "", minutes); } else if (diff < 60 * 60 * 24) { int hours = diff / (60 * 60); - s = QObject::tr("%1 hour%2 ago").arg(hours).arg(hours > 1 ? "s" : ""); + s = QObject::tr("%n hour(s) ago", "", hours); } else if (diff < 3600 * 24 * 7) { int days = diff / (60 * 60 * 24); - s = QObject::tr("%1 day%2 ago").arg(days).arg(days > 1 ? "s" : ""); + s = QObject::tr("%n day(s) ago", "", days); } else { s = date.date().toString(); } diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc index dc54a3621c..d703825885 100644 --- a/selfdrive/ui/qt/widgets/input.cc +++ b/selfdrive/ui/qt/widgets/input.cc @@ -165,7 +165,7 @@ void InputDialog::handleEnter() { done(QDialog::Accepted); emitText(line->text()); } else { - setMessage(tr("Need at least %1 characters!").arg(minLength), false); + setMessage(tr("Need at least %n character(s)!", "", minLength), false); } } diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index b44ab11ede..ae91dd6f83 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -39,7 +39,7 @@ class TestTranslations(unittest.TestCase): f"{name} has no XML translation file, run selfdrive/ui/update_translations.py") def test_translations_updated(self): - update_translations(translations_dir=TMP_TRANSLATIONS_DIR) + update_translations(plural_only=["main_en"], translations_dir=TMP_TRANSLATIONS_DIR) for name, file in self.translation_files.items(): with self.subTest(name=name, file=file): diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json index 48f0948674..cc3995738e 100644 --- a/selfdrive/ui/translations/languages.json +++ b/selfdrive/ui/translations/languages.json @@ -1,5 +1,5 @@ { - "English": "", + "English": "main_en", "中文（繁體）": "main_zh-CHT", "中文（简体）": "main_zh-CHS", "한국어": "main_ko" diff --git a/selfdrive/ui/translations/main_en.ts b/selfdrive/ui/translations/main_en.ts new file mode 100644 index 0000000000..3f9692e5fa --- /dev/null +++ b/selfdrive/ui/translations/main_en.ts @@ -0,0 +1,38 @@ + + + + + InputDialog + + Need at least %n character(s)! + + Need at least %n character! + Need at least %n characters! + + + + + QObject + + %n minute(s) ago + + %n minute ago + %n minutes ago + + + + %n hour(s) ago + + %n hour ago + %n hours ago + + + + %n day(s) ago + + %n day ago + %n days ago + + + + diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index c3b2b850ee..67f48341b7 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -108,152 +108,152 @@ DevicePanel - + Dongle ID ドングル番号 (Dongle ID) - + N/A N/A - + Serial シリアル番号 - + Driver Camera 車内カメラ - + PREVIEW 見る - + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 車内カメラをプレビューして、ドライバー監視システムの視界を確認ができます。(車両の電源を切る必要があります) - + Reset Calibration ｷｬﾘﾌﾞﾚｰｼｮﾝをﾘｾｯﾄ - + RESET ﾘｾｯﾄ - + Are you sure you want to reset calibration? ｷｬﾘﾌﾞﾚｰｼｮﾝをリセットしてもよろしいですか？ - + Review Training Guide 入門書を見る - + REVIEW 見る - + Review the rules, features, and limitations of openpilot openpilot の特徴を見る - + Are you sure you want to review the training guide? 入門書を見てもよろしいですか？ - + Regulatory 認証情報 - + VIEW 見る - + Change Language 言語を変更 - + CHANGE 変更 - + Select a language 言語を選択 - + Reboot 再起動 - + Power Off 電源を切る - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot は、左または右の4°以内、上の5°または下の8°以内にデバイスを取付ける必要があります。キャリブレーションを引き続きます、リセットはほとんど必要ありません。 - + Your device is pointed %1° %2 and %3° %4. このデバイスは%2の%1°、%4の%3°に向けます。 - + down 下 - + up 上 - + left 左 - + right 右 - + Are you sure you want to reboot? 再起動してもよろしいですか？ - + Disengage to Reboot openpilot をキャンセルして再起動ができます - + Are you sure you want to power off? シャットダウンしてもよろしいですか？ - + Disengage to Power Off openpilot をキャンセルしてシャットダウンができます @@ -294,7 +294,7 @@ DriverViewScene - + camera starting ｶﾒﾗを起動しています @@ -306,10 +306,16 @@ Cancel キャンセル     - + + Need at least %n character(s)! + + ﾊﾟｽﾜｰﾄﾞは％%n文字以上で入力してください！ + + + Need at least %1 characters! - ﾊﾟｽﾜｰﾄﾞは％%1文字以上で入力してください！ + ﾊﾟｽﾜｰﾄﾞは％%1文字以上で入力してください！     @@ -488,30 +494,30 @@ location set NvgWindow - + km/h km/h - + mph mph - - + + MAX 最高速度 - - + + SPEED 速度 - - + + LIMIT 制限速度 @@ -635,20 +641,38 @@ location set openpilot openpilot - + + %n minute(s) ago + + %n 分前 + + + + + %n hour(s) ago + + %n 時間前 + + + + + %n day(s) ago + + %n 日前 + + + %1 minute%2 ago - %1 分%2 前 + %1 分%2 前 - %1 hour%2 ago - %1 時間%2 前 + %1 時間%2 前 - %1 day%2 ago - %1 日%2 前 + %1 日%2 前 @@ -710,33 +734,33 @@ location set SettingsWindow - + × × - + Device デバイス - - + + Network ﾈｯﾄﾜｰｸ - + Toggles 切り替え - + Software ｿﾌﾄｳｪｱ - + Navigation ﾅﾋﾞｹﾞｰｼｮﾝ @@ -975,89 +999,89 @@ location set SoftwarePanel - + Git Branch Git ブランチ - + Git Commit Git コミット - + OS Version OS バージョン - + Version バージョン - + Last Update Check 最終更新確認 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. openpilotが最後にアップデートの確認に成功してからの時間です。アップデート処理は、車の電源が切れているときのみ実行されます。 - + Check for Update 更新プログラムをチェック - + CHECKING 確認中 - + Switch Branch - + ENTER - - + + The new branch will be pulled the next time the updater runs. - + Enter branch name - + UNINSTALL アンインストール - + Uninstall %1 %1をアンインストール - + Are you sure you want to uninstall? アンインストールしてもよろしいですか？ - + failed to fetch update 更新のﾀﾞｳﾝﾛｰﾄﾞにｴﾗｰが発生しました - - + + CHECK 確認 @@ -1165,72 +1189,70 @@ location set 時速31マイル（50km）を超えるスピードで走行中、方向指示器を作動させずに検出された車線ライン上に車両が触れた場合、車線に戻るアラートを受信します。 - Enable Right-Hand Drive - 右ハンドルを有効化 + 右ハンドルを有効化 - Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat. - openpilot が左側通行規則を遵守し、右ハンドルでドライバー監視を行うことを可能にします。 + openpilot が左側通行規則を遵守し、右ハンドルでドライバー監視を行うことを可能にします。 - + Use Metric System メートル法を有効化 - + Display speed in km/h instead of mph. 