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dragonpilot 2022-09-06T04:35:28 for EON/C2

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version: dragonpilot v0.8.17 beta for EON/C2
date: 2022-09-06T04:35:28
dp-dev(priv2) master commit: 705261266a609f9ab22a8704a4cf2a380df5a79f
This commit is contained in:
Dragonpilot Team
2022-09-06 04:32:13 +00:00
parent e55a27c37e
commit 9546ca4273
60 changed files with 880 additions and 3625 deletions
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CHANGELOGS.md
+2
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@@ -6,6 +6,8 @@ dragonpilot [latest] - EON/C2 Release
* TWEAK: Used fused location service on gpxd.
* NEW: Added back auto boot on C2.
* NEW: TOYOTA - Door auto lock/unlock. (Thanks to @AlexandreSato and @cydia2020)
* NEW: Added Camera based Driver Monitor back. (This may overheat your device).
* NEW: Added a toggle to turn on/off Camera based Driver Monitor.
dragonpilot 2022.08.29 - EON/C2 Release
========================
cereal/libcereal_shared.so
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cereal/log.capnp
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@@ -1710,7 +1710,7 @@ struct DriverStateV2 {
}
}
struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
struct DriverState @0xb83c6cc593ed0a00 {
frameId @0 :UInt32;
modelExecutionTime @14 :Float32;
dspExecutionTime @16 :Float32;
@@ -2050,6 +2050,6 @@ struct Event {
kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry;
uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
pandaStateDEPRECATED @12 :PandaState;
driverStateDEPRECATED @59 :DriverStateDEPRECATED;
driverState @59 :DriverState;
}
}
cereal/messaging/bridge
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cereal/messaging/messaging_pyx.so
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cereal/services.h
+21 -20
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@@ -37,27 +37,28 @@ static struct service services[] = {
{ "carEvents", 8033, true, 1, 1 },
{ "carParams", 8034, true, 0, 1 },
{ "roadCameraState", 8035, true, 20, 20 },
{ "driverCameraState", 8036, true, 20, 20 },
{ "driverEncodeIdx", 8037, false, 20, 1 },
{ "driverCameraState", 8036, true, 10, 10 },
{ "driverEncodeIdx", 8037, false, 10, 1 },
{ "driverStateV2", 8038, true, 20, 10 },
{ "driverMonitoringState", 8039, true, 20, 10 },
{ "wideRoadEncodeIdx", 8040, false, 20, 1 },
{ "wideRoadCameraState", 8041, true, 20, 20 },
{ "modelV2", 8042, true, 20, 40 },
{ "managerState", 8043, true, 2, 1 },
{ "uploaderState", 8044, true, 0, 1 },
{ "navInstruction", 8045, true, 1, 10 },
{ "navRoute", 8046, true, 0, -1 },
{ "navThumbnail", 8047, true, 0, -1 },
{ "qRoadEncodeIdx", 8048, false, 20, -1 },
{ "userFlag", 8049, true, 0, 1 },
{ "testJoystick", 8050, true, 0, -1 },
{ "roadEncodeData", 8051, false, 20, -1 },
{ "driverEncodeData", 8052, false, 20, -1 },
{ "wideRoadEncodeData", 8053, false, 20, -1 },
{ "qRoadEncodeData", 8054, false, 20, -1 },
{ "dragonConf", 8055, false, 1, -1 },
{ "liveMapData", 8056, true, 0, -1 },
{ "driverState", 8039, true, 10, 5 },
{ "driverMonitoringState", 8040, true, 10, 5 },
{ "wideRoadEncodeIdx", 8041, false, 20, 1 },
{ "wideRoadCameraState", 8042, true, 20, 20 },
{ "modelV2", 8043, true, 20, 40 },
{ "managerState", 8044, true, 2, 1 },
{ "uploaderState", 8045, true, 0, 1 },
{ "navInstruction", 8046, true, 1, 10 },
{ "navRoute", 8047, true, 0, -1 },
{ "navThumbnail", 8048, true, 0, -1 },
{ "qRoadEncodeIdx", 8049, false, 20, -1 },
{ "userFlag", 8050, true, 0, 1 },
{ "testJoystick", 8051, true, 0, -1 },
{ "roadEncodeData", 8052, false, 20, -1 },
{ "driverEncodeData", 8053, false, 20, -1 },
{ "wideRoadEncodeData", 8054, false, 20, -1 },
{ "qRoadEncodeData", 8055, false, 20, -1 },
{ "dragonConf", 8056, false, 1, -1 },
{ "liveMapData", 8057, true, 0, -1 },
};
#endif
cereal/services.py
+4 -3
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@@ -55,10 +55,11 @@ services = {
"carEvents": (True, 1., 1),
"carParams": (True, 0.02, 1),
"roadCameraState": (True, 20., 20),
"driverCameraState": (True, 20., 20),
"driverEncodeIdx": (False, 20., 1),
"driverCameraState": (True, 10., 10),
"driverEncodeIdx": (False, 10., 1),
"driverStateV2": (True, 20., 10),
"driverMonitoringState": (True, 20., 10),
"driverState": (True, 10, 5),
"driverMonitoringState": (True, 10., 5),
"wideRoadEncodeIdx": (False, 20., 1),
"wideRoadCameraState": (True, 20., 20),
"modelV2": (True, 20., 40),
cereal/visionipc/visionipc_pyx.so
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common/dp_conf.py
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@@ -165,6 +165,7 @@ confs = [
#
# {'name': 'dp_no_offroad_fix', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
# {'name': 'dp_ftpd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
{'name': 'dp_dm', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
]
def get_definition(name):
common/params_pyx.so
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common/realtime.py
+1 -1
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@@ -15,7 +15,7 @@ from system.hardware import PC, TICI
DT_CTRL = 0.01 # controlsd
DT_MDL = 0.05 # model
DT_TRML = 0.5 # thermald and manager
DT_DMON = 0.05 # driver monitoring
DT_DMON = 0.1 # driver monitoring
class Priority:
common/version.h
+1 -1
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@@ -1 +1 @@
#define COMMA_VERSION "2022.09.01"
#define COMMA_VERSION "2022.09.06"
opendbc/can/libdbc.so
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panda/board/obj/bootstub.panda.bin
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panda/board/obj/panda.bin.signed
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panda/board/obj/panda.bin.testing.signed
