mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-09-30 03:13:41 +08:00
dragonpilot
committed by
Comma Device
Comma Device
parent
a5cee30aa6
commit
5b244b3701
@@ -43,6 +43,7 @@ persist
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selfdrive/pandad/pandad
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cereal/services.h
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cereal/gen
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cereal/messaging/bridge
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selfdrive/logcatd/logcatd
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selfdrive/mapd/default_speeds_by_region.json
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system/proclogd/proclogd
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@@ -1 +1 @@
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const uint8_t gitversion[8] = "1722b595";
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const uint8_t gitversion[8] = "2dfc842c";
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@@ -116,6 +116,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
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paramsdTemporaryError @50;
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paramsdPermanentError @119;
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actuatorsApiUnavailable @120;
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espActive @121;
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radarCanErrorDEPRECATED @15;
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communityFeatureDisallowedDEPRECATED @62;
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@@ -194,6 +195,7 @@ struct CarState {
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espDisabled @32 :Bool;
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accFaulted @42 :Bool;
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carFaultedNonCritical @47 :Bool; # some ECU is faulted, but car remains controllable
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espActive @51 :Bool;
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# cruise state
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cruiseState @10 :CruiseState;
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+534
-513
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@@ -142,6 +142,7 @@ enum class EventName_baa8c5d505f727de: uint16_t {
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LOCATIOND_PERMANENT_ERROR,
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PARAMSD_PERMANENT_ERROR,
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ACTUATORS_API_UNAVAILABLE,
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ESP_ACTIVE,
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};
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CAPNP_DECLARE_ENUM(EventName, baa8c5d505f727de);
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CAPNP_DECLARE_SCHEMA(9da4fa09e052903c);
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@@ -966,6 +967,8 @@ public:
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inline float getCumLagMs() const;
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inline bool getEspActive() const;
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private:
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::capnp::_::StructReader _reader;
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template <typename, ::capnp::Kind>
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@@ -1173,6 +1176,9 @@ public:
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inline float getCumLagMs();
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inline void setCumLagMs(float value);
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inline bool getEspActive();
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inline void setEspActive(bool value);
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private:
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::capnp::_::StructBuilder _builder;
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template <typename, ::capnp::Kind>
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@@ -4943,6 +4949,20 @@ inline void CarState::Builder::setCumLagMs(float value) {
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::capnp::bounded<17>() * ::capnp::ELEMENTS, value);
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}
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inline bool CarState::Reader::getEspActive() const {
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return _reader.getDataField<bool>(
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::capnp::bounded<364>() * ::capnp::ELEMENTS);
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}
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inline bool CarState::Builder::getEspActive() {
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return _builder.getDataField<bool>(
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::capnp::bounded<364>() * ::capnp::ELEMENTS);
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}
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inline void CarState::Builder::setEspActive(bool value) {
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_builder.setDataField<bool>(
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::capnp::bounded<364>() * ::capnp::ELEMENTS, value);
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}
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inline float CarState::WheelSpeeds::Reader::getFl() const {
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return _reader.getDataField<float>(
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::capnp::bounded<0>() * ::capnp::ELEMENTS);
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@@ -1,10 +0,0 @@
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demo
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bridge
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test_runner
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*.o
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*.os
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*.d
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*.a
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*.so
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messaging_pyx.cpp
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build/
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@@ -5,20 +5,13 @@
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#include <string>
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#include <vector>
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#include <utility>
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#include <time.h>
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#include <capnp/serialize.h>
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#include "cereal/gen/cpp/log.capnp.h"
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#include "common/timing.h"
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#include "msgq/ipc.h"
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#ifdef __APPLE__
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#define CLOCK_BOOTTIME CLOCK_MONOTONIC
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#endif
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#define MSG_MULTIPLE_PUBLISHERS 100
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class SubMaster {
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public:
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SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll = {},
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@@ -53,10 +46,7 @@ public:
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cereal::Event::Builder initEvent(bool valid = true) {
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cereal::Event::Builder event = initRoot<cereal::Event>();
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struct timespec t;
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clock_gettime(CLOCK_BOOTTIME, &t);
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uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
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event.setLogMonoTime(current_time);
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event.setLogMonoTime(nanos_since_boot());
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event.setValid(valid);
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return event;
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}
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+5
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@@ -27,7 +27,7 @@ A supported vehicle is one that just works when you install a comma device. All
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|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
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|Chrysler|Pacifica Hybrid 2017|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017">Buy Here</a></sub></details>||
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|Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2018">Buy Here</a></sub></details>||
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|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
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|Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-24">Buy Here</a></sub></details>||
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|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None||
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|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
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|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
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@@ -54,17 +54,17 @@ A supported vehicle is one that just works when you install a comma device. All
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|Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
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|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
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|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
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|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
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|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
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|Genesis|GV70 (2.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
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|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
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|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
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|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
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|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
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|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
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|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
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|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
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|Honda|Civic 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
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|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
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|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
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|Honda|Civic Hatchback 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
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|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
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|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
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|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
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|Honda|CR-V Hybrid 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-21">Buy Here</a></sub></details>||
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@@ -0,0 +1,12 @@
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This is the source for a new https://docs.comma.ai. It's not hosted anywhere yet, but it's easy to run locally.
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https://www.mkdocs.org/getting-started/
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```
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pip install mkdocs mkdocs-terminal
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mkdocs --serve
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```
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inspiration:
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* https://rerun.io/docs/
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* https://docs.expo.dev/
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@@ -0,0 +1,5 @@
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# Developing a car brand port
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A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
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Here's an example of one: https://github.com/commaai/openpilot/pull/23331.
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@@ -0,0 +1,5 @@
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# Developing a car model port
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A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
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Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.
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@@ -0,0 +1,9 @@
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# What is a car port?
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All car ports live in `openpilot/selfdrive/car/`.