速度は mph ではなく km/h で表示されます。 - + Record and Upload Driver Camera 車内カメラの録画とアップロード - + Upload data from the driver facing camera and help improve the driver monitoring algorithm. 車内カメラの映像をアップロードし、ドライバー監視システムのアルゴリズムの向上に役立てます。 - + Disengage On Accelerator Pedal ｱｸｾﾙ踏むと openpilot をｷｬﾝｾﾙ - + When enabled, pressing the accelerator pedal will disengage openpilot. 有効な場合は、アクセルを踏むと openpilot をキャンセルします。 - + Show ETA in 24h format 24時間表示 - + Use 24h format instead of am/pm AM/PM の代わりに24時間形式を使用します - + Show Map on Left Side of UI ﾃﾞｨｽﾌﾟﾚｲの左側にﾏｯﾌﾟを表示 - + 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！ diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index fe10008635..bc93fb7bda 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -306,10 +306,16 @@ Cancel 취소 - + + Need at least %n character(s)! + + + + + Need at least %1 characters! - 최소 %1 자가 필요합니다! + 최소 %1 자가 필요합니다! @@ -635,20 +641,38 @@ location set openpilot openpilot - + + %n minute(s) ago + + + + + + + %n hour(s) ago + + + + + + + %n day(s) ago + + + + + %1 minute%2 ago - %1 분전 + %1 분전 - %1 hour%2 ago - %1 시간전 + %1 시간전 - %1 day%2 ago - %1 일전 + %1 일전 diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 5c949b0d3b..b1c8928cac 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -306,10 +306,16 @@ Cancel 取消 - + + Need at least %n character(s)! + + 至少需要 %n 个字符！ + + + Need at least %1 characters! - 至少需要 %1 个字符！ + 至少需要 %1 个字符！ @@ -633,20 +639,38 @@ location set openpilot openpilot - + + %n minute(s) ago + + %n 分钟前 + + + + + %n hour(s) ago + + %n 小时前 + + + + + %n day(s) ago + + %n 天前 + + + %1 minute%2 ago - %1 分钟%2 前 + %1 分钟%2 前 - %1 hour%2 ago - %1 小时%2 前 + %1 小时%2 前 - %1 day%2 ago - %1 天%2 前 + %1 天%2 前 diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index d1b1566a5a..b79e275116 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -306,10 +306,16 @@ Cancel 取消 - + + Need at least %n character(s)! + + 需要至少 %n 個字元！ + + + Need at least %1 characters! - 需要至少 %1 個字元！ + 需要至少 %1 個字元！ @@ -635,23 +641,41 @@ location set openpilot openpilot - + + %n minute(s) ago + + %n 分鐘前 + + + + + %n hour(s) ago + + %n 小時前 + + + + + %n day(s) ago + + %n 天前 + + + %1 minute%2 ago we don't need %2 - %1 分鐘前 + %1 分鐘前 - %1 hour%2 ago we don't need %2 - %1 小時前 + %1 小時前 - %1 day%2 ago we don't need %2 - %1 天前 + %1 天前 diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index 9731160752..78c973c86b 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -10,7 +10,10 @@ TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations") LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json") -def update_translations(vanish=False, translations_dir=TRANSLATIONS_DIR): +def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLATIONS_DIR): + if plural_only is None: + plural_only = [] + with open(LANGUAGES_FILE, "r") as f: translation_files = json.load(f) @@ -23,6 +26,8 @@ def update_translations(vanish=False, translations_dir=TRANSLATIONS_DIR): args = f"lupdate -recursive {UI_DIR} -ts {tr_file}" if vanish: args += " -no-obsolete" + if file in plural_only: + args += " -pluralonly" ret = os.system(args) assert ret == 0 @@ -31,6 +36,7 @@ if __name__ == "__main__": parser = argparse.ArgumentParser(description="Update translation files for UI", formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument("--vanish", action="store_true", help="Remove translations with source text no longer found") + parser.add_argument("--plural-only", type=str, nargs="*", default=["main_en"], help="Translation codes to only create plural translations for (ie. the base language)") args = parser.parse_args() - update_translations(args.vanish) + update_translations(args.vanish, args.plural_only) From 51b1d99f0cd00327b9cfc3da02e859082cd9c0ea Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 2 Aug 2022 12:47:24 -0700 Subject: [PATCH 299/306] Remove obsolete translations (#25338) --- selfdrive/ui/translations/main_ja.ts | 24 --------------------- selfdrive/ui/translations/main_ko.ts | 24 --------------------- selfdrive/ui/translations/main_zh-CHS.ts | 24 --------------------- selfdrive/ui/translations/main_zh-CHT.ts | 27 ------------------------ 4 files changed, 99 deletions(-) diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 67f48341b7..0e15dd1b2c 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -313,10 +313,6 @@ ﾊﾟｽﾜｰﾄﾞは％%n文字以上で入力してください！ - - Need at least %1 characters! - ﾊﾟｽﾜｰﾄﾞは％%1文字以上で入力してください！ - Installer @@ -662,18 +658,6 @@ location set %n 日前 - - %1 minute%2 ago - %1 分%2 前 - - - %1 hour%2 ago - %1 時間%2 前 - - - %1 day%2 ago - %1 日%2 前 - Reset @@ -1188,14 +1172,6 @@ location set Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). 時速31マイル（50km）を超えるスピードで走行中、方向指示器を作動させずに検出された車線ライン上に車両が触れた場合、車線に戻るアラートを受信します。 - - Enable Right-Hand Drive - 右ハンドルを有効化 - - - Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat. - openpilot が左側通行規則を遵守し、右ハンドルでドライバー監視を行うことを可能にします。 - Use Metric System diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index bc93fb7bda..8fe0e98554 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -313,10 +313,6 @@ - - Need at least %1 characters! - 최소 %1 자가 필요합니다! - Installer @@ -662,18 +658,6 @@ location set - - %1 minute%2 ago - %1 분전 - - - %1 hour%2 ago - %1 시간전 - - - %1 day%2 ago - %1 일전 - Reset @@ -1188,14 +1172,6 @@ location set Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). 