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panda/board/obj/panda.bin.testing.sspoof.signed
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rednose/helpers/ekf_sym_pyx.so
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selfdrive/boardd/boardd
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selfdrive/boardd/boardd_api_impl.so
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selfdrive/controls/lib/lateral_mpc_lib/acados_ocp_lat.json
-450
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@@ -1,450 +0,0 @@
{
"acados_include_path": "/data/openpilot/third_party/acados/include/acados/include",
"acados_lib_path": "/data/openpilot/third_party/acados/include/acados/lib",
"code_export_directory": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code",
"constraints": {
"C": [],
"C_e": [],
"D": [],
"constr_type": "BGH",
"constr_type_e": "BGH",
"idxbu": [],
"idxbx": [
2,
3
],
"idxbx_0": [
0,
1,
2,
3
],
"idxbx_e": [],
"idxbxe_0": [
0,
1,
2,
3
],
"idxsbu": [],
"idxsbx": [],
"idxsbx_e": [],
"idxsg": [],
"idxsg_e": [],
"idxsh": [],
"idxsh_e": [],
"idxsphi": [],
"idxsphi_e": [],
"lbu": [],
"lbx": [
-1.5707963267948966,
-0.8726646259971648
],
"lbx_0": [
0.0,
0.0,
0.0,
0.0
],
"lbx_e": [],
"lg": [],
"lg_e": [],
"lh": [],
"lh_e": [],
"lphi": [],
"lphi_e": [],
"lsbu": [],
"lsbx": [],
"lsbx_e": [],
"lsg": [],
"lsg_e": [],
"lsh": [],
"lsh_e": [],
"lsphi": [],
"lsphi_e": [],
"ubu": [],
"ubx": [
1.5707963267948966,
0.8726646259971648
],
"ubx_0": [
0.0,
0.0,
0.0,
0.0
],
"ubx_e": [],
"ug": [],
"ug_e": [],
"uh": [],
"uh_e": [],
"uphi": [],
"uphi_e": [],
"usbu": [],
"usbx": [],
"usbx_e": [],
"usg": [],
"usg_e": [],
"ush": [],
"ush_e": [],
"usphi": [],
"usphi_e": []
},
"cost": {
"Vu": [
[
0.0
],
[
0.0
],
[
0.0
]
],
"Vu_0": [
[
0.0
],
[
0.0
],
[
0.0
]
],
"Vx": [
[
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0
]
],
"Vx_0": [
[
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0
]
],
"Vx_e": [
[
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0
]
],
"Vz": [],
"Vz_0": [],
"W": [
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
]
],
"W_0": [
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
]
],
"W_e": [
[
0.0,
0.0
],
[
0.0,
0.0
]
],
"Zl": [],
"Zl_e": [],
"Zu": [],
"Zu_e": [],
"cost_ext_fun_type": "casadi",
"cost_ext_fun_type_0": "casadi",
"cost_ext_fun_type_e": "casadi",
"cost_type": "NONLINEAR_LS",
"cost_type_0": "NONLINEAR_LS",
"cost_type_e": "NONLINEAR_LS",
"yref": [
0.0,
0.0,
0.0
],
"yref_0": [
0.0,
0.0,
0.0
],
"yref_e": [
0.0,
0.0
],
"zl": [],
"zl_e": [],
"zu": [],
"zu_e": []
},
"cython_include_dirs": "/data/data/com.termux/files/usr/lib/python3.8/site-packages/numpy/core/include",
"dims": {
"N": 16,
"nbu": 0,
"nbx": 2,
"nbx_0": 4,
"nbx_e": 0,
"nbxe_0": 4,
"ng": 0,
"ng_e": 0,
"nh": 0,
"nh_e": 0,
"np": 2,
"nphi": 0,
"nphi_e": 0,
"nr": 0,
"nr_e": 0,
"ns": 0,
"ns_e": 0,
"nsbu": 0,
"nsbx": 0,
"nsbx_e": 0,
"nsg": 0,
"nsg_e": 0,
"nsh": 0,
"nsh_e": 0,
"nsphi": 0,
"nsphi_e": 0,
"nu": 1,
"nx": 4,
"ny": 3,
"ny_0": 3,
"ny_e": 2,
"nz": 0
},
"model": {
"dyn_disc_fun": null,
"dyn_disc_fun_jac": null,
"dyn_disc_fun_jac_hess": null,
"dyn_ext_fun_type": "casadi",
"dyn_source_discrete": null,
"gnsf": {
"nontrivial_f_LO": 1,
"purely_linear": 0
},
"name": "lat"
},
"parameter_values": [
0.0,
0.0
],
"problem_class": "OCP",
"simulink_opts": {
"inputs": {
"cost_W": 0,
"cost_W_0": 0,
"cost_W_e": 0,
"lbu": 1,
"lbx": 1,
"lbx_0": 1,
"lbx_e": 1,
"lg": 1,
"lh": 1,
"parameter_traj": 1,
"reset_solver": 0,
"u_init": 0,
"ubu": 1,
"ubx": 1,
"ubx_0": 1,
"ubx_e": 1,
"ug": 1,
"uh": 1,
"x_init": 0,
"y_ref": 1,
"y_ref_0": 1,
"y_ref_e": 1
},
"outputs": {
"CPU_time": 1,
"CPU_time_lin": 0,
"CPU_time_qp": 0,
"CPU_time_sim": 0,
"KKT_residual": 1,
"solver_status": 1,
"sqp_iter": 1,
"u0": 1,
"utraj": 0,
"x1": 1,
"xtraj": 0
},
"samplingtime": "t0"
},
"solver_options": {
"Tsim": 0.009765625,
"alpha_min": 0.05,
"alpha_reduction": 0.7,
"collocation_type": "GAUSS_LEGENDRE",
"eps_sufficient_descent": 0.0001,
"exact_hess_constr": 1,
"exact_hess_cost": 1,
"exact_hess_dyn": 1,
"ext_cost_num_hess": 0,
"full_step_dual": 0,
"globalization": "FIXED_STEP",
"globalization_use_SOC": 0,
"hessian_approx": "GAUSS_NEWTON",
"hpipm_mode": "BALANCE",
"initialize_t_slacks": 0,
"integrator_type": "ERK",
"levenberg_marquardt": 0.0,
"line_search_use_sufficient_descent": 0,
"model_external_shared_lib_dir": null,
"model_external_shared_lib_name": null,
"nlp_solver_max_iter": 100,
"nlp_solver_step_length": 1.0,
"nlp_solver_tol_comp": 1e-06,
"nlp_solver_tol_eq": 1e-06,
"nlp_solver_tol_ineq": 1e-06,
"nlp_solver_tol_stat": 1e-06,
"nlp_solver_type": "SQP_RTI",
"print_level": 0,
"qp_solver": "PARTIAL_CONDENSING_HPIPM",
"qp_solver_cond_N": 1,
"qp_solver_iter_max": 1,
"qp_solver_tol_comp": null,
"qp_solver_tol_eq": null,
"qp_solver_tol_ineq": null,
"qp_solver_tol_stat": null,
"qp_solver_warm_start": 0,
"regularize_method": null,
"sim_method_jac_reuse": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"sim_method_newton_iter": 3,
"sim_method_num_stages": [
4,
4,
4,
4,
4,
4,
4,
4,
4,
4,
4,
4,
4,
4,
4,
4
],
"sim_method_num_steps": [
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1
],
"tf": 2.5,
"time_steps": [
0.009765625,
0.029296875,
0.048828125,
0.068359375,
0.087890625,
0.107421875,
0.126953125,
0.146484375,
0.166015625,
0.185546875,
0.205078125,
0.224609375,
0.244140625,
0.263671875,
0.283203125,
0.302734375
]
}
}
selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.c
-278
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@@ -1,278 +0,0 @@
/*
* Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
* Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
* Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
* Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
*
* This file is part of acados.