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* interface.py: Interface for the car, defines the CarInterface class
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* carstate.py: Reads CAN from car and builds openpilot CarState message
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* carcontroller.py: Builds CAN messages to send to car
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* values.py: Limits for actuation, general constants for cars, and supported car documentation
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* radar_interface.py: Interface for parsing radar points from the car
|
||||
@@ -0,0 +1,12 @@
|
||||
# What is openpilot?
|
||||
|
||||
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
|
||||
|
||||
|
||||
## How do I use it?
|
||||
|
||||
openpilot is designed to be used on the comma 3X.
|
||||
|
||||
## How does it work?
|
||||
|
||||
In short, openpilot uses the car's existing APIs for the built-in [ADAS](https://en.wikipedia.org/wiki/Advanced_driver-assistance_system) system and simply provides better acceleration, braking, and steering inputs than the stock system.
|
||||
@@ -0,0 +1,4 @@
|
||||
This section is for how-to's on common workflows.
|
||||
|
||||
They'll be like this blog post we wrote:
|
||||
https://blog.comma.ai/turning-the-speed-blue/
|
||||
@@ -0,0 +1,18 @@
|
||||
site_name: openpilot docs
|
||||
docs_dir: docs
|
||||
repo_url: https://github.com/commaai/openpilot/
|
||||
|
||||
theme:
|
||||
name: terminal
|
||||
features:
|
||||
- navigation.side.toc.hide
|
||||
|
||||
nav:
|
||||
- Getting Started:
|
||||
- What is openpilot?: getting-started/what-is-openpilot.md
|
||||
- How-to:
|
||||
- Turn the speed blue: how-to/turning-the-speed-blue.md
|
||||
- Car Porting:
|
||||
- What is a car port?: car-porting/what-is-a-car-port.md
|
||||
- Porting a car brand: car-porting/brand-port.md
|
||||
- Porting a car model: car-porting/model-port.md
|
||||
@@ -0,0 +1,65 @@
|
||||
#!/usr/bin/env python3
|
||||
# The MIT License
|
||||
#
|
||||
# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
|
||||
#
|
||||
# Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
# of this software and associated documentation files (the "Software"), to deal
|
||||
# in the Software without restriction, including without limitation the rights
|
||||
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
# copies of the Software, and to permit persons to whom the Software is
|
||||
# furnished to do so, subject to the following conditions:
|
||||
#
|
||||
# The above copyright notice and this permission notice shall be included in
|
||||
# all copies or substantial portions of the Software.
|
||||
#
|
||||
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
# THE SOFTWARE.
|
||||
|
||||
# code originally from @cydia2020, see https://github.com/commaai/openpilot/pull/30697/files
|
||||
|
||||
|
||||
from openpilot.common.numpy_fast import clip, interp
|
||||
|
||||
# PCM compensatory force calculation threshold
|
||||
# a variation in accel command is more pronounced at higher speeds, let compensatory forces ramp to zero before
|
||||
# applying when speed is high
|
||||
COMPENSATORY_CALCULATION_THRESHOLD_V = [-0.3, -0.25, 0.] # m/s^2
|
||||
COMPENSATORY_CALCULATION_THRESHOLD_BP = [0., 11., 23.] # m/s
|
||||
|
||||
class PCMCompensationController:
|
||||
def __init__(self, cp, params, is_enabled):
|
||||
self.cp = cp
|
||||
self.params = params
|
||||
self.prohibit_neg_calculation = True
|
||||
self._is_enabled = is_enabled
|
||||
pass
|
||||
|
||||
def get_pcm_accel_cmd(self, long_active, v_ego, pcm_neutral_force, accel):
|
||||
# prohibit negative compensatory calculations when first activating long after accelerator depression or engagement
|
||||
if not long_active:
|
||||
self.prohibit_neg_calculation = True
|
||||
comp_thresh = interp(v_ego, COMPENSATORY_CALCULATION_THRESHOLD_BP, COMPENSATORY_CALCULATION_THRESHOLD_V)
|
||||
# don't reset until a reasonable compensatory value is reached
|
||||
if pcm_neutral_force > comp_thresh * self.cp.mass:
|
||||
self.prohibit_neg_calculation = False
|
||||
# limit minimum to only positive until first positive is reached after engagement, don't calculate when long isn't active
|
||||
if long_active and not self.prohibit_neg_calculation:
|
||||
accel_offset = pcm_neutral_force / self.cp.mass
|
||||
else:
|
||||
accel_offset = 0.
|
||||
# only calculate pcm_accel_cmd when long is active to prevent disengagement from accelerator depression
|
||||
if long_active:
|
||||
pcm_accel_cmd = clip(accel + accel_offset, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
|
||||
else:
|
||||
pcm_accel_cmd = 0.
|
||||
|
||||
return pcm_accel_cmd
|
||||
|
||||
def is_enabled(self):
|
||||
return self._is_enabled
|
||||
@@ -18,16 +18,16 @@ def dmonitoringd_thread(sm=None, pm=None):
|
||||
|
||||
# 10Hz <- dmonitoringmodeld
|
||||
while True:
|
||||
dat = messaging.new_message('driverStateV2', valid=True)
|
||||
dat = messaging.new_message('driverStateV2')
|
||||
dat.driverStateV2.leftDriverData.faceOrientation = [0., 0., 0.]
|
||||
dat.driverStateV2.leftDriverData.faceProb = 1.0
|
||||
dat.driverStateV2.rightDriverData.faceOrientation = [0., 0., 0.]
|
||||
dat.driverStateV2.rightDriverData.faceProb = 1.0
|
||||
pm.send('driverStateV2', dat)
|
||||
|
||||
# dmonitoringd output
|
||||
dat = messaging.new_message('driverMonitoringState', valid=True)
|
||||
dat.driverMonitoringState = {
|
||||
"events": Events().to_msg(),
|
||||
"faceDetected": True,
|
||||
"isDistracted": False,
|
||||
"awarenessStatus": 1.,
|
||||
|
||||
Binary file not shown.