차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향 지시등이 활성화되지 않은 상태에서 감지된 차선 위를 주행할 경우 차선이탈 경고를 사용합니다. - - Enable Right-Hand Drive - 우측핸들 사용 - - - Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat. - openpilot이 좌측 교통 규칙을 준수하고 우측 운전석에서 운전자 모니터링을 수행합니다. - Use Metric System diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index b1c8928cac..02bda87829 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -313,10 +313,6 @@ 至少需要 %n 个字符！ - - Need at least %1 characters! - 至少需要 %1 个字符！ - Installer @@ -660,18 +656,6 @@ location set %n 天前 - - %1 minute%2 ago - %1 分钟%2 前 - - - %1 hour%2 ago - %1 小时%2 前 - - - %1 day%2 ago - %1 天%2 前 - Reset @@ -1186,14 +1170,6 @@ location set Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). 车速超过31mph（50km/h）时，若检测到车辆越过车道线且未打转向灯，系统将发出警告以提醒您返回车道。 - - Enable Right-Hand Drive - 启用右舵模式 - - - Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat. - 允许openpilot遵守左侧交通惯例并在右侧驾驶座上执行驾驶员监控。 - Use Metric System diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index b79e275116..0ea8e95f52 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -313,10 +313,6 @@ 需要至少 %n 個字元！ - - Need at least %1 characters! - 需要至少 %1 個字元！ - Installer @@ -662,21 +658,6 @@ location set %n 天前 - - %1 minute%2 ago - we don't need %2 - %1 分鐘前 - - - %1 hour%2 ago - we don't need %2 - %1 小時前 - - - %1 day%2 ago - we don't need %2 - %1 天前 - Reset @@ -1191,14 +1172,6 @@ location set Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). 車速在時速 50 公里 (31 英里) 以上且未打方向燈的情況下，如果偵測到車輛駛出目前車道線時，發出車道偏離警告。 - - Enable Right-Hand Drive - 啟用右駕模式 - - - Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat. - openpilot 將對右側駕駛進行監控 (但仍遵守靠左駕的交通慣例)。 - Use Metric System From abf9df336e6498b574e32083b214dbcc9458dac9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 2 Aug 2022 13:49:03 -0700 Subject: [PATCH 300/306] Fix missing Korean translations (#25340) Fix missing ko translations --- selfdrive/ui/translations/main_ko.ts | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 8fe0e98554..626373a955 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -309,8 +309,8 @@ Need at least %n character(s)! - - + + 최소 %n 자가 필요합니다! @@ -640,22 +640,22 @@ location set %n minute(s) ago - - + + %n 분전 %n hour(s) ago - - + + %n 시간전 %n day(s) ago - - + + %n 일전 From 54e54fb585fe0612f3f80382f4ce36077f400dfd Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 2 Aug 2022 15:53:55 -0700 Subject: [PATCH 301/306] Qcom use laika timestamp (#25344) * Qcom location: use laika to generate unix timestamp * bump laika Co-authored-by: Comma Device --- laika_repo | 2 +- selfdrive/sensord/rawgps/rawgpsd.py | 3 ++- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/laika_repo b/laika_repo index 3ce2628dfc..c8bc1fa01b 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 3ce2628dfc8ddba1769c518f90275e3caca9e8c6 +Subproject commit c8bc1fa01be9f22592efb991ee52d3d965d21968 diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py index e3336f4870..7c4582902b 100755 --- a/selfdrive/sensord/rawgps/rawgpsd.py +++ b/selfdrive/sensord/rawgps/rawgpsd.py @@ -211,7 +211,8 @@ def main() -> NoReturn: gps.altitude = report["q_FltFinalPosAlt"] gps.speed = math.sqrt(sum([x**2 for x in vNED])) gps.bearingDeg = report["q_FltHeadingRad"] * 180/math.pi - gps.unixTimestampMillis = GPSTime(report['w_GpsWeekNumber'], 1e-3*report['q_GpsFixTimeMs']).as_datetime().timestamp()*1e3 + gps.unixTimestampMillis = GPSTime(report['w_GpsWeekNumber'], + 1e-3*report['q_GpsFixTimeMs']).as_unix_timestamp()*1e3 gps.source = log.GpsLocationData.SensorSource.qcomdiag gps.vNED = vNED gps.verticalAccuracy = report["q_FltVdop"] From 1cf2f9fc1316738f72e85052b0f9ffd74c369b1f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 2 Aug 2022 19:29:33 -0700 Subject: [PATCH 302/306] Multilang: add Japanese to UI (#25339) * Add Japanese to UI * Add Enlish and Japanese badges --- selfdrive/ui/translations/README.md | 2 ++ selfdrive/ui/translations/languages.json | 3 ++- selfdrive/ui/translations/main_ja.ts | 4 ++-- 3 files changed, 6 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/translations/README.md b/selfdrive/ui/translations/README.md index 1ed73a0484..07f1a4825c 100644 --- a/selfdrive/ui/translations/README.md +++ b/selfdrive/ui/translations/README.md @@ -1,8 +1,10 @@ # Multilanguage +[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_en.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_en.ts) [![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_zh-CHT.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_zh-CHT.ts) [![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_zh-CHS.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_zh-CHS.ts) [![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_ko.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_ko.ts) +[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_ja.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_ja.ts) ## Contributing diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json index cc3995738e..f52a28ef9a 100644 --- a/selfdrive/ui/translations/languages.json +++ b/selfdrive/ui/translations/languages.json @@ -2,5 +2,6 @@ "English": "main_en", "中文（繁體）": "main_zh-CHT", "中文（简体）": "main_zh-CHS", - "한국어": "main_ko" + "한국어": "main_ko", + "日本語": "main_ja" } diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 0e15dd1b2c..be0611f49a 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -45,7 +45,7 @@ Enter new tethering password - 新しいﾃｻﾞﾘﾝｸﾞﾊﾟｽﾜｰﾄﾞを入力してください + 新しいテザリングパスワードを入力 @@ -310,7 +310,7 @@ Need at least %n character(s)! - ﾊﾟｽﾜｰﾄﾞは％%n文字以上で入力してください！ + %n文字以上でお願いします！ From 14cb90d5fb6971c74b9799bf8193c5bb7f184b87 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 2 Aug 2022 22:37:07 -0700 Subject: [PATCH 303/306] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 8b26ce940f..7f6ef7cd00 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 8b26ce940f8193012ede411fa55ed30e2c34c536 +Subproject commit 7f6ef7cd00a31a3c50afd76804370e078f677ccc From 1ab63cc8d812697aa1ffeec15f8adb4660512165 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Wed, 3 Aug 2022 03:59:03 -0400 Subject: [PATCH 304/306] Hyundai: support Kona Electric 2022 (camera SCC) (#23517) * Rebase and merge upstream * Bump panda * bump panda * todo comments, minor clean up * Add test route * send CLU11 on bus 2 * Update docs * Use Chrysler cp ternary naming convention * Add FW version * Update with latest test route * Use segment with engaging/disengaging and moving * sort FW * push ci route * add comment * bump panda * bump panda * clean up * Limit torque * bump panda * bump panda * bump panda * Add missing FW * Add CAN fingerprint (need to fix spotty queries) * missing fingerprints * bump panda * use O * It's 2022, how is SCC still not standard! * space * bump panda to master Co-authored-by: Shane Smiskol --- RELEASES.md | 1 + docs/CARS.md | 3 +- panda | 2 +- selfdrive/car/hyundai/carcontroller.py | 8 ++-- selfdrive/car/hyundai/carstate.py | 47 ++++++++++++++++++----- selfdrive/car/hyundai/hyundaican.py | 12 +++--- selfdrive/car/hyundai/interface.py | 11 ++++-- selfdrive/car/hyundai/values.py | 38 ++++++++++++++++-- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/substitute.yaml | 1 + 10 files changed, 96 insertions(+), 28 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 5b63be2e43..e69d7461b7 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,5 +1,6 @@ Version 0.8.16 (2022-XX-XX) ======================== +* Hyundai Kona Electric 2022 support thanks to sunnyhaibin! * Subaru Outback 2020-22 support Version 0.8.15 (2022-07-20) diff --git a/docs/CARS.md b/docs/CARS.md index 3c81ba36b2..79a3575c3e 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -19,7 +19,7 @@ A supported vehicle is one that just works when you install a comma device. Ever - [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns. -# 197 Supported Cars +# 198 Supported Cars |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque| |---|---|---|:---:|:---:|:---:|:---:| @@ -77,6 +77,7 @@ A supported vehicle is one that just works when you install a comma device. Ever |Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Hyundai|Kona 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Hyundai|Palisade 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Hyundai|Santa Fe 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| diff --git a/panda b/panda index 7f6ef7cd00..89989abca5 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 7f6ef7cd00a31a3c50afd76804370e078f677ccc +Subproject commit 89989abca5def32c73b8c9e66da804acb12be357 diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 0bdb7d99fd..4d181e3821 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -54,7 +54,7 @@ class CarController: # These cars have significantly more torque than most HKG. Limit to 70% of max. steer = actuators.steer - if self.CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV): + if self.CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022): steer = clip(steer, -0.7, 0.7) new_steer = int(round(steer * self.params.STEER_MAX)) apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) @@ -101,12 +101,12 @@ class CarController: if not self.CP.openpilotLongitudinalControl: if CC.cruiseControl.cancel: - can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL)) + can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint)) elif CC.cruiseControl.resume: # send resume at a max freq of 10Hz if (self.frame - self.last_button_frame) * DT_CTRL > 0.1: # send 25 messages at a time to increases the likelihood of resume being accepted - can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL)] * 25) + can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25) self.last_button_frame = self.frame if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl: @@ -128,7 +128,7 @@ class CarController: # 20 Hz LFA MFA message if self.frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, - CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV, + CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV, CAR.KONA_EV_2022, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022): can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled)) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 8afd851f00..f1428555a8 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -5,7 +5,7 @@ from cereal import car from common.conversions import Conversions as CV from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine -from selfdrive.car.hyundai.values import DBC, FEATURES, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams +from selfdrive.car.hyundai.values import DBC, FEATURES, CAMERA_SCC_CAR, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams from selfdrive.car.interfaces import CarStateBase PREV_BUTTON_SAMPLES = 8 @@ -40,6 +40,8 @@ class CarState(CarStateBase): ret = car.CarState.new_message() + cp_cruise = cp_cam if self.CP.carFingerprint in CAMERA_SCC_CAR else cp + ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"], cp.vl["CGW2"]["CF_Gway_RLDrSw"], cp.vl["CGW2"]["CF_Gway_RRDrSw"]]) @@ -73,11 +75,11 @@ class CarState(CarStateBase): ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1 ret.cruiseState.standstill = False else: - ret.cruiseState.available = cp.vl["SCC11"]["MainMode_ACC"] == 1 - ret.cruiseState.enabled = cp.vl["SCC12"]["ACCMode"] != 0 - ret.cruiseState.standstill = cp.vl["SCC11"]["SCCInfoDisplay"] == 4. + ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1 + ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0 + ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4. speed_conv = CV.MPH_TO_MS if cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] else CV.KPH_TO_MS - ret.cruiseState.speed = cp.vl["SCC11"]["VSetDis"] * speed_conv + ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv # TODO: Find brake pressure ret.brake = 0 @@ -110,11 +112,11 @@ class CarState(CarStateBase): if not self.CP.openpilotLongitudinalControl: if self.CP.carFingerprint in FEATURES["use_fca"]: - ret.stockAeb = cp.vl["FCA11"]["FCA_CmdAct"] != 0 - ret.stockFcw = cp.vl["FCA11"]["CF_VSM_Warn"] == 2 + ret.stockAeb = cp_cruise.vl["FCA11"]["FCA_CmdAct"] != 0 + ret.stockFcw = cp_cruise.vl["FCA11"]["CF_VSM_Warn"] == 2 else: - ret.stockAeb = cp.vl["SCC12"]["AEB_CmdAct"] != 0 - ret.stockFcw = cp.vl["SCC12"]["CF_VSM_Warn"] == 2 + ret.stockAeb = cp_cruise.vl["SCC12"]["AEB_CmdAct"] != 0 + ret.stockFcw = cp_cruise.vl["SCC12"]["CF_VSM_Warn"] == 2 if self.CP.enableBsm: ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0 @@ -251,7 +253,7 @@ class CarState(CarStateBase): ("SAS11", 100), ] - if not CP.openpilotLongitudinalControl: + if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR: signals += [ ("MainMode_ACC", "SCC11"), ("VSetDis", "SCC11"), @@ -343,6 +345,31 @@ class CarState(CarStateBase): ("LKAS11", 100) ] + if not CP.openpilotLongitudinalControl and CP.carFingerprint in CAMERA_SCC_CAR: + signals += [ + ("MainMode_ACC", "SCC11"), + ("VSetDis", "SCC11"), + ("SCCInfoDisplay", "SCC11"), + ("ACC_ObjDist", "SCC11"), + ("ACCMode", "SCC12"), + ] + checks += [ + ("SCC11", 50), + ("SCC12", 50), + ] + + if CP.carFingerprint in FEATURES["use_fca"]: + signals += [ + ("FCA_CmdAct", "FCA11"), + ("CF_VSM_Warn", "FCA11"), + ] + checks.append(("FCA11", 50)) + else: + signals += [ + ("AEB_CmdAct", "SCC12"), + ("CF_VSM_Warn", "SCC12"), + ] + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) @staticmethod diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index 53499053e0..8a5e33f111 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -1,5 +1,5 @@ import crcmod -from selfdrive.car.hyundai.values import CAR, CHECKSUM +from selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf) @@ -18,8 +18,8 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020, - CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.SANTA_FE_2022, - CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022): + CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, + CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022): values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1) values["CF_Lkas_LdwsOpt_USM"] = 2 @@ -62,11 +62,13 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, return packer.make_can_msg("LKAS11", 0, values) -def create_clu11(packer, frame, clu11, button): +def create_clu11(packer, frame, clu11, button, car_fingerprint): values = clu11 values["CF_Clu_CruiseSwState"] = button values["CF_Clu_AliveCnt1"] = frame % 0x10 - return packer.make_can_msg("CLU11", 0, values) + # send buttons to camera on camera-scc based cars + bus = 2 if car_fingerprint in CAMERA_SCC_CAR else 0 + return packer.make_can_msg("CLU11", bus, values) def create_lfahda_mfc(packer, enabled, hda_set_speed=0): diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 969540ad90..892f62c427 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -2,7 +2,7 @@ from cereal import car from panda import Panda from common.conversions import Conversions as CV -from selfdrive.car.hyundai.values import CAR, DBC, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams +from selfdrive.car.hyundai.values import CAR, DBC, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase @@ -29,7 +29,7 @@ class CarInterface(CarInterfaceBase): 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) + ret.openpilotLongitudinalControl = disable_radar and (candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR)) ret.pcmCruise = not ret.openpilotLongitudinalControl @@ -115,9 +115,9 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] ret.lateralTuning.indi.actuatorEffectivenessV = [2.3] ret.minSteerSpeed = 60 * CV.KPH_TO_MS - elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV): + elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022): ret.lateralTuning.pid.kf = 0.00005 - ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425.