*
* The 2-Clause BSD License
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.;
*/
// standard
#include <stdio.h>
#include <stdlib.h>
// acados
#include "acados_c/external_function_interface.h"
#include "acados_c/sim_interface.h"
#include "acados_c/external_function_interface.h"
#include "acados/sim/sim_common.h"
#include "acados/utils/external_function_generic.h"
#include "acados/utils/print.h"
// example specific
#include "lat_model/lat_model.h"
#include "acados_sim_solver_lat.h"
// ** solver data **
sim_solver_capsule * lat_acados_sim_solver_create_capsule()
{
void* capsule_mem = malloc(sizeof(sim_solver_capsule));
sim_solver_capsule *capsule = (sim_solver_capsule *) capsule_mem;
return capsule;
}
int lat_acados_sim_solver_free_capsule(sim_solver_capsule * capsule)
{
free(capsule);
return 0;
}
int lat_acados_sim_create(sim_solver_capsule * capsule)
{
// initialize
const int nx = LAT_NX;
const int nu = LAT_NU;
const int nz = LAT_NZ;
const int np = LAT_NP;
bool tmp_bool;
double Tsim = 0.009765625;
// explicit ode
capsule->sim_forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
capsule->sim_expl_ode_fun_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
capsule->sim_forw_vde_casadi->casadi_fun = &lat_expl_vde_forw;
capsule->sim_forw_vde_casadi->casadi_n_in = &lat_expl_vde_forw_n_in;
capsule->sim_forw_vde_casadi->casadi_n_out = &lat_expl_vde_forw_n_out;
capsule->sim_forw_vde_casadi->casadi_sparsity_in = &lat_expl_vde_forw_sparsity_in;
capsule->sim_forw_vde_casadi->casadi_sparsity_out = &lat_expl_vde_forw_sparsity_out;
capsule->sim_forw_vde_casadi->casadi_work = &lat_expl_vde_forw_work;
external_function_param_casadi_create(capsule->sim_forw_vde_casadi, np);
capsule->sim_expl_ode_fun_casadi->casadi_fun = &lat_expl_ode_fun;
capsule->sim_expl_ode_fun_casadi->casadi_n_in = &lat_expl_ode_fun_n_in;
capsule->sim_expl_ode_fun_casadi->casadi_n_out = &lat_expl_ode_fun_n_out;
capsule->sim_expl_ode_fun_casadi->casadi_sparsity_in = &lat_expl_ode_fun_sparsity_in;
capsule->sim_expl_ode_fun_casadi->casadi_sparsity_out = &lat_expl_ode_fun_sparsity_out;
capsule->sim_expl_ode_fun_casadi->casadi_work = &lat_expl_ode_fun_work;
external_function_param_casadi_create(capsule->sim_expl_ode_fun_casadi, np);
// sim plan & config
sim_solver_plan_t plan;
plan.sim_solver = ERK;
// create correct config based on plan
sim_config * lat_sim_config = sim_config_create(plan);
capsule->acados_sim_config = lat_sim_config;
// sim dims
void *lat_sim_dims = sim_dims_create(lat_sim_config);
capsule->acados_sim_dims = lat_sim_dims;
sim_dims_set(lat_sim_config, lat_sim_dims, "nx", &nx);
sim_dims_set(lat_sim_config, lat_sim_dims, "nu", &nu);
sim_dims_set(lat_sim_config, lat_sim_dims, "nz", &nz);
// sim opts
sim_opts *lat_sim_opts = sim_opts_create(lat_sim_config, lat_sim_dims);
capsule->acados_sim_opts = lat_sim_opts;
int tmp_int = 3;
sim_opts_set(lat_sim_config, lat_sim_opts, "newton_iter", &tmp_int);
sim_collocation_type collocation_type = GAUSS_LEGENDRE;
sim_opts_set(lat_sim_config, lat_sim_opts, "collocation_type", &collocation_type);
tmp_int = 4;
sim_opts_set(lat_sim_config, lat_sim_opts, "num_stages", &tmp_int);
tmp_int = 1;
sim_opts_set(lat_sim_config, lat_sim_opts, "num_steps", &tmp_int);
tmp_bool = 0;
sim_opts_set(lat_sim_config, lat_sim_opts, "jac_reuse", &tmp_bool);
// sim in / out
sim_in *lat_sim_in = sim_in_create(lat_sim_config, lat_sim_dims);
capsule->acados_sim_in = lat_sim_in;
sim_out *lat_sim_out = sim_out_create(lat_sim_config, lat_sim_dims);
capsule->acados_sim_out = lat_sim_out;
sim_in_set(lat_sim_config, lat_sim_dims,
lat_sim_in, "T", &Tsim);
// model functions
lat_sim_config->model_set(lat_sim_in->model,
"expl_vde_for", capsule->sim_forw_vde_casadi);
lat_sim_config->model_set(lat_sim_in->model,
"expl_ode_fun", capsule->sim_expl_ode_fun_casadi);
// sim solver
sim_solver *lat_sim_solver = sim_solver_create(lat_sim_config,
lat_sim_dims, lat_sim_opts);
capsule->acados_sim_solver = lat_sim_solver;
/* initialize parameter values */
double* p = calloc(np, sizeof(double));
lat_acados_sim_update_params(capsule, p, np);
free(p);
/* initialize input */
// x
double x0[4];
for (int ii = 0; ii < 4; ii++)
x0[ii] = 0.0;
sim_in_set(lat_sim_config, lat_sim_dims,
lat_sim_in, "x", x0);
// u
double u0[1];
for (int ii = 0; ii < 1; ii++)
u0[ii] = 0.0;
sim_in_set(lat_sim_config, lat_sim_dims,
lat_sim_in, "u", u0);
// S_forw
double S_forw[20];
for (int ii = 0; ii < 20; ii++)
S_forw[ii] = 0.0;
for (int ii = 0; ii < 4; ii++)
S_forw[ii + ii * 4 ] = 1.0;
sim_in_set(lat_sim_config, lat_sim_dims,
lat_sim_in, "S_forw", S_forw);
int status = sim_precompute(lat_sim_solver, lat_sim_in, lat_sim_out);
return status;
}
int lat_acados_sim_solve(sim_solver_capsule *capsule)
{
// integrate dynamics using acados sim_solver
int status = sim_solve(capsule->acados_sim_solver,
capsule->acados_sim_in, capsule->acados_sim_out);
if (status != 0)
printf("error in lat_acados_sim_solve()! Exiting.\n");
return status;
}
int lat_acados_sim_free(sim_solver_capsule *capsule)
{
// free memory
sim_solver_destroy(capsule->acados_sim_solver);
sim_in_destroy(capsule->acados_sim_in);
sim_out_destroy(capsule->acados_sim_out);
sim_opts_destroy(capsule->acados_sim_opts);
sim_dims_destroy(capsule->acados_sim_dims);
sim_config_destroy(capsule->acados_sim_config);
// free external function
external_function_param_casadi_free(capsule->sim_forw_vde_casadi);
external_function_param_casadi_free(capsule->sim_expl_ode_fun_casadi);
return 0;
}
int lat_acados_sim_update_params(sim_solver_capsule *capsule, double *p, int np)
{
int status = 0;
int casadi_np = LAT_NP;
if (casadi_np != np) {
printf("lat_acados_sim_update_params: trying to set %i parameters for external functions."
" External function has %i parameters. Exiting.\n", np, casadi_np);
exit(1);
}
capsule->sim_forw_vde_casadi[0].set_param(capsule->sim_forw_vde_casadi, p);
capsule->sim_expl_ode_fun_casadi[0].set_param(capsule->sim_expl_ode_fun_casadi, p);
return status;
}
/* getters pointers to C objects*/
sim_config * lat_acados_get_sim_config(sim_solver_capsule *capsule)
{
return capsule->acados_sim_config;
};
sim_in * lat_acados_get_sim_in(sim_solver_capsule *capsule)
{
return capsule->acados_sim_in;
};
sim_out * lat_acados_get_sim_out(sim_solver_capsule *capsule)
{
return capsule->acados_sim_out;
};
void * lat_acados_get_sim_dims(sim_solver_capsule *capsule)
{
return capsule->acados_sim_dims;
};
sim_opts * lat_acados_get_sim_opts(sim_solver_capsule *capsule)
{
return capsule->acados_sim_opts;
};
sim_solver * lat_acados_get_sim_solver(sim_solver_capsule *capsule)
{
return capsule->acados_sim_solver;
};
selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_sim_solver_lat.h
-103
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@@ -1,103 +0,0 @@
/*
* Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
* Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
* Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
* Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
*
* This file is part of acados.