Vendored
+43
-42
@@ -73,56 +73,57 @@ pipeline {
|
||||
}
|
||||
|
||||
stages {
|
||||
stage('panda tests') {
|
||||
parallel {
|
||||
stage('test dos') {
|
||||
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
|
||||
stage ('Acquire resource locks') {
|
||||
options {
|
||||
lock(resource: "pandas")
|
||||
}
|
||||
stages {
|
||||
stage('Build Docker Image') {
|
||||
steps {
|
||||
phone_steps("panda-dos", [
|
||||
["build", "scons -j4"],
|
||||
["flash", "cd tests/ && ./reflash_internal_panda.py"],
|
||||
["flash jungle", "cd board/jungle && ./flash.py"],
|
||||
["test", "cd tests/hitl && HW_TYPES=6 pytest -n0 --durations=0 [2-9]*.py -k 'not test_send_recv'"],
|
||||
])
|
||||
timeout(time: 20, unit: 'MINUTES') {
|
||||
script {
|
||||
sh 'git archive -v -o panda.tar.gz --format=tar.gz HEAD'
|
||||
dockerImage = docker.build("${env.DOCKER_IMAGE_TAG}")
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('jungle tests') {
|
||||
steps {
|
||||
script {
|
||||
retry (3) {
|
||||
docker_run("reset hardware", 3, "python ./tests/hitl/reset_jungles.py")
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stage('test tres') {
|
||||
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
|
||||
steps {
|
||||
phone_steps("panda-tres", [
|
||||
["build", "scons -j4"],
|
||||
["flash", "cd tests/ && ./reflash_internal_panda.py"],
|
||||
["flash jungle", "cd board/jungle && ./flash.py"],
|
||||
["test", "cd tests/hitl && HW_TYPES=9 pytest -n0 --durations=0 2*.py [5-9]*.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
stage('parallel tests') {
|
||||
parallel {
|
||||
stage('test tres') {
|
||||
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
|
||||
steps {
|
||||
phone_steps("panda-tres", [
|
||||
["build", "scons -j4"],
|
||||
["flash", "cd tests/ && ./reflash_internal_panda.py"],
|
||||
["flash jungle", "cd board/jungle && ./flash.py"],
|
||||
["test", "cd tests/hitl && HW_TYPES=9 pytest -n0 --durations=0 2*.py [5-9]*.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage ('Acquire resource locks') {
|
||||
options {
|
||||
lock(resource: "pandas")
|
||||
}
|
||||
stages {
|
||||
stage('Build Docker Image') {
|
||||
stage('test dos') {
|
||||
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
|
||||
steps {
|
||||
timeout(time: 20, unit: 'MINUTES') {
|
||||
script {
|
||||
sh 'git archive -v -o panda.tar.gz --format=tar.gz HEAD'
|
||||
dockerImage = docker.build("${env.DOCKER_IMAGE_TAG}")
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
stage('jungle tests') {
|
||||
steps {
|
||||
script {
|
||||
retry (3) {
|
||||
docker_run("reset hardware", 3, "python ./tests/hitl/reset_jungles.py")
|
||||
}
|
||||
}
|
||||
phone_steps("panda-dos", [
|
||||
["build", "scons -j4"],
|
||||
["flash", "cd tests/ && ./reflash_internal_panda.py"],
|
||||
["flash jungle", "cd board/jungle && ./flash.py"],
|
||||
["test", "cd tests/hitl && HW_TYPES=6 pytest -n0 --durations=0 [2-9]*.py -k 'not test_send_recv'"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('bootkick tests') {
|
||||
steps {
|
||||
script {
|
||||
|
||||
+1
-1
@@ -23,7 +23,7 @@ Safety modes optionally support `controls_allowed`, which allows or blocks a sub
|
||||
|
||||
## Code Rigor
|
||||
|
||||
The panda firmware is written for its use in conjuction with [openpilot](https://github.com/commaai/openpilot). The panda firmware, through its safety model, provides and enforces the
|
||||
The panda firmware is written for its use in conjunction with [openpilot](https://github.com/commaai/openpilot). The panda firmware, through its safety model, provides and enforces the
|
||||
[openpilot safety](https://github.com/commaai/openpilot/blob/master/docs/SAFETY.md). Due to its critical function, it's important that the application code rigor within the `board` folder is held to high standards.