}.get(candidate, 1275.) + STD_CARGO_KG + ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.) + STD_CARGO_KG ret.wheelbase = 2.6 ret.steerRatio = 13.42 # Spec tire_stiffness_factor = 0.385 @@ -305,6 +305,9 @@ class CarInterface(CarInterfaceBase): if ret.openpilotLongitudinalControl: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG + if candidate in CAMERA_SCC_CAR: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC + return ret @staticmethod diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 797de06fb8..3c7414500e 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -54,6 +54,7 @@ class CAR: IONIQ_PHEV = "HYUNDAI IONIQ PHEV 2020" KONA = "HYUNDAI KONA 2020" KONA_EV = "HYUNDAI KONA ELECTRIC 2019" + KONA_EV_2022 = "HYUNDAI KONA ELECTRIC 2022" KONA_HEV = "HYUNDAI KONA HYBRID 2020" SANTA_FE = "HYUNDAI SANTA FE 2019" SANTA_FE_2022 = "HYUNDAI SANTA FE 2022" @@ -114,6 +115,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", harness=Harness.hyundai_h), CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness=Harness.hyundai_b), CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness=Harness.hyundai_g), + CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", "Smart Cruise Control (SCC)", harness=Harness.hyundai_o), CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i), CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d), CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", harness=Harness.hyundai_l), @@ -249,6 +251,9 @@ FINGERPRINTS = { CAR.KONA_EV: [{ 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8 }], + CAR.KONA_EV_2022: [{ + 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1069: 8, 1078: 4, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1173: 8, 1183: 8, 1188: 8, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1446: 8, 1456: 4, 1470: 8, 1473: 8, 1485: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8 + }], CAR.KIA_NIRO_EV: [{ 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 516: 8, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1260: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8 }], @@ -978,6 +983,29 @@ FW_VERSIONS = { b'\xf1\x00OSev SCC FNCUP 1.00 1.01 99110-K4000 ', ], }, + CAR.KONA_EV_2022: { + (Ecu.esp, 0x7D1, None): [ + b'\xf1\x8758520-K4010\xf1\x00OS IEB \x02 101 \x11\x13 58520-K4010', + b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010', + b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010', + # TODO: these return from the MULTI request, above return from LONG + b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xee\xff\xe0\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xffP\xf5\xff\xfd\x00\x00\x00\x00\xfc\x00\x01', + b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xdb\x00\x00\x00\x00\xff\xb1\xff\xd9\xff\xd2\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xff\xd6\xf5\x00\x06\x00\x00\x00\x14\xfd\x00\x04', + b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xf4\xff\xd9\x00\xc0', + ], + (Ecu.fwdCamera, 0x7C4, None): [ + b'\xf1\x00OSP LKA AT CND LHD 1.00 1.02 99211-J9110 802', + b'\xf1\x00OSP LKA AT EUR RHD 1.00 1.02 99211-J9110 802', + b'\xf1\x00OSP LKA AT AUS RHD 1.00 1.04 99211-J9200 904', + ], + (Ecu.eps, 0x7D4, None): [ + b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102', + ], + (Ecu.fwdRadar, 0x7D0, None): [ + b'\xf1\x00YB__ FCA ----- 1.00 1.01 99110-K4500 \x00\x00\x00', + ], + }, CAR.KIA_NIRO_EV: { (Ecu.fwdRadar, 0x7D0, None): [ b'\xf1\x00DEev SCC F-CUP 1.00 1.00 99110-Q4000 ', @@ -1250,16 +1278,19 @@ FEATURES = { # which message has the gear "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA}, "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, - "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019}, + "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022}, # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12 - "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON}, + "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022}, } HDA2_CAR = {CAR.KIA_EV6, } +# The camera does SCC on these cars, rather than the radar +CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } + HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019} # these cars use a different gas signal -EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV} +EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022} # these cars require a special panda safety mode due to missing counters and checksums in the messages LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022} @@ -1294,6 +1325,7 @@ DBC = { CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None), CAR.KONA: dbc_dict('hyundai_kia_generic', None), CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None), + CAR.KONA_EV_2022: dbc_dict('hyundai_kia_generic', None), CAR.KONA_HEV: dbc_dict('hyundai_kia_generic', None), CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), CAR.SANTA_FE_2022: dbc_dict('hyundai_kia_generic', None), diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 626f2a987a..7b6355d73f 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -97,6 +97,7 @@ routes = [ TestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022), TestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA), TestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV), + TestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.KONA_EV_2022, segment=11), TestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV), TestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER), TestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER), diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index d368b2c672..f7288ec731 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -28,6 +28,7 @@ HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019 HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019 HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019 HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019 +HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019 HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019 HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019 HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019 From 5c2cb8fb9787584a1eb553968cb87e7e6782dac5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 3 Aug 2022 01:03:07 -0700 Subject: [PATCH 305/306] Hyundai: remove standard LKAS on some cars (#25341) * https://www.phillongkia.com/2020-kia-telluride-configurations.htm * LKA is standard: https://www.cars.com/research/hyundai-elantra_hev-2021/specs/418514/ LKA is standard: https://www.cars.com/research/hyundai-elantra_hev-2021/specs/418514/ * https://www.vanhyundai.com/hyundai-reviews/2020-kona.htm * https://www.autotrader.com/car-reviews/2020-hyundai-ioniq-review-281474979984568#:~:text=The%202020%20Hyundai%20Ioniq%20Hybrid,in%20Electric%20and%20Limited%20trims. * https://www.humblehyundai.com/2021-hyundai-tucson-trim-levels/ * https://www.irwinhyundai.com/hyundai-tucson-trim-comparison.html * https://www.burnshyundai.com/2019-hyundai-veloster-trim-levels.htm * https://www.palmenkia.com/blog/2019-kia-forte-fe-to-ex-trim-level-comparison/ * https://www.southlakekia.com/research-kia-seltos-trim-options/ * fix names * Update docs --- docs/CARS.md | 18 +++++++++--------- selfdrive/car/hyundai/values.py | 20 ++++++++++---------- 2 files changed, 19 insertions(+), 19 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 79a3575c3e..eb0395ae9b 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -67,15 +67,15 @@ A supported vehicle is one that just works when you install a comma device. Ever |Honda|Ridgeline 2017-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)| |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC) & LFA|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Kona 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Kona 2020|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| @@ -87,15 +87,15 @@ A supported vehicle is one that just works when you install a comma device. Ever |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Hyundai|Sonata 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Hyundai|Sonata Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Tucson 2021|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|EV6 2022[3](#footnotes)|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Forte 2019-21|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Forte 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|K5 2021-22|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Niro Electric 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Niro Electric 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| @@ -105,11 +105,11 @@ A supported vehicle is one that just works when you install a comma device. Ever |Kia|Niro Plug-in Hybrid 2018-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Optima 2017|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Optima 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Seltos 2021|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Seltos 2021|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Sorento 2018|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Sorento 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Kia|Stinger 2018-20|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| -|Kia|Telluride 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| +|Kia|Telluride 2020|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|CT Hybrid 2017-18|Lexus Safety System+|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|ES 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| |Lexus|ES Hybrid 2017-18|Lexus Safety System+|[![star](assets/icon-star-half.svg)](##)[4](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 3c7414500e..88eaeaf76f 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -104,7 +104,7 @@ class HyundaiCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.ELANTRA: HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b), CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), - CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), + CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-22", "Smart Cruise Control (SCC)", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), CAR.ELANTRA_GT_I30: None, # dashcamOnly and same platform as CAR.ELANTRA CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c), @@ -112,8 +112,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c), CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", harness=Harness.hyundai_h), CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness=Harness.hyundai_c), - CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", harness=Harness.hyundai_h), - CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness=Harness.hyundai_b), + CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", "Smart Cruise Control (SCC)", harness=Harness.hyundai_h), + CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", "Smart Cruise Control (SCC)", harness=Harness.hyundai_b), CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness=Harness.hyundai_g), CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", "Smart Cruise Control (SCC)", harness=Harness.hyundai_o), CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i), @@ -124,20 +124,20 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a), CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e), CAR.TUCSON: [ - HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l), - HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l), + HyundaiCarInfo("Hyundai