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Merge branch 'devel-zhs' into 0.6.5-zhs

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dragonpilot
2019-11-06 12:02:43 +10:00
parent 2dd565b02e 4507453c1d
commit 930cf059f2
25 changed files with 298 additions and 81 deletions
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README.md
+22 -22
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@@ -62,15 +62,15 @@ Supported Cars
| ---------------------| ---------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
| Acura | ILX 2016-18 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph | Nidec |
| Acura | RDX 2016-18 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Buick<sup>3</sup> | Regal 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Chevrolet<sup>3</sup>| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Chevrolet<sup>3</sup>| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Cadillac<sup>3</sup> | ATS 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Buick<sup>3</sup> | Regal 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>6</sup>|
| Chevrolet<sup>3</sup>| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>6</sup>|
| Chevrolet<sup>3</sup>| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>6</sup>|
| Cadillac<sup>3</sup> | ATS 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>6</sup>|
| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
| Chrysler | Pacifica Hybrid 2019 | Adaptive Cruise | Yes | Stock | 0mph | 39mph | FCA |
| GMC<sup>3</sup> | Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Holden<sup>3</sup> | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| GMC<sup>3</sup> | Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>6</sup>|
| Holden<sup>3</sup> | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>6</sup>|
| Honda | Accord 2018-19 | All | Yes | Stock | 0mph | 3mph | Bosch |
| Honda | Accord Hybrid 2018-19 | All | Yes | Stock | 0mph | 3mph | Bosch |
| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec |
@@ -85,25 +85,26 @@ Supported Cars
| Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | Pilot 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
| Honda | Ridgeline 2017-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Hyundai | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Hyundai | Elantra 2017-19 | SCC + LKAS | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
| Hyundai | Genesis 2018 | All | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
| Hyundai | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | Custom<sup>5</sup>|
| Hyundai | Elantra 2017-19 | SCC + LKAS | Yes | Stock | 19mph | 34mph | Custom<sup>5</sup>|
| Hyundai | Genesis 2018 | All | Yes | Stock | 19mph | 34mph | Custom<sup>5</sup>|
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
| Jeep | Grand Cherokee 2019 | Adaptive Cruise | Yes | Stock | 0mph | 39mph | FCA |
| Kia | Optima 2019 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Kia | Optima 2019 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>5</sup>|
| Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom<sup>5</sup>|
| Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>5</sup>|
| Lexus | CT Hybrid 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Lexus | ES 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
| Lexus | ES Hybrid 2019 | All | Yes | Yes | 0mph | 0mph | Toyota |
| Lexus | RX Hybrid 2016-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Lexus | IS 2017-2019 | All | Yes | Stock | 22mph | 0mph | Toyota |
| Lexus | IS Hybrid 2017 | All | Yes | Stock | 0mph | 0mph | Toyota |
| Subaru | Crosstrek 2018 | EyeSight | Yes | Stock | 0mph | 0mph | Custom<sup>4</sup>|
| Subaru | Impreza 2019 | EyeSight | Yes | Stock | 0mph | 0mph | Custom<sup>4</sup>|
| Subaru | Crosstrek 2018-19 | EyeSight | Yes | Stock | 0mph | 0mph | Subaru |
| Subaru | Impreza 2019-20 | EyeSight | Yes | Stock | 0mph | 0mph | Subaru |
| Toyota | Avalon 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
| Toyota | Avalon 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
| Toyota | Camry 2018-19 | All | Yes | Stock | 0mph<sup>5</sup> | 0mph | Toyota |
| Toyota | Camry Hybrid 2018-19 | All | Yes | Stock | 0mph<sup>5</sup> | 0mph | Toyota |
| Toyota | Camry 2018-19 | All | Yes | Stock | 0mph<sup>4</sup> | 0mph | Toyota |
| Toyota | Camry Hybrid 2018-19 | All | Yes | Stock | 0mph<sup>4</sup> | 0mph | Toyota |
| Toyota | C-HR 2017-19 | All | Yes | Stock | 0mph | 0mph | Toyota |
| Toyota | C-HR Hybrid 2017-19 | All | Yes | Stock | 0mph | 0mph | Toyota |
| Toyota | Corolla 2017-19 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
@@ -125,20 +126,19 @@ Supported Cars
<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai).*** <br />
<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota). ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
<sup>3</sup>[GM installation guide](https://zoneos.com/volt/). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
<sup>4</sup>Subaru Giraffe is DIY. <br />
<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais. <br />
<sup>7</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/). <br />
<sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
<sup>5</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for the 2019 Sante Fe; pinout may differ for other Hyundais. <br />
<sup>6</sup>Community built Giraffe, find more information [here](https://zoneos.com/shop/). <br />
Community Maintained Cars
------
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe |
| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
| Tesla | Model S 2012-13 | All | Yes | Not yet | Not applicable | 0mph | Custom<sup>8</sup>|
| Tesla | Model S 2012-13 | All | Yes | Not yet | Not applicable | 0mph | Custom<sup>7</sup>|
[[Tesla Model S Pull Request]](https://github.com/commaai/openpilot/pull/246) <br />
<sup>8</sup>Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla) <br />
<sup>7</sup>Community built Giraffe, find more information here [Community Tesla Giraffe](https://github.com/jeankalud/neo/tree/tesla_giraffe/giraffe/tesla) <br />
Community Maintained Cars are not confirmed by comma.ai to meet our [safety model](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Be extra cautious using them.