|
||||
|
||||
These are the [CI regression tests](https://github.com/commaai/panda/actions) we have in place:
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1 +1 @@
|
||||
const uint8_t gitversion[] = "DEV-1722b595-DEBUG";
|
||||
const uint8_t gitversion[] = "DEV-2dfc842c-DEBUG";
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1 +1 @@
|
||||
DEV-1722b595-DEBUG
|
||||
DEV-2dfc842c-DEBUG
|
||||
@@ -4,6 +4,7 @@
|
||||
<file alias="main_de">../ui/translations/main_de.qm</file>
|
||||
<file alias="main_fr">../ui/translations/main_fr.qm</file>
|
||||
<file alias="main_pt-BR">../ui/translations/main_pt-BR.qm</file>
|
||||
<file alias="main_es">../ui/translations/main_es.qm</file>
|
||||
<file alias="main_tr">../ui/translations/main_tr.qm</file>
|
||||
<file alias="main_ar">../ui/translations/main_ar.qm</file>
|
||||
<file alias="main_th">../ui/translations/main_th.qm</file>
|
||||
|
||||
@@ -232,6 +232,7 @@ FW_VERSIONS = {
|
||||
b'68540436AD',
|
||||
b'68598670AB',
|
||||
b'68598670AC',
|
||||
b'68645752AA',
|
||||
],
|
||||
(Ecu.eps, 0x75a, None): [
|
||||
b'68416741AA',
|
||||
@@ -253,6 +254,7 @@ FW_VERSIONS = {
|
||||
b'68526772AD ',
|
||||
b'68526772AH ',
|
||||
b'68599493AC ',
|
||||
b'68657433AA ',
|
||||
],
|
||||
(Ecu.hybrid, 0x7e2, None): [
|
||||
b'05185116AF',
|
||||
@@ -267,6 +269,7 @@ FW_VERSIONS = {
|
||||
b'68540977AH',
|
||||
b'68540977AK',
|
||||
b'68597647AE',
|
||||
b'68632416AB',
|
||||
],
|
||||
},
|
||||
CAR.JEEP_GRAND_CHEROKEE: {
|
||||
@@ -290,6 +293,7 @@ FW_VERSIONS = {
|
||||
(Ecu.abs, 0x747, None): [
|
||||
b'68252642AG',
|
||||
b'68306178AD',
|
||||
b'68336275AB',
|
||||
b'68336276AB',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
@@ -375,6 +379,7 @@ FW_VERSIONS = {
|
||||
b'68449435AE ',
|
||||
b'68496223AA ',
|
||||
b'68504959AD ',
|
||||
b'68504959AE ',
|
||||
b'68504960AD ',
|
||||
b'68504993AC ',
|
||||
],
|
||||
@@ -433,6 +438,7 @@ FW_VERSIONS = {
|
||||
b'68527381AE',
|
||||
b'68527382AE',
|
||||
b'68527383AD',
|
||||
b'68527383AE',
|
||||
b'68527387AE',
|
||||
b'68527403AC',
|
||||
b'68527403AD',
|
||||
@@ -536,6 +542,7 @@ FW_VERSIONS = {
|
||||
b'05190341AD',
|
||||
b'68378695AJ ',
|
||||
b'68378696AJ ',
|
||||
b'68378696AK ',
|
||||
b'68378701AI ',
|
||||
b'68378702AI ',
|
||||
b'68378710AL ',
|
||||
|
||||
@@ -41,7 +41,7 @@ class CAR(Platforms):
|
||||
CHRYSLER_PACIFICA_2017_HYBRID.specs,
|
||||
)
|
||||
CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
|
||||
[ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-23")],
|
||||
[ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-24")],
|
||||
CHRYSLER_PACIFICA_2017_HYBRID.specs,
|
||||
)
|
||||
CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(
|
||||
|
||||
@@ -53,7 +53,12 @@ class CarInterface(CarInterfaceBase):
|
||||
friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
|
||||
|
||||
def sig(val):
|
||||
return 1 / (1 + exp(-val)) - 0.5
|
||||
# https://timvieira.github.io/blog/post/2014/02/11/exp-normalize-trick
|
||||
if val >= 0:
|
||||
return 1 / (1 + exp(-val)) - 0.5
|
||||
else:
|
||||
z = exp(val)
|
||||
return z / (1 + z) - 0.5
|
||||
|
||||
# The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
|
||||
# An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
|
||||
|
||||
@@ -877,7 +877,10 @@ FW_VERSIONS = {
|
||||
b'36161-T20-A070\x00\x00',
|
||||
b'36161-T20-A080\x00\x00',
|
||||
b'36161-T24-T070\x00\x00',
|
||||
b'36161-T47-A050\x00\x00',
|
||||
b'36161-T47-A070\x00\x00',
|
||||
b'8S102-T20-AA10\x00\x00',
|
||||
b'8S102-T47-AA10\x00\x00',
|
||||
],
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-T20-AB40\x00\x00',
|
||||
|
||||
@@ -141,8 +141,8 @@ class CAR(Platforms):
|
||||
)
|
||||
HONDA_CIVIC_2022 = HondaBoschPlatformConfig(
|
||||
[
|
||||
HondaCarDocs("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
|
||||
HondaCarDocs("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
|
||||
HondaCarDocs("Honda Civic 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
|
||||
HondaCarDocs("Honda Civic Hatchback 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
|
||||
],
|
||||
HONDA_CIVIC_BOSCH.specs,
|
||||
dbc_dict('honda_civic_ex_2022_can_generated', None),
|
||||
|
||||
@@ -52,6 +52,9 @@ class CarState(CarStateBase):
|
||||
|
||||
self.params = CarControllerParams(CP)
|
||||
|
||||
# dp - alka
|
||||
self._main_on = False
|
||||
|
||||
def update(self, cp, cp_cam):
|
||||
if self.CP.carFingerprint in CANFD_CAR:
|
||||
return self.update_canfd(cp, cp_cam)
|
||||
@@ -102,7 +105,9 @@ class CarState(CarStateBase):
|
||||
# cruise state
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
# These are not used for engage/disengage since openpilot keeps track of state using the buttons
|
||||
ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
|
||||
# dp - alka
|
||||
# ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
|
||||
ret.cruiseState.available = self._main_on
|
||||
ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
|
||||
ret.cruiseState.standstill = False
|
||||
ret.cruiseState.nonAdaptive = False
|
||||
@@ -119,6 +124,7 @@ class CarState(CarStateBase):
|
||||
ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
|
||||
ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
|
||||
ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
|
||||
ret.espActive = cp.vl["TCS11"]["ABS_ACT"] == 1
|
||||
ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
|
||||
|
||||
if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
|
||||
@@ -163,8 +169,15 @@ class CarState(CarStateBase):
|
||||
self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE
|
||||
self.prev_cruise_buttons = self.cruise_buttons[-1]
|
||||
self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
|
||||
# dp - alka
|
||||
main_btn_prev = self.main_buttons[-1]
|
||||
|
||||
self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
|
||||
|
||||
# dp - alka
|
||||
if main_btn_prev != self.main_buttons[-1]:
|
||||
self._main_on = not self._main_on
|
||||
|
||||
return ret
|
||||
|
||||
def update_canfd(self, cp, cp_cam):
|
||||
@@ -218,7 +231,9 @@ class CarState(CarStateBase):
|
||||
|
||||
# cruise state
|
||||
# CAN FD cars enable on main button press, set available if no TCS faults preventing engagement
|
||||
ret.cruiseState.available = cp.vl["TCS"]["ACCEnable"] == 0
|
||||
# dp - alka
|
||||
# ret.cruiseState.available = cp.vl["TCS"]["ACCEnable"] == 0
|
||||
ret.cruiseState.available = self._main_on
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
# These are not used for engage/disengage since openpilot keeps track of state using the buttons
|
||||
ret.cruiseState.enabled = cp.vl["TCS"]["ACC_REQ"] == 1
|
||||
@@ -239,7 +254,14 @@ class CarState(CarStateBase):
|
||||
|
||||
self.prev_cruise_buttons = self.cruise_buttons[-1]
|
||||
self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
|
||||
# dp - alka
|
||||
main_btn_prev = self.main_buttons[-1]
|
||||
|
||||