*
* The 2-Clause BSD License
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.;
*/
#ifndef ACADOS_SIM_lat_H_
#define ACADOS_SIM_lat_H_
#include "acados_c/sim_interface.h"
#include "acados_c/external_function_interface.h"
#define LAT_NX 4
#define LAT_NZ 0
#define LAT_NU 1
#define LAT_NP 2
#ifdef __cplusplus
extern "C" {
#endif
// ** capsule for solver data **
typedef struct sim_solver_capsule
{
// acados objects
sim_in *acados_sim_in;
sim_out *acados_sim_out;
sim_solver *acados_sim_solver;
sim_opts *acados_sim_opts;
sim_config *acados_sim_config;
void *acados_sim_dims;
/* external functions */
// ERK
external_function_param_casadi * sim_forw_vde_casadi;
external_function_param_casadi * sim_expl_ode_fun_casadi;
external_function_param_casadi * sim_expl_ode_hess;
// IRK
external_function_param_casadi * sim_impl_dae_fun;
external_function_param_casadi * sim_impl_dae_fun_jac_x_xdot_z;
external_function_param_casadi * sim_impl_dae_jac_x_xdot_u_z;
external_function_param_casadi * sim_impl_dae_hess;
// GNSF
external_function_param_casadi * sim_gnsf_phi_fun;
external_function_param_casadi * sim_gnsf_phi_fun_jac_y;
external_function_param_casadi * sim_gnsf_phi_jac_y_uhat;
external_function_param_casadi * sim_gnsf_f_lo_jac_x1_x1dot_u_z;
external_function_param_casadi * sim_gnsf_get_matrices_fun;
} sim_solver_capsule;
ACADOS_SYMBOL_EXPORT int lat_acados_sim_create(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT int lat_acados_sim_solve(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT int lat_acados_sim_free(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT int lat_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np);
ACADOS_SYMBOL_EXPORT sim_config * lat_acados_get_sim_config(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT sim_in * lat_acados_get_sim_in(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT sim_out * lat_acados_get_sim_out(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT void * lat_acados_get_sim_dims(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT sim_opts * lat_acados_get_sim_opts(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT sim_solver * lat_acados_get_sim_solver(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT sim_solver_capsule * lat_acados_sim_solver_create_capsule(void);
ACADOS_SYMBOL_EXPORT int lat_acados_sim_solver_free_capsule(sim_solver_capsule *capsule);
#ifdef __cplusplus
}
#endif
#endif // ACADOS_SIM_lat_H_
selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver_sfunction_lat.c
-264
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@@ -1,264 +0,0 @@
/*
* Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
* Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
* Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
* Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
*
* This file is part of acados.
*
* The 2-Clause BSD License
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.;
*/
#define S_FUNCTION_NAME acados_solver_sfunction_lat
#define S_FUNCTION_LEVEL 2
#define MDL_START
// acados
// #include "acados/utils/print.h"
#include "acados_c/sim_interface.h"
#include "acados_c/external_function_interface.h"
// example specific
#include "lat_model/lat_model.h"
#include "acados_solver_lat.h"
#include "simstruc.h"
#define SAMPLINGTIME 0.009765625
static void mdlInitializeSizes (SimStruct *S)
{
// specify the number of continuous and discrete states
ssSetNumContStates(S, 0);
ssSetNumDiscStates(S, 0);// specify the number of input ports
if ( !ssSetNumInputPorts(S, 8) )
return;
// specify the number of output ports
if ( !ssSetNumOutputPorts(S, 6) )
return;
// specify dimension information for the input ports
// lbx_0
ssSetInputPortVectorDimension(S, 0, 4);
// ubx_0
ssSetInputPortVectorDimension(S, 1, 4);
// parameters
ssSetInputPortVectorDimension(S, 2, (16+1) * 2);
// y_ref_0
ssSetInputPortVectorDimension(S, 3, 3);
// y_ref
ssSetInputPortVectorDimension(S, 4, 45);
// y_ref_e
ssSetInputPortVectorDimension(S, 5, 2);
// lbx
ssSetInputPortVectorDimension(S, 6, 30);
// ubx
ssSetInputPortVectorDimension(S, 7, 30);/* specify dimension information for the OUTPUT ports */
ssSetOutputPortVectorDimension(S, 0, 1 );
ssSetOutputPortVectorDimension(S, 1, 1 );
ssSetOutputPortVectorDimension(S, 2, 1 );
ssSetOutputPortVectorDimension(S, 3, 4 ); // state at shooting node 1
ssSetOutputPortVectorDimension(S, 4, 1);
ssSetOutputPortVectorDimension(S, 5, 1 );
// specify the direct feedthrough status
// should be set to 1 for all inputs used in mdlOutputs
ssSetInputPortDirectFeedThrough(S, 0, 1);
ssSetInputPortDirectFeedThrough(S, 1, 1);
ssSetInputPortDirectFeedThrough(S, 2, 1);
ssSetInputPortDirectFeedThrough(S, 3, 1);
ssSetInputPortDirectFeedThrough(S, 4, 1);
ssSetInputPortDirectFeedThrough(S, 5, 1);
ssSetInputPortDirectFeedThrough(S, 6, 1);
ssSetInputPortDirectFeedThrough(S, 7, 1);
// one sample time
ssSetNumSampleTimes(S, 1);
}
#if defined(MATLAB_MEX_FILE)
#define MDL_SET_INPUT_PORT_DIMENSION_INFO
#define MDL_SET_OUTPUT_PORT_DIMENSION_INFO
static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo)
{
if ( !ssSetInputPortDimensionInfo(S, port, dimsInfo) )
return;
}
static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo)
{
if ( !ssSetOutputPortDimensionInfo(S, port, dimsInfo) )
return;
}
#endif /* MATLAB_MEX_FILE */
static void mdlInitializeSampleTimes(SimStruct *S)
{
ssSetSampleTime(S, 0, SAMPLINGTIME);
ssSetOffsetTime(S, 0, 0.0);
}
static void mdlStart(SimStruct *S)
{
lat_solver_capsule *capsule = lat_acados_create_capsule();
lat_acados_create(capsule);
ssSetUserData(S, (void*)capsule);
}
static void mdlOutputs(SimStruct *S, int_T tid)
{
lat_solver_capsule *capsule = ssGetUserData(S);
ocp_nlp_config *nlp_config = lat_acados_get_nlp_config(capsule);
ocp_nlp_dims *nlp_dims = lat_acados_get_nlp_dims(capsule);
ocp_nlp_in *nlp_in = lat_acados_get_nlp_in(capsule);
ocp_nlp_out *nlp_out = lat_acados_get_nlp_out(capsule);
InputRealPtrsType in_sign;
// local buffer
real_t buffer[4];
/* go through inputs */
// lbx_0
in_sign = ssGetInputPortRealSignalPtrs(S, 0);
for (int i = 0; i < 4; i++)
buffer[i] = (double)(*in_sign[i]);
ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", buffer);
// ubx_0
in_sign = ssGetInputPortRealSignalPtrs(S, 1);
for (int i = 0; i < 4; i++)
buffer[i] = (double)(*in_sign[i]);
ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", buffer);
// parameters - stage-variant !!!