apk/ai.comma.plus.offroad.apk
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apk/tw.com.ainvest.outpack.apk
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common/params.py
+3
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@@ -119,6 +119,9 @@ keys = {
"DragonEnableAutonavi": [TxType.PERSISTENT],
"DragonBootAutonavi": [TxType.PERSISTENT],
"DragonRunAutonavi": [TxType.PERSISTENT],
"DragonEnableAegis": [TxType.PERSISTENT],
"DragonBootAegis": [TxType.PERSISTENT],
"DragonRunAegis": [TxType.PERSISTENT],
"DragonEnableMixplorer": [TxType.PERSISTENT],
"DragonRunMixplorer": [TxType.PERSISTENT],
"DragonSteeringMonitorTimer": [TxType.PERSISTENT],
dragonpilot/LICENSE.md
+21
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@@ -0,0 +1,21 @@
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.
dragonpilot/chinese-fonts/LICENSE_OFL.txt
+92
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@@ -0,0 +1,92 @@
This Font Software is licensed under the SIL Open Font License,
Version 1.1.
This license is copied below, and is also available with a FAQ at:
http://scripts.sil.org/OFL
-----------------------------------------------------------
SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007
-----------------------------------------------------------
PREAMBLE
The goals of the Open Font License (OFL) are to stimulate worldwide
development of collaborative font projects, to support the font
creation efforts of academic and linguistic communities, and to
provide a free and open framework in which fonts may be shared and
improved in partnership with others.
The OFL allows the licensed fonts to be used, studied, modified and
redistributed freely as long as they are not sold by themselves. The
fonts, including any derivative works, can be bundled, embedded,
redistributed and/or sold with any software provided that any reserved
names are not used by derivative works. The fonts and derivatives,
however, cannot be released under any other type of license. The
requirement for fonts to remain under this license does not apply to
any document created using the fonts or their derivatives.
DEFINITIONS
"Font Software" refers to the set of files released by the Copyright
Holder(s) under this license and clearly marked as such. This may
include source files, build scripts and documentation.
"Reserved Font Name" refers to any names specified as such after the
copyright statement(s).
"Original Version" refers to the collection of Font Software
components as distributed by the Copyright Holder(s).
"Modified Version" refers to any derivative made by adding to,
deleting, or substituting -- in part or in whole -- any of the
components of the Original Version, by changing formats or by porting
the Font Software to a new environment.
"Author" refers to any designer, engineer, programmer, technical
writer or other person who contributed to the Font Software.
PERMISSION & CONDITIONS
Permission is hereby granted, free of charge, to any person obtaining
a copy of the Font Software, to use, study, copy, merge, embed,
modify, redistribute, and sell modified and unmodified copies of the
Font Software, subject to the following conditions:
1) Neither the Font Software nor any of its individual components, in
Original or Modified Versions, may be sold by itself.
2) Original or Modified Versions of the Font Software may be bundled,
redistributed and/or sold with any software, provided that each copy
contains the above copyright notice and this license. These can be
included either as stand-alone text files, human-readable headers or
in the appropriate machine-readable metadata fields within text or
binary files as long as those fields can be easily viewed by the user.
3) No Modified Version of the Font Software may use the Reserved Font
Name(s) unless explicit written permission is granted by the
corresponding Copyright Holder. This restriction only applies to the
primary font name as presented to the users.