self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
|
||||
|
||||
# dp - alka
|
||||
if main_btn_prev != self.main_buttons[-1]:
|
||||
self._main_on = not self._main_on
|
||||
self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
|
||||
ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
|
||||
|
||||
|
||||
@@ -2,10 +2,11 @@
|
||||
from cereal import car
|
||||
from openpilot.selfdrive.car.hyundai.values import CAR
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
# The existence of SCC or RDR in the fwdRadar FW usually determines the radar's function,
|
||||
# i.e. if it sends the SCC messages or if another ECU like the camera or ADAS Driving ECU does
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
FINGERPRINTS = {
|
||||
CAR.HYUNDAI_SANTA_FE: [{
|
||||
@@ -985,6 +986,7 @@ FW_VERSIONS = {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00NE1 MFC AT CAN LHD 1.00 1.01 99211-GI010 211007',
|
||||
b'\xf1\x00NE1 MFC AT CAN LHD 1.00 1.05 99211-GI010 220614',
|
||||
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.00 99211-GI100 230915',
|
||||
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.01 99211-GI010 211007',
|
||||
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813',
|
||||
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI010 230110',
|
||||
@@ -993,13 +995,13 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.00 99211-GI020 230719',
|
||||
b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.05 99211-GI010 220614',
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.00 99211-GI020 230719',
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.00 99211-GI100 230915',
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.01 99211-GI010 211007',
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.02 99211-GI010 211206',
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.03 99211-GI010 220401',
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614',
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.06 99211-GI010 230110',
|
||||
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.00 99211-GI100 230915',
|
||||
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.00 99211-GI100 230915',
|
||||
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.01 99211-GI100 240110',
|
||||
],
|
||||
},
|
||||
CAR.HYUNDAI_IONIQ_6: {
|
||||
|
||||
@@ -520,8 +520,9 @@ class CAR(Platforms):
|
||||
)
|
||||
GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig(
|
||||
[
|
||||
HyundaiCarDocs("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
HyundaiCarDocs("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
|
||||
# TODO: Hyundai P is likely the correct harness for HDA II for 2.5T (unsupported due to missing ADAS ECU, is that the radar?)
|
||||
HyundaiCarDocs("Genesis GV70 (2.5T Trim, without HDA II) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
|
||||
HyundaiCarDocs("Genesis GV70 (3.5T Trim, without HDA II) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
|
||||
],
|
||||
CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6),
|
||||
flags=HyundaiFlags.RADAR_SCC,
|
||||
|
||||
@@ -280,6 +280,8 @@ class CarInterfaceBase(ABC):
|
||||
events.add(EventName.wrongCarMode)
|
||||
if cs_out.espDisabled:
|
||||
events.add(EventName.espDisabled)
|
||||
if cs_out.espActive:
|
||||
events.add(EventName.espActive)
|
||||
if cs_out.stockFcw:
|
||||
events.add(EventName.stockFcw)
|
||||
if cs_out.stockAeb:
|
||||
|
||||
@@ -16,6 +16,7 @@ FW_VERSIONS = {
|
||||
b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PXFG-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PXFG-188K2-C\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',
|
||||
],
|
||||
|
||||
@@ -8,7 +8,12 @@ from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_
|
||||
UNSUPPORTED_DSU_CAR
|
||||
from opendbc.can.packer import CANPacker
|
||||
|
||||
# dp
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.dp_ext.selfdrive.car.toyota.door_lock_controller import DoorLockController
|
||||
from openpilot.dp_ext.selfdrive.car.toyota.pcm_compensation_controller import PCMCompensationController
|
||||
# for pcm compensation
|
||||
LongCtrlState = car.CarControl.Actuators.LongControlState
|
||||
|
||||
SteerControlType = car.CarParams.SteerControlType
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
@@ -45,12 +50,15 @@ class CarController(CarControllerBase):
|
||||
self.accel = 0
|
||||
# dp
|
||||
self.dlc = DoorLockController()
|
||||
self.pcc = PCMCompensationController(CP, self.params, Params().get_bool("dp_toyota_pcm_compensation"))
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
actuators = CC.actuators
|
||||
hud_control = CC.hudControl
|
||||
pcm_cancel_cmd = CC.cruiseControl.cancel
|
||||
lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE
|
||||
# dp - for pcm compensation
|
||||
stopping = actuators.longControlState == LongCtrlState.stopping
|
||||
|
||||
# *** control msgs ***
|
||||
can_sends = []
|
||||
@@ -108,7 +116,10 @@ class CarController(CarControllerBase):
|
||||
lta_active, self.frame // 2, torque_wind_down))
|
||||
|
||||
# *** gas and brake ***
|
||||
pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
|
||||
if self.pcc.is_enabled():
|
||||
pcm_accel_cmd = self.pcc.get_pcm_accel_cmd(CC.longActive, CS.out.vEgo, CS.pcm_neutral_force, actuators.accel)
|
||||
else:
|
||||
pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
|
||||
|
||||
# on entering standstill, send standstill request
|
||||
if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR):
|
||||
@@ -135,15 +146,19 @@ class CarController(CarControllerBase):
|
||||
else:
|
||||
self.distance_button = 0
|
||||
|
||||
# dp - for pcm compensation
|
||||
# when stopping, send -2.5 raw acceleration immediately to prevent vehicle from creeping, else send actuators.accel
|
||||
accel_raw = -2.5 if self.pcc.is_enabled() and stopping else actuators.accel
|
||||
|
||||
# Lexus IS uses a different cancellation message
|
||||
if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
|
||||
can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
|
||||
elif self.CP.openpilotLongitudinalControl:
|
||||
can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert,
|
||||
can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, accel_raw, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert,
|
||||
self.distance_button))
|
||||
self.accel = pcm_accel_cmd
|
||||
else:
|
||||
can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, self.distance_button))
|
||||
can_sends.append(toyotacan.create_accel_command(self.packer, 0, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, self.distance_button))
|
||||
|
||||
# *** hud ui ***
|
||||
if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
|
||||
|
||||
@@ -51,7 +51,10 @@ class CarState(CarStateBase):
|
||||
self.acc_type = 1
|
||||
self.lkas_hud = {}
|
||||
|
||||
# dp
|
||||
self.zssc = ZSSController()
|
||||
# for pcm compensation
|
||||
self.pcm_neutral_force = 0.