in_sign = ssGetInputPortRealSignalPtrs(S, 2);
// update value of parameters
for (int ii = 0; ii <= 16; ii++)
{
for (int jj = 0; jj < 2; jj++)
buffer[jj] = (double)(*in_sign[ii*2+jj]);
lat_acados_update_params(capsule, ii, buffer, 2);
}
// y_ref_0
in_sign = ssGetInputPortRealSignalPtrs(S, 3);
for (int i = 0; i < 3; i++)
buffer[i] = (double)(*in_sign[i]);
ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", (void *) buffer);
// y_ref - for stages 1 to N-1
in_sign = ssGetInputPortRealSignalPtrs(S, 4);
for (int ii = 1; ii < 16; ii++)
{
for (int jj = 0; jj < 3; jj++)
buffer[jj] = (double)(*in_sign[(ii-1)*3+jj]);
ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "yref", (void *) buffer);
}
// y_ref_e
in_sign = ssGetInputPortRealSignalPtrs(S, 5);
for (int i = 0; i < 2; i++)
buffer[i] = (double)(*in_sign[i]);
ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 16, "yref", (void *) buffer);
// lbx
in_sign = ssGetInputPortRealSignalPtrs(S, 6);
for (int ii = 1; ii < 16; ii++)
{
for (int jj = 0; jj < 2; jj++)
buffer[jj] = (double)(*in_sign[(ii-1)*2+jj]);
ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lbx", (void *) buffer);
}
// ubx
in_sign = ssGetInputPortRealSignalPtrs(S, 7);
for (int ii = 1; ii < 16; ii++)
{
for (int jj = 0; jj < 2; jj++)
buffer[jj] = (double)(*in_sign[(ii-1)*2+jj]);
ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ubx", (void *) buffer);
}
/* call solver */
int rti_phase = 0;
ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "rti_phase", &rti_phase);
int acados_status = lat_acados_solve(capsule);
/* set outputs */
// assign pointers to output signals
real_t *out_u0, *out_utraj, *out_xtraj, *out_status, *out_sqp_iter, *out_KKT_res, *out_x1, *out_cpu_time, *out_cpu_time_sim, *out_cpu_time_qp, *out_cpu_time_lin;
int tmp_int;
out_u0 = ssGetOutputPortRealSignal(S, 0);
ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "u", (void *) out_u0);
out_status = ssGetOutputPortRealSignal(S, 1);
*out_status = (real_t) acados_status;
out_KKT_res = ssGetOutputPortRealSignal(S, 2);
*out_KKT_res = (real_t) nlp_out->inf_norm_res;
out_x1 = ssGetOutputPortRealSignal(S, 3);
ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 1, "x", (void *) out_x1);
out_cpu_time = ssGetOutputPortRealSignal(S, 4);
// get solution time
ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_tot", (void *) out_cpu_time);
out_sqp_iter = ssGetOutputPortRealSignal(S, 5);
// get sqp iter
ocp_nlp_get(nlp_config, capsule->nlp_solver, "sqp_iter", (void *) &tmp_int);
*out_sqp_iter = (real_t) tmp_int;
}
static void mdlTerminate(SimStruct *S)
{
lat_solver_capsule *capsule = ssGetUserData(S);
lat_acados_free(capsule);
lat_acados_free_capsule(capsule);
}
#ifdef MATLAB_MEX_FILE
#include "simulink.c"
#else
#include "cg_sfun.h"
#endif
selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/main_sim_lat.c
-128
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@@ -1,128 +0,0 @@
/*
* Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
* Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
* Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
* Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
*
* This file is part of acados.
*
* The 2-Clause BSD License
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.;
*/
// standard
#include <stdio.h>
#include <stdlib.h>
// acados
#include "acados/utils/print.h"
#include "acados/utils/math.h"
#include "acados_c/sim_interface.h"
#include "acados_sim_solver_lat.h"
#define NX LAT_NX
#define NZ LAT_NZ
#define NU LAT_NU
#define NP LAT_NP
int main()
{
int status = 0;
sim_solver_capsule *capsule = lat_acados_sim_solver_create_capsule();
status = lat_acados_sim_create(capsule);
if (status)
{
printf("acados_create() returned status %d. Exiting.\n", status);
exit(1);
}
sim_config *acados_sim_config = lat_acados_get_sim_config(capsule);
sim_in *acados_sim_in = lat_acados_get_sim_in(capsule);
sim_out *acados_sim_out = lat_acados_get_sim_out(capsule);
void *acados_sim_dims = lat_acados_get_sim_dims(capsule);
// initial condition
double x_current[NX];
x_current[0] = 0.0;
x_current[1] = 0.0;
x_current[2] = 0.0;
x_current[3] = 0.0;
x_current[0] = 0;
x_current[1] = 0;
x_current[2] = 0;
x_current[3] = 0;
// initial value for control input
double u0[NU];
u0[0] = 0.0;
// set parameters
double p[NP];
p[0] = 0;
p[1] = 0;
lat_acados_sim_update_params(capsule, p, NP);
int n_sim_steps = 3;
// solve ocp in loop
for (int ii = 0; ii < n_sim_steps; ii++)
{
sim_in_set(acados_sim_config, acados_sim_dims,
acados_sim_in, "x", x_current);
status = lat_acados_sim_solve(capsule);
if (status != ACADOS_SUCCESS)
{
printf("acados_solve() failed with status %d.\n", status);
}
sim_out_get(acados_sim_config, acados_sim_dims,
acados_sim_out, "x", x_current);
printf("\nx_current, %d\n", ii);
for (int jj = 0; jj < NX; jj++)
{
printf("%e\n", x_current[jj]);
}
}
printf("\nPerformed %d simulation steps with acados integrator successfully.\n\n", n_sim_steps);
// free solver
status = lat_acados_sim_free(capsule);
if (status) {
printf("lat_acados_sim_free() returned status %d. \n", status);
}
lat_acados_sim_solver_free_capsule(capsule);
return status;
}
selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/make_sfun_lat.m
-125
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@@ -1,125 +0,0 @@
%
% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
%
% This file is part of acados.
%
% The 2-Clause BSD License
%
% Redistribution and use in source and binary forms, with or without
% modification, are permitted provided that the following conditions are met:
%
% 1. Redistributions of source code must retain the above copyright notice,
% this list of conditions and the following disclaimer.
%
% 2. Redistributions in binary form must reproduce the above copyright notice,
% this list of conditions and the following disclaimer in the documentation
% and/or other materials provided with the distribution.
%
% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
% POSSIBILITY OF SUCH DAMAGE.;
%
SOURCES = { ...
'lat_model/lat_expl_ode_fun.c', ...
'lat_model/lat_expl_vde_forw.c',...
'lat_cost/lat_cost_y_0_fun.c',...
'lat_cost/lat_cost_y_0_fun_jac_ut_xt.c',...
'lat_cost/lat_cost_y_0_hess.c',...
'lat_cost/lat_cost_y_fun.c',...
'lat_cost/lat_cost_y_fun_jac_ut_xt.c',...
'lat_cost/lat_cost_y_hess.c',...
'lat_cost/lat_cost_y_e_fun.c',...
'lat_cost/lat_cost_y_e_fun_jac_ut_xt.c',...
'lat_cost/lat_cost_y_e_hess.c',...
'acados_solver_sfunction_lat.c', ...
'acados_solver_lat.c'
};
INC_PATH = '/data/openpilot/third_party/acados/include/acados/include';
INCS = {['-I', fullfile(INC_PATH, 'blasfeo', 'include')], ...
['-I', fullfile(INC_PATH, 'hpipm', 'include')], ...
['-I', fullfile(INC_PATH, 'acados')], ...
['-I', fullfile(INC_PATH)]};
CFLAGS = 'CFLAGS=$CFLAGS';
LDFLAGS = 'LDFLAGS=$LDFLAGS';
COMPFLAGS = 'COMPFLAGS=$COMPFLAGS';
COMPDEFINES = 'COMPDEFINES=$COMPDEFINES';
LIB_PATH = ['-L', fullfile('/data/openpilot/third_party/acados/include/acados/lib')];
LIBS = {'-lacados', '-lhpipm', '-lblasfeo'};
% acados linking libraries and flags
mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ...