4) The name(s) of the Copyright Holder(s) or the Author(s) of the Font
Software shall not be used to promote, endorse or advertise any
Modified Version, except to acknowledge the contribution(s) of the
Copyright Holder(s) and the Author(s) or with their explicit written
permission.
5) The Font Software, modified or unmodified, in part or in whole,
must be distributed entirely under this license, and must not be
distributed under any other license. The requirement for fonts to
remain under this license does not apply to any document created using
the Font Software.
TERMINATION
This license becomes null and void if any of the above conditions are
not met.
DISCLAIMER
THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT
OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE
COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL
DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM
OTHER DEALINGS IN THE FONT SOFTWARE.
dragonpilot/chinese-fonts/Miui-Bold.ttf
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dragonpilot/chinese-fonts/Miui-Regular.ttf
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selfdrive/assets/fonts/NotoSansCJKtc-Bold.otf → dragonpilot/chinese-fonts/NotoSansCJKtc-Bold.otf
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selfdrive/assets/fonts/NotoSansCJKtc-Medium.otf → dragonpilot/chinese-fonts/NotoSansCJKtc-Medium.otf
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selfdrive/assets/fonts/NotoSansCJKtc-Regular.otf → dragonpilot/chinese-fonts/NotoSansCJKtc-Regular.otf
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dragonpilot/chinese-fonts/fonts.xml