Tucson 2021", "Smart Cruise Control (SCC)", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l), + HyundaiCarInfo("Hyundai Tucson Diesel 2019", "Smart Cruise Control (SCC)", harness=Harness.hyundai_l), ], CAR.PALISADE: [ HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h), - HyundaiCarInfo("Kia Telluride 2020", harness=Harness.hyundai_h), + HyundaiCarInfo("Kia Telluride 2020", "All", harness=Harness.hyundai_h), ], - CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e), + CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", "Smart Cruise Control (SCC)", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e), CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a), # Kia CAR.KIA_FORTE: [ HyundaiCarInfo("Kia Forte 2018", harness=Harness.hyundai_b), - HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g), + HyundaiCarInfo("Kia Forte 2019-21", "All", harness=Harness.hyundai_g), ], CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a), CAR.KIA_NIRO_EV: [ @@ -154,8 +154,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Optima 2017", min_steer_speed=32. * CV.MPH_TO_MS, harness=Harness.hyundai_b), HyundaiCarInfo("Kia Optima 2019", harness=Harness.hyundai_g), ], - CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima 2017, 2019"), # TODO: info may be incorrect - CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a), + CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima Hybrid 2017, 2019"), # TODO: info may be incorrect + CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a), CAR.KIA_SORENTO: [ HyundaiCarInfo("Kia Sorento 2018", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c), HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e), From 4bfbd7ced822e3bb52fe7f6f446fad65bcb215f4 Mon Sep 17 00:00:00 2001 From: Jason Shuler Date: Wed, 3 Aug 2022 18:52:12 -0400 Subject: [PATCH 306/306] GM: parse low and manumatic gears (#24764) * Switch to ECMPRDNL2 for GM gear * Removing manumatic gear # * formatting * update refs * update refs * line Co-authored-by: Shane Smiskol --- selfdrive/car/gm/carstate.py | 17 +++++++++++------ selfdrive/car/gm/interface.py | 5 ++++- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 16 insertions(+), 8 deletions(-) diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index c28abc6036..b174d0327e 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -12,7 +12,7 @@ class CarState(CarStateBase): def __init__(self, CP): super().__init__(CP) can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) - self.shifter_values = can_define.dv["ECMPRDNL"]["PRNDL"] + self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"] self.lka_steering_cmd_counter = 0 def update(self, pt_cp, loopback_cp): @@ -30,7 +30,11 @@ class CarState(CarStateBase): ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]) ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.standstill = ret.vEgoRaw < 0.01 - ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL"]["PRNDL"], None)) + + if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1: + ret.gearShifter = self.parse_gear_shifter("T") + else: + ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None)) # Brake pedal's potentiometer returns near-zero reading even when pedal is not pressed. ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0 @@ -97,7 +101,8 @@ class CarState(CarStateBase): ("FRWheelSpd", "EBCMWheelSpdFront"), ("RLWheelSpd", "EBCMWheelSpdRear"), ("RRWheelSpd", "EBCMWheelSpdRear"), - ("PRNDL", "ECMPRDNL"), + ("PRNDL2", "ECMPRDNL2"), + ("ManualMode", "ECMPRDNL2"), ("LKADriverAppldTrq", "PSCMStatus"), ("LKATorqueDelivered", "PSCMStatus"), ("LKATorqueDeliveredStatus", "PSCMStatus"), @@ -108,7 +113,7 @@ class CarState(CarStateBase): checks = [ ("BCMTurnSignals", 1), - ("ECMPRDNL", 10), + ("ECMPRDNL2", 10), ("PSCMStatus", 10), ("ESPStatus", 10), ("BCMDoorBeltStatus", 10), @@ -135,9 +140,9 @@ class CarState(CarStateBase): ] checks = [ - ("ASCMLKASteeringCmd", 10), # 10 Hz is the stock inactive rate (every 100ms). + ("ASCMLKASteeringCmd", 10), # 10 Hz is the stock inactive rate (every 100ms). # While active 50 Hz (every 20 ms) is normal - # EPS will tolerate around 200ms when active before faulting + # EPS will tolerate around 200ms when active before faulting ] return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.LOOPBACK) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index bdb42f97e2..ab6581201b 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -9,6 +9,7 @@ from selfdrive.car.interfaces import CarInterfaceBase ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName +GearShifter = car.CarState.GearShifter TransmissionType = car.CarParams.TransmissionType NetworkLocation = car.CarParams.NetworkLocation BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise, @@ -165,7 +166,9 @@ class CarInterface(CarInterfaceBase): ret.buttonEvents = [be] - events = self.create_common_events(ret, pcm_enable=self.CP.pcmCruise) + events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low, + GearShifter.eco, GearShifter.manumatic], + pcm_enable=self.CP.pcmCruise) if ret.vEgo < self.CP.minEnableSpeed: events.add(EventName.belowEngageSpeed) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index d1c0ef985e..0cf6711727 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -6d9bd0e80ccdf39827bded1883adbc922224bdf1 +82d3f0a3bfe07a76983e7e4603a0553d077ba15b \ No newline at end of file