LIB_PATH, LIBS{:}, SOURCES{:}, ...
'-output', 'acados_solver_sfunction_lat' );
fprintf( [ '\n\nSuccessfully created sfunction:\nacados_solver_sfunction_lat', '.', ...
eval('mexext')] );
%% print note on usage of s-function
fprintf('\n\nNote: Usage of Sfunction is as follows:\n')
input_note = 'Inputs are:\n';
i_in = 1;
input_note = strcat(input_note, num2str(i_in), ') lbx_0 - lower bound on x for stage 0,',...
' size [4]\n ');
i_in = i_in + 1;
input_note = strcat(input_note, num2str(i_in), ') ubx_0 - upper bound on x for stage 0,',...
' size [4]\n ');
i_in = i_in + 1;
input_note = strcat(input_note, num2str(i_in), ') parameters - concatenated for all shooting nodes 0 to N+1,',...
' size [34]\n ');
i_in = i_in + 1;
input_note = strcat(input_note, num2str(i_in), ') y_ref_0, size [3]\n ');
i_in = i_in + 1;
input_note = strcat(input_note, num2str(i_in), ') y_ref - concatenated for shooting nodes 1 to N-1,',...
' size [45]\n ');
i_in = i_in + 1;
input_note = strcat(input_note, num2str(i_in), ') y_ref_e, size [2]\n ');
i_in = i_in + 1;
input_note = strcat(input_note, num2str(i_in), ') lbx for shooting nodes 1 to N-1, size [30]\n ');
i_in = i_in + 1;
input_note = strcat(input_note, num2str(i_in), ') ubx for shooting nodes 1 to N-1, size [30]\n ');
i_in = i_in + 1;
fprintf(input_note)
disp(' ')
output_note = 'Outputs are:\n';
i_out = 0;
i_out = i_out + 1;
output_note = strcat(output_note, num2str(i_out), ') u0, control input at node 0, size [1]\n ');
i_out = i_out + 1;
output_note = strcat(output_note, num2str(i_out), ') acados solver status (0 = SUCCESS)\n ');
i_out = i_out + 1;
output_note = strcat(output_note, num2str(i_out), ') KKT residual\n ');
i_out = i_out + 1;
output_note = strcat(output_note, num2str(i_out), ') x1, state at node 1\n ');
i_out = i_out + 1;
output_note = strcat(output_note, num2str(i_out), ') CPU time\n ');
i_out = i_out + 1;
output_note = strcat(output_note, num2str(i_out), ') SQP iterations\n ');
fprintf(output_note)
selfdrive/controls/lib/longitudinal_mpc_lib/acados_ocp_long.json
-626
View File
@@ -1,626 +0,0 @@
{
"acados_include_path": "/data/openpilot/third_party/acados/include/acados/include",
"acados_lib_path": "/data/openpilot/third_party/acados/include/acados/lib",
"code_export_directory": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code",
"constraints": {
"C": [],
"C_e": [],
"D": [],
"constr_type": "BGH",
"constr_type_e": "BGH",
"idxbu": [],
"idxbx": [],
"idxbx_0": [
0,
1,
2
],
"idxbx_e": [],
"idxbxe_0": [
0,
1,
2
],
"idxsbu": [],
"idxsbx": [],
"idxsbx_e": [],
"idxsg": [],
"idxsg_e": [],
"idxsh": [
0,
1,
2,
3
],
"idxsh_e": [],
"idxsphi": [],
"idxsphi_e": [],
"lbu": [],
"lbx": [],
"lbx_0": [
0.0,
0.0,
0.0
],
"lbx_e": [],
"lg": [],
"lg_e": [],
"lh": [
0.0,
0.0,
0.0,
0.0
],
"lh_e": [],
"lphi": [],
"lphi_e": [],
"lsbu": [],
"lsbx": [],
"lsbx_e": [],
"lsg": [],
"lsg_e": [],
"lsh": [
0.0,
0.0,
0.0,
0.0
],
"lsh_e": [],
"lsphi": [],
"lsphi_e": [],
"ubu": [],
"ubx": [],
"ubx_0": [
0.0,
0.0,
0.0
],
"ubx_e": [],
"ug": [],
"ug_e": [],
"uh": [
10000.0,
10000.0,
10000.0,
10000.0
],
"uh_e": [],
"uphi": [],
"uphi_e": [],
"usbu": [],
"usbx": [],
"usbx_e": [],
"usg": [],
"usg_e": [],
"ush": [
0.0,
0.0,
0.0,
0.0
],
"ush_e": [],
"usphi": [],
"usphi_e": []
},
"cost": {
"Vu": [
[
0.0
],
[
0.0
],
[
0.0
],
[
0.0
],
[
0.0
],
[
0.0
]
],
"Vu_0": [
[
0.0
],
[
0.0
],
[
0.0
],
[
0.0
],
[
0.0
],
[
0.0
]
],
"Vx": [
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
]
],
"Vx_0": [
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
]
],
"Vx_e": [
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0
]
],
"Vz": [],
"Vz_0": [],
"W": [
[
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
],
"W_0": [
[
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
],
"W_e": [
[
0.0,
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0,
0.0
],
[
0.0,
0.0,
0.0,
0.0,
0.0
]
],
"Zl": [
0.0,
0.0,
0.0,
0.0
],
"Zl_e": [],
"Zu": [
0.0,
0.0,
0.0,
0.0
],
"Zu_e": [],
"cost_ext_fun_type": "casadi",
"cost_ext_fun_type_0": "casadi",
"cost_ext_fun_type_e": "casadi",
"cost_type": "NONLINEAR_LS",
"cost_type_0": "NONLINEAR_LS",
"cost_type_e": "NONLINEAR_LS",
"yref": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"yref_0": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"yref_e": [
0.0,
0.0,
0.0,
0.0,
0.0
],
"zl": [
0.0,
0.0,
0.0,
0.0
],
"zl_e": [],
"zu": [
0.0,
0.0,
0.0,
0.0
],
"zu_e": []
},
"cython_include_dirs": "/data/data/com.termux/files/usr/lib/python3.8/site-packages/numpy/core/include",
"dims": {
"N": 12,
"nbu": 0,
"nbx": 0,
"nbx_0": 3,
"nbx_e": 0,
"nbxe_0": 3,
"ng": 0,
"ng_e": 0,
"nh": 4,
"nh_e": 0,
"np": 5,
"nphi": 0,
"nphi_e": 0,
"nr": 0,
"nr_e": 0,
"ns": 4,
"ns_e": 0,
"nsbu": 0,
"nsbx": 0,
"nsbx_e": 0,
"nsg": 0,
"nsg_e": 0,
"nsh": 4,
"nsh_e": 0,
"nsphi": 0,
"nsphi_e": 0,
"nu": 1,
"nx": 3,
"ny": 6,
"ny_0": 6,
"ny_e": 5,
"nz": 0
},
"model": {
"dyn_disc_fun": null,
"dyn_disc_fun_jac": null,
"dyn_disc_fun_jac_hess": null,
"dyn_ext_fun_type": "casadi",
"dyn_source_discrete": null,
"gnsf": {
"nontrivial_f_LO": 1,
"purely_linear": 0
},
"name": "long"
},
"parameter_values": [
-1.2,
1.2,
0.0,
0.0,
1.45
],
"problem_class": "OCP",
"simulink_opts": {
"inputs": {
"cost_W": 0,
"cost_W_0": 0,
"cost_W_e": 0,
"lbu": 1,
"lbx": 1,
"lbx_0": 1,
"lbx_e": 1,
"lg": 1,
"lh": 1,
"parameter_traj": 1,
"reset_solver": 0,
"u_init": 0,
"ubu": 1,
"ubx": 1,
"ubx_0": 1,
"ubx_e": 1,
"ug": 1,
"uh": 1,
"x_init": 0,
"y_ref": 1,
"y_ref_0": 1,
"y_ref_e": 1
},
"outputs": {
"CPU_time": 1,
"CPU_time_lin": 0,
"CPU_time_qp": 0,
"CPU_time_sim": 0,
"KKT_residual": 1,
"solver_status": 1,
"sqp_iter": 1,
"u0": 1,
"utraj": 0,
"x1": 1,
"xtraj": 0
},
"samplingtime": "t0"
},
"solver_options": {
"Tsim": 0.06944444444444445,
"alpha_min": 0.05,
"alpha_reduction": 0.7,
"collocation_type": "GAUSS_LEGENDRE",
"eps_sufficient_descent": 0.0001,
"exact_hess_constr": 1,
"exact_hess_cost": 1,
"exact_hess_dyn": 1,
"ext_cost_num_hess": 0,
"full_step_dual": 0,
"globalization": "FIXED_STEP",
"globalization_use_SOC": 0,
"hessian_approx": "GAUSS_NEWTON",
"hpipm_mode": "BALANCE",
"initialize_t_slacks": 0,
"integrator_type": "ERK",
"levenberg_marquardt": 0.0,
"line_search_use_sufficient_descent": 0,