+9 -8
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@@ -334,12 +334,6 @@
<family>
<font weight="400" style="normal">NotoSansSymbols-Regular-Subsetted.ttf</font>
</family>
<family lang="zh-Hans">
<font weight="400" style="normal">NotoSansSC-Regular.otf</font>
</family>
<family lang="zh-Hant">
<font weight="400" style="normal">NotoSansTC-Regular.otf</font>
</family>
<family lang="ja">
<font weight="400" style="normal">NotoSansJP-Regular.otf</font>
</family>
@@ -352,8 +346,15 @@
<family>
<font weight="400" style="normal">NotoColorEmoji.ttf</font>
</family>
<family>
<font weight="400" style="normal">Miui-Regular.ttf</font>
<family lang="zh-Hans">
<font weight="400" style="normal">NotoSansCJKtc-Regular.otf</font>
<font weight="500" style="normal">NotoSansCJKtc-Medium.otf</font>
<font weight="700" style="normal">NotoSansCJKtc-Bold.otf</font>
</family>
<family lang="zh-Hant">
<font weight="400" style="normal">NotoSansCJKtc-Regular.otf</font>
<font weight="500" style="normal">NotoSansCJKtc-Medium.otf</font>
<font weight="700" style="normal">NotoSansCJKtc-Bold.otf</font>
</family>
<family lang="ja">
<font weight="400" style="normal">MTLmr3m.ttf</font>
dragonpilot/chinese-fonts/installer.sh
+47 -28
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@@ -1,48 +1,67 @@
#!/usr/bin/bash
# Anndroid system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
###############################################################################
# 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.
#
# Noto is a trademark of Google Inc. Noto fonts are open source.
# All Noto fonts are published under the SIL Open Font License,
# Version 1.1. Language data and some sample texts are from the Unicode CLDR project.
#
###############################################################################
# Android system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
lang=zh-CN
update_font_reg=0
update_font_bold=0
update_font=0
remove_old_font=0
# check regular font
if [ ! -f "/system/fonts/Miui-Regular.ttf" ]; then
update_font_reg=1
if [ ! -f "/system/fonts/NotoSansCJKtc-Regular.otf" ]; then
update_font=1
fi
# check bold font
if [ ! -f "/system/fonts/Miui-Bold.ttf" ]; then
update_font_bold=1
fi
# check droidsans font
if ls /system/fonts/DroidSansFallback*.ttf 1> /dev/null 2>&1; then
# check miui font
if ls /system/fonts/Miui*.ttf 1> /dev/null 2>&1; then
remove_old_font=1
fi
if [ $update_font_reg -eq "1" ] || [ $update_font_bold -eq "1" ] || [ $remove_old_font -eq "1" ]; then
# sleep 3 secs in case, make sure the /system is remountable
if [ $update_font -eq "1" ] || [ $remove_old_font -eq "1" ]; then
# sleep 3 secs in case, make sure the /system is re-mountable
sleep 3
mount -o remount,rw /system
if [ $update_font_reg -eq "1" ] || [ $update_font_bold -eq "1" ]; then
# download regular font
if [ $update_font_reg -eq "1" ]; then
yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/Miui-Regular.ttf /system/fonts/Miui-Regular.ttf
fi
# download bold font
if [ $update_font_bold -eq "1" ]; then
yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/Miui-Bold.ttf /system/fonts/Miui-Bold.ttf
fi
# dont new font mapping
yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/fonts.xml /system/etc/fonts.xml
if [ $update_font -eq "1" ]; then
# install font
cp -rf /data/openpilot/dragonpilot/chinese-fonts/NotoSansCJKtc-* /system/fonts/
# install font mapping
cp -rf /data/openpilot/dragonpilot/chinese-fonts/fonts.xml /system/etc/fonts.xml
# change permissions
chmod 644 /system/etc/fonts.xml
chmod 644 /system/fonts/Miui-*
chmod 644 /system/fonts/NotoSansCJKtc-*
fi
# remove driodsans font
# remove miui font
if [ $remove_old_font -eq "1" ]; then
rm -fr /system/fonts/DroidSansFallback*.ttf
rm -fr /system/fonts/Miui*.ttf
fi
mount -o remount,r /system
# change system locale
selfdrive/can/can_define.py
+1 -1
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@@ -35,5 +35,5 @@ class CANDefine():
self.dv[msgname] = {}
# two ways to lookup: address or msg name
self.dv[address][sgname] = {v: d for v, d in zip(values, defs)} #build dict
self.dv[address][sgname] = dict(zip(values, defs))
self.dv[msgname][sgname] = self.dv[address][sgname]
selfdrive/can/plant_can_parser.py
+1 -1
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@@ -21,7 +21,7 @@ class CANParser():
# - frequency is the frequency at which health should be monitored.
checks = [] if checks is None else checks
self.msgs_ck = set([check[0] for check in checks])
self.msgs_ck = {check[0] for check in checks}
self.frqs = dict(checks)
self.can_valid = False # start with False CAN assumption
# list of received msg we want to monitor counter and checksum for
selfdrive/can/process_dbc.py
+1 -1
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@@ -42,7 +42,7 @@ def main():
for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.items()) if msg_sigs]
def_vals = {a: set(b) for a,b in can_dbc.def_vals.items()} #remove duplicates
def_vals = [(address, sig) for address, sig in sorted(def_vals.items())]
def_vals = sorted(def_vals.items())
if can_dbc.name.startswith(("honda_", "acura_")):
checksum_type = "honda"
selfdrive/car/toyota/carcontroller.py
+1 -1
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@@ -264,7 +264,7 @@ class CarController():
lead = lead or CS.v_ego < 12. # at low speed we always assume the lead is present do ACC can be engaged
# Lexus IS uses a different cancellation message
if pcm_cancel_cmd and CS.CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_ISH]:
if pcm_cancel_cmd and CS.CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
can_sends.append(create_acc_cancel_command(self.packer))
elif ECU.DSU in self.fake_ecus:
can_sends.append(create_accel_command(self.packer, apply_accel, pcm_cancel_cmd, self.standstill_req, lead))
selfdrive/car/toyota/carstate.py
+5 -5
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@@ -59,7 +59,7 @@ def get_can_parser(CP):
("EPS_STATUS", 25),
]
if CP.carFingerprint == CAR.LEXUS_ISH:
if CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
signals.append(("GAS_PEDAL", "GAS_PEDAL_ALT", 0))
signals.append(("MAIN_ON", "PCM_CRUISE_ALT", 0))
signals.append(("SET_SPEED", "PCM_CRUISE_ALT", 0))
@@ -161,7 +161,7 @@ class CarState():
self.brake_pressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED']
if self.CP.enableGasInterceptor:
self.pedal_gas = (cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS'] + cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS2']) / 2.