|
||||
|
||||
def update(self, cp, cp_cam):
|
||||
ret = car.CarState.new_message()
|
||||
@@ -157,6 +160,8 @@ class CarState(CarStateBase):
|
||||
ret.cruiseState.standstill = self.pcm_acc_status == 7
|
||||
ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"])
|
||||
ret.cruiseState.nonAdaptive = self.pcm_acc_status in (1, 2, 3, 4, 5, 6)
|
||||
# dp - for pcm compensation
|
||||
self.pcm_neutral_force = cp.vl["PCM_CRUISE"]["NEUTRAL_FORCE"]
|
||||
|
||||
ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"])
|
||||
ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0
|
||||
|
||||
@@ -234,6 +234,7 @@ FW_VERSIONS = {
|
||||
b'\x01F152606390\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152606400\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152606431\x00\x00\x00\x00\x00\x00',
|
||||
b'\x01F152633E11\x00\x00\x00\x00\x00\x00',
|
||||
b'F152633310\x00\x00\x00\x00\x00\x00',
|
||||
b'F152633D00\x00\x00\x00\x00\x00\x00',
|
||||
b'F152633D60\x00\x00\x00\x00\x00\x00',
|
||||
@@ -251,6 +252,7 @@ FW_VERSIONS = {
|
||||
b'\x018966306T4000\x00\x00\x00\x00',
|
||||
b'\x018966306T4100\x00\x00\x00\x00',
|
||||
b'\x018966306V1000\x00\x00\x00\x00',
|
||||
b'\x018966333Z1000\x00\x00\x00\x00',
|
||||
b'\x01896633T20000\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x750, 0xf): [
|
||||
@@ -266,6 +268,7 @@ FW_VERSIONS = {
|
||||
b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
|
||||
b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
|
||||
b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
|
||||
b'\x028646F3305400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
|
||||
b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
@@ -848,6 +851,7 @@ FW_VERSIONS = {
|
||||
b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
|
||||
b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707001\x00\x00\x00\x00',
|
||||
b'\x038966347B6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
|
||||
b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
|
||||
b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x7a1, None): [
|
||||
|
||||
@@ -7,6 +7,9 @@ from openpilot.selfdrive.car import create_button_events, get_safety_config
|
||||
from openpilot.selfdrive.car.disable_ecu import disable_ecu
|
||||
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
# dp
|
||||
from openpilot.common.params import Params
|
||||
|
||||
ButtonType = car.CarState.ButtonEvent.Type
|
||||
EventName = car.CarEvent.EventName
|
||||
SteerControlType = car.CarParams.SteerControlType
|
||||
@@ -142,6 +145,14 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.minEnableSpeed = -1. if stop_and_go else MIN_ACC_SPEED
|
||||
|
||||
tune = ret.longitudinalTuning
|
||||
# dp
|
||||
if Params().get_bool("dp_toyota_pcm_compensation"):
|
||||
# on stock Toyota this is -2.5
|
||||
if candidate in TSS2_CAR:
|
||||
ret.stopAccel = -1.2
|
||||
else:
|
||||
ret.stopAccel = -2.5
|
||||
|
||||
if candidate in TSS2_CAR:
|
||||
tune.kpV = [0.0]
|
||||
tune.kiV = [0.5]
|
||||
|
||||
@@ -33,7 +33,7 @@ def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req,
|
||||
return packer.make_can_msg("STEERING_LTA", 0, values)
|
||||
|
||||
|
||||
def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, distance):
|
||||
def create_accel_command(packer, accel, accel_raw, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, distance):
|
||||
# TODO: find the exact canceling bit that does not create a chime
|
||||
values = {
|
||||
"ACCEL_CMD": accel,
|
||||
@@ -45,6 +45,7 @@ def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_ty
|
||||
"CANCEL_REQ": pcm_cancel,
|
||||
"ALLOW_LONG_PRESS": 1,
|
||||
"ACC_CUT_IN": fcw_alert, # only shown when ACC enabled
|
||||
"ACCEL_CMD_ALT": accel_raw, # raw accel command, pcm uses this to calculate a compensatory force
|
||||
}
|
||||
return packer.make_can_msg("ACC_CONTROL", 0, values)
|
||||
|
||||
|
||||
@@ -574,6 +574,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8704E906024AP\xf1\x891461',
|
||||
b'\xf1\x8704E906027NB\xf1\x899504',
|
||||
b'\xf1\x8704L906026EJ\xf1\x893661',
|
||||
b'\xf1\x8704L906026EJ\xf1\x893916',
|
||||
b'\xf1\x8704L906027G \xf1\x899893',
|
||||
b'\xf1\x8705E906018BS\xf1\x890914',
|
||||
b'\xf1\x875N0906259 \xf1\x890002',
|
||||
@@ -604,6 +605,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x870DD300046K \xf1\x892302',
|
||||
b'\xf1\x870DL300011N \xf1\x892001',
|
||||
b'\xf1\x870DL300011N \xf1\x892012',
|
||||
b'\xf1\x870DL300011N \xf1\x892014',
|
||||
b'\xf1\x870DL300012M \xf1\x892107',
|
||||
b'\xf1\x870DL300012P \xf1\x892103',
|
||||
b'\xf1\x870DL300013A \xf1\x893005',
|
||||
@@ -617,6 +619,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\x1316143231313500314617011730179333423100',
|
||||
b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1316143231313500314617011730179333423100',
|
||||
b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x1331310031333334313132573732379333313100',
|
||||
b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1311140031333300314232583632369333423100',
|
||||
b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100',
|