"model_external_shared_lib_dir": null,
"model_external_shared_lib_name": null,
"nlp_solver_max_iter": 100,
"nlp_solver_step_length": 1.0,
"nlp_solver_tol_comp": 1e-06,
"nlp_solver_tol_eq": 1e-06,
"nlp_solver_tol_ineq": 1e-06,
"nlp_solver_tol_stat": 1e-06,
"nlp_solver_type": "SQP_RTI",
"print_level": 0,
"qp_solver": "PARTIAL_CONDENSING_HPIPM",
"qp_solver_cond_N": 1,
"qp_solver_iter_max": 10,
"qp_solver_tol_comp": 0.001,
"qp_solver_tol_eq": 0.001,
"qp_solver_tol_ineq": 0.001,
"qp_solver_tol_stat": 0.001,
"qp_solver_warm_start": 0,
"regularize_method": null,
"sim_method_jac_reuse": [
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"sim_method_newton_iter": 3,
"sim_method_num_stages": [
4,
4,
4,
4,
4,
4,
4,
4,
4,
4,
4,
4
],
"sim_method_num_steps": [
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1,
1
],
"tf": 10.0,
"time_steps": [
0.06944444444444445,
0.20833333333333334,
0.3472222222222222,
0.48611111111111116,
0.6250000000000002,
0.7638888888888886,
0.9027777777777786,
1.041666666666666,
1.1805555555555554,
1.3194444444444455,
1.4583333333333313,
1.5972222222222232
]
}
}
selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_sim_solver_long.c
-281
View File
@@ -1,281 +0,0 @@
/*
* Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
* Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
* Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
* Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
*
* This file is part of acados.
*
* The 2-Clause BSD License
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.;
*/
// standard
#include <stdio.h>
#include <stdlib.h>
// acados
#include "acados_c/external_function_interface.h"
#include "acados_c/sim_interface.h"
#include "acados_c/external_function_interface.h"
#include "acados/sim/sim_common.h"
#include "acados/utils/external_function_generic.h"
#include "acados/utils/print.h"
// example specific
#include "long_model/long_model.h"
#include "acados_sim_solver_long.h"
// ** solver data **
sim_solver_capsule * long_acados_sim_solver_create_capsule()
{
void* capsule_mem = malloc(sizeof(sim_solver_capsule));
sim_solver_capsule *capsule = (sim_solver_capsule *) capsule_mem;
return capsule;
}
int long_acados_sim_solver_free_capsule(sim_solver_capsule * capsule)
{
free(capsule);
return 0;
}
int long_acados_sim_create(sim_solver_capsule * capsule)
{
// initialize
const int nx = LONG_NX;
const int nu = LONG_NU;
const int nz = LONG_NZ;
const int np = LONG_NP;
bool tmp_bool;
double Tsim = 0.06944444444444445;
// explicit ode
capsule->sim_forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
capsule->sim_expl_ode_fun_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
capsule->sim_forw_vde_casadi->casadi_fun = &long_expl_vde_forw;
capsule->sim_forw_vde_casadi->casadi_n_in = &long_expl_vde_forw_n_in;
capsule->sim_forw_vde_casadi->casadi_n_out = &long_expl_vde_forw_n_out;
capsule->sim_forw_vde_casadi->casadi_sparsity_in = &long_expl_vde_forw_sparsity_in;
capsule->sim_forw_vde_casadi->casadi_sparsity_out = &long_expl_vde_forw_sparsity_out;
capsule->sim_forw_vde_casadi->casadi_work = &long_expl_vde_forw_work;
external_function_param_casadi_create(capsule->sim_forw_vde_casadi, np);
capsule->sim_expl_ode_fun_casadi->casadi_fun = &long_expl_ode_fun;
capsule->sim_expl_ode_fun_casadi->casadi_n_in = &long_expl_ode_fun_n_in;
capsule->sim_expl_ode_fun_casadi->casadi_n_out = &long_expl_ode_fun_n_out;
capsule->sim_expl_ode_fun_casadi->casadi_sparsity_in = &long_expl_ode_fun_sparsity_in;
capsule->sim_expl_ode_fun_casadi->casadi_sparsity_out = &long_expl_ode_fun_sparsity_out;
capsule->sim_expl_ode_fun_casadi->casadi_work = &long_expl_ode_fun_work;
external_function_param_casadi_create(capsule->sim_expl_ode_fun_casadi, np);
// sim plan & config
sim_solver_plan_t plan;
plan.sim_solver = ERK;
// create correct config based on plan
sim_config * long_sim_config = sim_config_create(plan);
capsule->acados_sim_config = long_sim_config;
// sim dims
void *long_sim_dims = sim_dims_create(long_sim_config);
capsule->acados_sim_dims = long_sim_dims;
sim_dims_set(long_sim_config, long_sim_dims, "nx", &nx);
sim_dims_set(long_sim_config, long_sim_dims, "nu", &nu);
sim_dims_set(long_sim_config, long_sim_dims, "nz", &nz);
// sim opts
sim_opts *long_sim_opts = sim_opts_create(long_sim_config, long_sim_dims);
capsule->acados_sim_opts = long_sim_opts;
int tmp_int = 3;
sim_opts_set(long_sim_config, long_sim_opts, "newton_iter", &tmp_int);
sim_collocation_type collocation_type = GAUSS_LEGENDRE;
sim_opts_set(long_sim_config, long_sim_opts, "collocation_type", &collocation_type);
tmp_int = 4;
sim_opts_set(long_sim_config, long_sim_opts, "num_stages", &tmp_int);
tmp_int = 1;
sim_opts_set(long_sim_config, long_sim_opts, "num_steps", &tmp_int);
tmp_bool = 0;
sim_opts_set(long_sim_config, long_sim_opts, "jac_reuse", &tmp_bool);
// sim in / out
sim_in *long_sim_in = sim_in_create(long_sim_config, long_sim_dims);
capsule->acados_sim_in = long_sim_in;
sim_out *long_sim_out = sim_out_create(long_sim_config, long_sim_dims);
capsule->acados_sim_out = long_sim_out;
sim_in_set(long_sim_config, long_sim_dims,
long_sim_in, "T", &Tsim);
// model functions
long_sim_config->model_set(long_sim_in->model,
"expl_vde_for", capsule->sim_forw_vde_casadi);
long_sim_config->model_set(long_sim_in->model,
"expl_ode_fun", capsule->sim_expl_ode_fun_casadi);
// sim solver
sim_solver *long_sim_solver = sim_solver_create(long_sim_config,
long_sim_dims, long_sim_opts);
capsule->acados_sim_solver = long_sim_solver;
/* initialize parameter values */
double* p = calloc(np, sizeof(double));
p[0] = -1.2;
p[1] = 1.2;
p[4] = 1.45;
long_acados_sim_update_params(capsule, p, np);
free(p);
/* initialize input */
// x
double x0[3];
for (int ii = 0; ii < 3; ii++)
x0[ii] = 0.0;
sim_in_set(long_sim_config, long_sim_dims,
long_sim_in, "x", x0);
// u
double u0[1];
for (int ii = 0; ii < 1; ii++)
u0[ii] = 0.0;
sim_in_set(long_sim_config, long_sim_dims,
long_sim_in, "u", u0);
// S_forw
double S_forw[12];
for (int ii = 0; ii < 12; ii++)
S_forw[ii] = 0.0;
for (int ii = 0; ii < 3; ii++)
S_forw[ii + ii * 3 ] = 1.0;
sim_in_set(long_sim_config, long_sim_dims,