elif self.CP.carFingerprint == CAR.LEXUS_ISH:
elif self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
self.pedal_gas = cp.vl["GAS_PEDAL_ALT"]['GAS_PEDAL']
else:
self.pedal_gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL']
@@ -202,7 +202,7 @@ class CarState():
self.gear_shifter = parse_gear_shifter(can_gear, self.shifter_values)
if self.CP.carFingerprint == CAR.LEXUS_IS:
self.main_on = cp.vl["DSU_CRUISE"]['MAIN_ON']
elif self.CP.carFingerprint == CAR.LEXUS_ISH:
elif self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
self.main_on = cp.vl["PCM_CRUISE_ALT"]['MAIN_ON']
else:
self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
@@ -223,13 +223,13 @@ class CarState():
if self.CP.carFingerprint == CAR.LEXUS_IS:
self.v_cruise_pcm = cp.vl["DSU_CRUISE"]['SET_SPEED']
self.low_speed_lockout = False
elif self.CP.carFingerprint == CAR.LEXUS_ISH:
elif self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
self.v_cruise_pcm = cp.vl["PCM_CRUISE_ALT"]['SET_SPEED']
self.low_speed_lockout = False
else:
self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
if self.CP.carFingerprint == CAR.LEXUS_ISH:
if self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
# Lexus ISH does not have curise status value (always 0), so we use curise_active value instead
self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE']
else:
selfdrive/car/toyota/interface.py
+11 -1
View File
@@ -196,7 +196,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
ret.lateralTuning.pid.kf = 0.00007818594
elif candidate in [CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ES_TSS2]:
elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
stop_and_go = True
ret.safetyParam = 73
ret.wheelbase = 2.8702
@@ -246,6 +246,16 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.LEXUS_GSH:
stop_and_go = True # set to true because it's a hybrid
ret.safetyParam = 77
ret.wheelbase = 2.84988
ret.steerRatio = 13.3
tire_stiffness_factor = 0.444
ret.mass = 4112 * CV.LB_TO_KG + STD_CARGO_KG
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
ret.lateralTuning.pid.kf = 0.00006
ret.steerRateCost = 1.
ret.centerToFront = ret.wheelbase * 0.44
selfdrive/car/toyota/values.py
+25 -9
View File
@@ -16,12 +16,13 @@ class CAR:
RAV4_TSS2 = "TOYOTA RAV4 2019"
COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
COROLLAH_TSS2 = "TOYOTA COROLLA HYBRID TSS2 2019"
LEXUS_ES_TSS2 = "LEXUS ES 2019"
LEXUS_ESH_TSS2 = "LEXUS ES 300H 2019"
SIENNA = "TOYOTA SIENNA XLE 2018"
LEXUS_IS = "LEXUS IS300 2018"
LEXUS_CTH = "LEXUS CT 200H 2018"
LEXUS_ISH = "LEXUS IS300h 2017"
LEXUS_ES_TSS2 = "LEXUS ES200 2019"
LEXUS_GSH = "LEXUS GS450h 2017"
class ECU:
@@ -206,12 +207,25 @@ FINGERPRINTS = {
{
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 918: 7, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1082: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1745: 8, 1775: 8, 1779: 8
}],
CAR.LEXUS_ES_TSS2: [
{
# 2019 Lexus ES200 from Shell
36: 8, 37: 8, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 355: 5, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
},
{
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8
}],
CAR.LEXUS_ESH_TSS2: [
{
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 658: 8, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 744: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
}],
CAR.SIENNA: [{
CAR.SIENNA: [
{
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 548: 8, 550: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 764: 8, 800: 8, 824: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 888: 8, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 918: 7, 921: 8, 933: 8, 944: 6, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1212: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1656: 8, 1664: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
},
# XLE AWD 2018
{
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 548: 8, 550: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 764: 8, 800: 8, 824: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 921: 8, 933: 8, 944: 6, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1656: 8, 1664: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
}],
CAR.LEXUS_IS: [
# IS300 2018
@@ -230,9 +244,10 @@ FINGERPRINTS = {
{
36: 8, 37: 8, 170: 8, 180: 8, 288: 8, 426: 6, 452: 8, 466: 8, 467: 8, 548: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 810: 2, 832: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 921: 8, 933: 8, 944: 6, 945: 8, 950: 8, 951: 8, 953: 3, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1116: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
}],
CAR.LEXUS_ES_TSS2: [{
# 2019 Lexus ES200 from Shell
36: 8, 37: 8, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 355: 5, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
CAR.LEXUS_GSH: [
# GS450H 2017
{
36: 8, 37: 8, 38: 8, 42: 8, 44: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 548: 8, 550: 2, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 744: 8, 800: 8, 810: 2, 812: 3, 832: 8, 836: 8, 845: 5, 849: 4, 864: 1, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 2, 917: 4, 918: 7, 919: 1, 921: 7, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1009: 8, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 8, 1059: 1, 1112: 8, 1114: 8, 1116: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1188: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1193: 8, 1195: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1200: 8, 1201: 8, 1206: 8, 1208: 8, 1226: 8, 1227: 8, 1235: 8, 1237: 8, 1250: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1599: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
}],
}
@@ -254,14 +269,15 @@ DBC = {
CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.COROLLAH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.LEXUS_ESH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
CAR.SIENNA: dbc_dict('toyota_sienna_xle_2018_pt_generated', 'toyota_adas'),
CAR.LEXUS_IS: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
CAR.LEXUS_CTH: dbc_dict('lexus_ct200h_2018_pt_generated', 'toyota_adas'),
CAR.LEXUS_ISH: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.LEXUS_GSH: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
}
NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ES_TSS2]
TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ES_TSS2]
NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.LEXUS_ES_TSS2] # no resume button press required
NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]
TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]
NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA] # no resume button press required
selfdrive/dragonpilot/LICENSE.md
+21
View File
@@ -0,0 +1,21 @@
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.