||||
b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100',
|
||||
b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\x1316143231313500314641011750179333423100',
|
||||
@@ -636,6 +639,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1',
|
||||
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600',
|
||||
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00',
|
||||
b'\xf1\x875QF909144 \xf1\x895572\xf1\x82\x0571A60833A1',
|
||||
b'\xf1\x875QF909144A \xf1\x895581\xf1\x82\x0571A60834A1',
|
||||
b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571A60634A1',
|
||||
b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571A62A32A1',
|
||||
|
||||
@@ -67,6 +67,8 @@ class Controls:
|
||||
self._dp_alka_active = True
|
||||
self._dp_lat_lane_change_assist_mode = int(self.params.get("dp_lat_lane_change_assist_mode"))
|
||||
self._dp_lat_lane_change_assist_mode_disable_active = False
|
||||
self._dp_device_dm_unavailable = self.params.get_bool("dp_device_dm_unavailable")
|
||||
self._dp_device_dm_unavailable_active = True if self._dp_device_dm_unavailable else False
|
||||
|
||||
if CI is None:
|
||||
cloudlog.info("controlsd is waiting for CarParams")
|
||||
@@ -89,6 +91,9 @@ class Controls:
|
||||
self.sensor_packets = ["accelerometer", "gyroscope"]
|
||||
self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
|
||||
|
||||
if self._dp_device_dm_unavailable_active:
|
||||
self.camera_packets.remove("driverCameraState")
|
||||
|
||||
self.log_sock = messaging.sub_sock('androidLog')
|
||||
|
||||
# TODO: de-couple controlsd with card/conflate on carState without introducing controls mismatches
|
||||
@@ -310,7 +315,14 @@ class Controls:
|
||||
else:
|
||||
if not SIMULATION and not self.rk.lagging:
|
||||
if not self.sm.all_alive(self.camera_packets):
|
||||
self.events.add(EventName.cameraMalfunction)
|
||||
if not self._dp_device_dm_unavailable_active and not self.sm.all_alive(['driverCameraState']):
|
||||
self._dp_device_dm_unavailable_active = True
|
||||
self.params.put_bool("dp_device_dm_unavailable", True)
|
||||
|
||||
if self._dp_device_dm_unavailable_active and not self.sm.all_alive(['driverCameraState']):
|
||||
pass
|
||||
else:
|
||||
self.events.add(EventName.cameraMalfunction)
|
||||
elif not self.sm.all_freq_ok(self.camera_packets):
|
||||
self.events.add(EventName.cameraFrameRate)
|
||||
if not REPLAY and self.rk.lagging:
|
||||
|
||||
@@ -831,6 +831,11 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||||
ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
|
||||
},
|
||||
|
||||
EventName.espActive: {
|
||||
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Electronic Stability Control Active"),
|
||||
ET.NO_ENTRY: NoEntryAlert("Electronic Stability Control Active"),
|
||||
},
|
||||
|
||||
EventName.controlsMismatch: {
|
||||
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch"),
|
||||
ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"),
|
||||
|
||||
@@ -136,10 +136,6 @@ class LongitudinalPlanner:
|
||||
# Reset current state when not engaged, or user is controlling the speed
|
||||
reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['controlsState'].enabled
|
||||
|
||||
# dp
|
||||
if not reset_state:
|
||||
reset_state = self._dynamic_endtoend_controller.has_changed()
|
||||
|
||||
# No change cost when user is controlling the speed, or when standstill
|
||||
prev_accel_constraint = not (reset_state or sm['carState'].standstill)
|
||||
|
||||
@@ -199,15 +195,11 @@ class LongitudinalPlanner:
|
||||
|
||||
plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
|
||||
|
||||
|
||||
longitudinalPlan = plan_send.longitudinalPlan
|
||||
longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
|
||||
longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2']
|
||||
longitudinalPlan.solverExecutionTime = self.mpc.solve_time
|
||||
|
||||
longitudinalPlan.allowBrake = True
|
||||
longitudinalPlan.allowThrottle = True
|
||||
|
||||
longitudinalPlan.speeds = self.v_desired_trajectory.tolist()
|
||||
longitudinalPlan.accels = self.a_desired_trajectory.tolist()
|
||||
longitudinalPlan.jerks = self.j_desired_trajectory.tolist()
|
||||
@@ -224,7 +216,6 @@ class LongitudinalPlanner:
|
||||
|
||||
pm.send('longitudinalPlan', plan_send)
|
||||
|
||||
|
||||
# dp - extension
|
||||
plan_ext_send = messaging.new_message('longitudinalPlanExt')
|
||||
plan_ext_send.valid = True
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -81,31 +81,6 @@ if __name__ == "__main__":
|
||||
'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"), readahead=True)
|
||||
}
|
||||
|
||||
# Update tile refs
|
||||
if update:
|
||||
import urllib
|
||||
import requests
|
||||
import threading
|
||||
import http.server
|
||||
from openpilot.tools.lib.openpilotci import upload_bytes
|
||||
os.environ['MAPS_HOST'] = 'http://localhost:5000'
|
||||
|
||||
class HTTPRequestHandler(http.server.BaseHTTPRequestHandler):
|
||||
def do_GET(self):
|
||||
assert len(self.path) > 10 # Sanity check on path length
|
||||
r = requests.get(f'https://api.mapbox.com{self.path}', timeout=30)
|
||||