selfdrive/dragonpilot/appd/appd.py
+27 -1
View File
@@ -25,21 +25,30 @@ mixplorer_main = "com.mixplorer.activities.BrowseActivity"
gpsservice = "cn.dragonpilot.gpsservice"
gpsservice_main = "cn.dragonpilot.gpsservice.MainService"
# v2.9.5 build 74
aegis = "tw.com.ainvest.outpack"
aegis_main = "tw.com.ainvest.outpack.ui.MainActivity"
def main(gctx=None):
dragon_enable_tomtom = True if params.get('DragonEnableTomTom', encoding='utf8') == "1" else False
dragon_enable_autonavi = True if params.get('DragonEnableAutonavi', encoding='utf8') == "1" else False
dragon_enable_aegis = True if params.get('DragonEnableAegis', encoding='utf8') == "1" else False
dragon_enable_mixplorer = True if params.get('DragonEnableMixplorer', encoding='utf8') == "1" else False
dragon_boot_tomtom = True if params.get("DragonBootTomTom", encoding='utf8') == "1" else False
dragon_boot_autonavi = True if params.get("DragonBootAutonavi", encoding='utf8') == "1" else False
dragon_boot_aegis = True if params.get("DragonBootAegis", encoding='utf8') == "1" else False
dragon_greypanda_mode = True if params.get("DragonGreyPandaMode", encoding='utf8') == "1" else False
dragon_grepanda_mode_started = False
tomtom_is_running = False
autonavi_is_running = False
aegis_is_running = False
mixplorer_is_running = False
allow_auto_boot = True
manual_tomtom = False
manual_autonavi = False
manual_aegis = False
last_started = False
frame = 0
start_delay = None
@@ -48,16 +57,18 @@ def main(gctx=None):
put_nonblocking('DragonRunTomTom', '0')
put_nonblocking('DragonRunAutonavi', '0')
put_nonblocking('DragonRunMixplorer', '0')
put_nonblocking('DragonRunAegis', '0')
# we want to disable all app when boot
system("pm disable %s" % tomtom)
system("pm disable %s" % autonavi)
system("pm disable %s" % mixplorer)
system("pm disable %s" % gpsservice)
system("pm disable %s" % aegis)
thermal_sock = messaging.sub_sock(service_list['thermal'].port)
while dragon_enable_tomtom or dragon_enable_autonavi or dragon_enable_mixplorer or dragon_greypanda_mode:
while dragon_enable_tomtom or dragon_enable_autonavi or dragon_enable_aegis or dragon_enable_mixplorer or dragon_greypanda_mode:
# allow user to manually start/stop app
if dragon_enable_tomtom:
@@ -74,6 +85,13 @@ def main(gctx=None):
put_nonblocking('DragonRunAutonavi', '0')
manual_autonavi = status != "0"
if dragon_enable_aegis:
status = params.get('DragonRunAegis', encoding='utf8')
if not status == "0":
aegis_is_running = exec_app(status, aegis, aegis_main)
put_nonblocking('DragonRunAegis', '0')
manual_aegis = status != "0"
if dragon_enable_mixplorer:
status = params.get('DragonRunMixplorer', encoding='utf8')
if not status == "0":
@@ -83,6 +101,7 @@ def main(gctx=None):
# if manual control is set, we do not allow any of the auto actions
auto_tomtom = not manual_tomtom and dragon_enable_tomtom and dragon_boot_tomtom
auto_autonavi = not manual_autonavi and dragon_enable_autonavi and dragon_boot_autonavi
auto_aegis = not manual_aegis and dragon_enable_aegis and dragon_boot_aegis
msg = messaging.recv_sock(thermal_sock, wait=True)
started = msg.thermal.started
@@ -112,11 +131,15 @@ def main(gctx=None):
tomtom_is_running = exec_app('1', tomtom, tomtom_main)
if auto_autonavi and not autonavi_is_running and frame > start_delay:
autonavi_is_running = exec_app('1', autonavi, autonavi_main)
if auto_aegis and not aegis_is_running and frame > start_delay:
aegis_is_running = exec_app('1', aegis, aegis_main)
else:
if auto_tomtom and tomtom_is_running:
tomtom_is_running = exec_app('-1', tomtom, tomtom_main)
if auto_autonavi and autonavi_is_running:
autonavi_is_running = exec_app('-1', autonavi, autonavi_main)
if auto_aegis and aegis_is_running:
aegis_is_running = exec_app('-1', aegis, aegis_main)
# set allow_auto_boot to False once the thermal status is >= red
allow_auto_boot = False
@@ -137,11 +160,14 @@ def main(gctx=None):
tomtom_is_running = exec_app('-1', tomtom, tomtom_main)
if auto_autonavi and autonavi_is_running and frame > stop_delay:
autonavi_is_running = exec_app('-1', autonavi, autonavi_main)
if auto_aegis and aegis_is_running and frame > stop_delay:
aegis_is_running = exec_app('-1', aegis, aegis_main)
# if car state changed, we remove manual control state
if not last_started == started:
manual_tomtom = False
manual_autonavi = False
manual_aegis = False
last_started = started
frame += 3
selfdrive/dragonpilot/dragonconf/__init__.py
+3
View File
@@ -29,6 +29,9 @@ default_conf = {
'DragonEnableAutonavi': '0',
'DragonBootAutonavi': '0',
'DragonRunAutonavi': '0',
'DragonEnableAegis': '0',
'DragonBootAegis': '0',
'DragonRunAegis': '0',
'DragonEnableMixplorer': '0',
'DragonRunMixplorer': '0',
'DragonSteeringMonitorTimer': '3',
selfdrive/test/test_car_models.py
+5
View File
@@ -281,6 +281,11 @@ routes = {
'enableCamera': True,
'enableDsu': True,
},
"e6a24be49a6cd46e|2019-10-29--10-52-42": {
'carFingerprint': TOYOTA.LEXUS_ES_TSS2,
'enableCamera': True,
'enableDsu': True,
},
"f49e8041283f2939|2019-05-29--13-48-33": {
'carFingerprint': TOYOTA.LEXUS_ESH_TSS2,
'enableCamera': False,
selfdrive/ui/ui.c
+3 -3
View File
@@ -569,11 +569,11 @@ static void ui_init(UIState *s) {
s->font_courbd = nvgCreateFont(s->vg, "courbd", "../assets/fonts/courbd.ttf");
assert(s->font_courbd >= 0);
s->font_sans_regular = nvgCreateFont(s->vg, "sans-regular", "../assets/fonts/NotoSansCJKtc-Regular.otf");
s->font_sans_regular = nvgCreateFont(s->vg, "sans-regular", "../../dragonpilot/chinese-fonts/NotoSansCJKtc-Regular.otf");
assert(s->font_sans_regular >= 0);
s->font_sans_semibold = nvgCreateFont(s->vg, "sans-semibold", "../assets/fonts/NotoSansCJKtc-Medium.otf");
s->font_sans_semibold = nvgCreateFont(s->vg, "sans-semibold", "../../dragonpilot/chinese-fonts/NotoSansCJKtc-Medium.otf");
assert(s->font_sans_semibold >= 0);
s->font_sans_bold = nvgCreateFont(s->vg, "sans-bold", "../assets/fonts/NotoSansCJKtc-Bold.otf");
s->font_sans_bold = nvgCreateFont(s->vg, "sans-bold", "../../dragonpilot/chinese-fonts/NotoSansCJKtc-Bold.otf");
assert(s->font_sans_bold >= 0);
assert(s->img_wheel >= 0);