upload_bytes(r.content, urllib.parse.urlparse(self.path).path.lstrip('/'))
|
||||
self.send_response(r.status_code)
|
||||
self.send_header('Content-type','text/html')
|
||||
self.end_headers()
|
||||
self.wfile.write(r.content)
|
||||
|
||||
server = http.server.HTTPServer(("127.0.0.1", 5000), HTTPRequestHandler)
|
||||
thread = threading.Thread(None, server.serve_forever, daemon=True)
|
||||
thread.start()
|
||||
else:
|
||||
os.environ['MAPS_HOST'] = BASE_URL.rstrip('/')
|
||||
|
||||
log_msgs = []
|
||||
# run replays
|
||||
if not NO_MODEL:
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -55,7 +55,6 @@ public slots:
|
||||
void offroadTransition(bool offroad);
|
||||
void showDriverView(bool show);
|
||||
void showSidebar(bool show);
|
||||
void showMapPanel(bool show);
|
||||
|
||||
protected:
|
||||
void mousePressEvent(QMouseEvent* e) override;
|
||||
|
||||
@@ -26,15 +26,12 @@ private:
|
||||
float speed;
|
||||
QString speedUnit;
|
||||
float setSpeed;
|
||||
float speedLimit;
|
||||
bool is_cruise_set = false;
|
||||
bool is_metric = false;
|
||||
bool dmActive = false;
|
||||
bool hideBottomIcons = false;
|
||||
bool rightHandDM = false;
|
||||
float dm_fade_state = 1.0;
|
||||
bool has_us_speed_limit = false;
|
||||
bool has_eu_speed_limit = false;
|
||||
bool v_ego_cluster_seen = false;
|
||||
int status = STATUS_DISENGAGED;
|
||||
std::unique_ptr<PubMaster> pm;
|
||||
|
||||
@@ -12,20 +12,12 @@ class OnroadWindow : public QWidget {
|
||||
|
||||
public:
|
||||
OnroadWindow(QWidget* parent = 0);
|
||||
bool isMapVisible() const { return map && map->isVisible(); }
|
||||
void showMapPanel(bool show) { if (map) map->setVisible(show); }
|
||||
|
||||
signals:
|
||||
void mapPanelRequested();
|
||||
|
||||
private:
|
||||
void createMapWidget();
|
||||
void paintEvent(QPaintEvent *event);
|
||||
void mousePressEvent(QMouseEvent* e) override;
|
||||
OnroadAlerts *alerts;
|
||||
AnnotatedCameraWidget *nvg;
|
||||
QColor bg = bg_colors[STATUS_DISENGAGED];
|
||||
QWidget *map = nullptr;
|
||||
QHBoxLayout* split;
|
||||
|
||||
// dp
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -26,9 +26,6 @@ void initApp(int argc, char *argv[], bool disable_hidpi = true);
|
||||
QWidget* topWidget(QWidget* widget);
|
||||
QPixmap loadPixmap(const QString &fileName, const QSize &size = {}, Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio);
|
||||
QPixmap bootstrapPixmap(const QString &id);
|
||||
|
||||
void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom);
|
||||
QColor interpColor(float xv, std::vector<float> xp, std::vector<QColor> fp);
|
||||
bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params);
|
||||
|
||||
struct InterFont : public QFont {
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -3,6 +3,7 @@
|
||||
"Deutsch": "main_de",
|
||||
"Français": "main_fr",
|
||||
"Português": "main_pt-BR",
|
||||
"Español": "main_es",
|
||||
"Türkçe": "main_tr",
|
||||
"العربية": "main_ar",
|
||||
"ไทย": "main_th",
|
||||
|
||||
Binary file not shown.
@@ -101,14 +101,6 @@
|
||||
<source>MAX</source>
|
||||
<translation>MAX</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>SPEED</source>
|
||||
<translation>SPEED</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>LIMIT</source>
|
||||
<translation>LIMIT</translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>ConfirmationDialog</name>
|
||||
|
||||
Binary file not shown.
@@ -101,14 +101,6 @@
|
||||
<source>MAX</source>
|
||||
<translation>MAX</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>SPEED</source>
|
||||
<translation>Geschwindigkeit</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>LIMIT</source>
|
||||
<translation>LIMIT</translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>ConfirmationDialog</name>
|
||||
|
||||
Binary file not shown.
File diff suppressed because it is too large
Load Diff
Binary file not shown.
@@ -101,14 +101,6 @@
|
||||
<source>MAX</source>
|
||||
<translation>MAX</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>SPEED</source>
|
||||
<translation>VITESSE</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>LIMIT</source>
|
||||
<translation>LIMITE</translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>ConfirmationDialog</name>
|
||||
|
||||
Binary file not shown.
@@ -101,14 +101,6 @@
|
||||
<source>MAX</source>
|
||||
<translation>最高速度</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>SPEED</source>
|
||||
<translation>速度</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>LIMIT</source>
|
||||
<translation>制限速度</translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>ConfirmationDialog</name>
|
||||
|
||||
Binary file not shown.
@@ -101,14 +101,6 @@
|
||||
<source>MAX</source>
|
||||
<translation>MAX</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>SPEED</source>
|
||||
<translation>SPEED</translation>
|
||||
</message>
|
||||
<message>
|
||||
<source>LIMIT</source>
|
||||
<translation>LIMIT</translation>
|
||||
</message>
|
||||
</context>
|
||||
<context>
|
||||
<name>ConfirmationDialog</name>
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user