long_sim_in, "S_forw", S_forw);
int status = sim_precompute(long_sim_solver, long_sim_in, long_sim_out);
return status;
}
int long_acados_sim_solve(sim_solver_capsule *capsule)
{
// integrate dynamics using acados sim_solver
int status = sim_solve(capsule->acados_sim_solver,
capsule->acados_sim_in, capsule->acados_sim_out);
if (status != 0)
printf("error in long_acados_sim_solve()! Exiting.\n");
return status;
}
int long_acados_sim_free(sim_solver_capsule *capsule)
{
// free memory
sim_solver_destroy(capsule->acados_sim_solver);
sim_in_destroy(capsule->acados_sim_in);
sim_out_destroy(capsule->acados_sim_out);
sim_opts_destroy(capsule->acados_sim_opts);
sim_dims_destroy(capsule->acados_sim_dims);
sim_config_destroy(capsule->acados_sim_config);
// free external function
external_function_param_casadi_free(capsule->sim_forw_vde_casadi);
external_function_param_casadi_free(capsule->sim_expl_ode_fun_casadi);
return 0;
}
int long_acados_sim_update_params(sim_solver_capsule *capsule, double *p, int np)
{
int status = 0;
int casadi_np = LONG_NP;
if (casadi_np != np) {
printf("long_acados_sim_update_params: trying to set %i parameters for external functions."
" External function has %i parameters. Exiting.\n", np, casadi_np);
exit(1);
}
capsule->sim_forw_vde_casadi[0].set_param(capsule->sim_forw_vde_casadi, p);
capsule->sim_expl_ode_fun_casadi[0].set_param(capsule->sim_expl_ode_fun_casadi, p);
return status;
}
/* getters pointers to C objects*/
sim_config * long_acados_get_sim_config(sim_solver_capsule *capsule)
{
return capsule->acados_sim_config;
};
sim_in * long_acados_get_sim_in(sim_solver_capsule *capsule)
{
return capsule->acados_sim_in;
};
sim_out * long_acados_get_sim_out(sim_solver_capsule *capsule)
{
return capsule->acados_sim_out;
};
void * long_acados_get_sim_dims(sim_solver_capsule *capsule)
{
return capsule->acados_sim_dims;
};
sim_opts * long_acados_get_sim_opts(sim_solver_capsule *capsule)
{
return capsule->acados_sim_opts;
};
sim_solver * long_acados_get_sim_solver(sim_solver_capsule *capsule)
{
return capsule->acados_sim_solver;
};
selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_sim_solver_long.h
-103
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@@ -1,103 +0,0 @@
/*
* Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
* Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
* Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
* Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
*
* This file is part of acados.
*
* The 2-Clause BSD License
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.;
*/
#ifndef ACADOS_SIM_long_H_
#define ACADOS_SIM_long_H_
#include "acados_c/sim_interface.h"
#include "acados_c/external_function_interface.h"
#define LONG_NX 3
#define LONG_NZ 0
#define LONG_NU 1
#define LONG_NP 5
#ifdef __cplusplus
extern "C" {
#endif
// ** capsule for solver data **
typedef struct sim_solver_capsule
{
// acados objects
sim_in *acados_sim_in;
sim_out *acados_sim_out;
sim_solver *acados_sim_solver;
sim_opts *acados_sim_opts;
sim_config *acados_sim_config;
void *acados_sim_dims;
/* external functions */
// ERK
external_function_param_casadi * sim_forw_vde_casadi;
external_function_param_casadi * sim_expl_ode_fun_casadi;
external_function_param_casadi * sim_expl_ode_hess;
// IRK
external_function_param_casadi * sim_impl_dae_fun;
external_function_param_casadi * sim_impl_dae_fun_jac_x_xdot_z;
external_function_param_casadi * sim_impl_dae_jac_x_xdot_u_z;
external_function_param_casadi * sim_impl_dae_hess;
// GNSF
external_function_param_casadi * sim_gnsf_phi_fun;
external_function_param_casadi * sim_gnsf_phi_fun_jac_y;
external_function_param_casadi * sim_gnsf_phi_jac_y_uhat;
external_function_param_casadi * sim_gnsf_f_lo_jac_x1_x1dot_u_z;
external_function_param_casadi * sim_gnsf_get_matrices_fun;
} sim_solver_capsule;
ACADOS_SYMBOL_EXPORT int long_acados_sim_create(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT int long_acados_sim_solve(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT int long_acados_sim_free(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT int long_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np);
ACADOS_SYMBOL_EXPORT sim_config * long_acados_get_sim_config(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT sim_in * long_acados_get_sim_in(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT sim_out * long_acados_get_sim_out(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT void * long_acados_get_sim_dims(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT sim_opts * long_acados_get_sim_opts(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT sim_solver * long_acados_get_sim_solver(sim_solver_capsule *capsule);
ACADOS_SYMBOL_EXPORT sim_solver_capsule * long_acados_sim_solver_create_capsule(void);
ACADOS_SYMBOL_EXPORT int long_acados_sim_solver_free_capsule(sim_solver_capsule *capsule);
#ifdef __cplusplus
}
#endif
#endif // ACADOS_SIM_long_H_
selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_sfunction_long.c
-264
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@@ -1,264 +0,0 @@
/*
* Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
* Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
* Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
* Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
*
* This file is part of acados.
*
* The 2-Clause BSD License
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.;
*/
#define S_FUNCTION_NAME acados_solver_sfunction_long
#define S_FUNCTION_LEVEL 2
#define MDL_START
// acados
// #include "acados/utils/print.h"
#include "acados_c/sim_interface.h"
#include "acados_c/external_function_interface.h"
// example specific
#include "long_model/long_model.h"
#include "acados_solver_long.h"
#include "simstruc.h"
#define SAMPLINGTIME 0.06944444444444445
static void mdlInitializeSizes (SimStruct *S)
{
// specify the number of continuous and discrete states
ssSetNumContStates(S, 0);
ssSetNumDiscStates(S, 0);// specify the number of input ports
if ( !ssSetNumInputPorts(S, 8) )
return;
// specify the number of output ports
if ( !ssSetNumOutputPorts(S, 6) )
return;
// specify dimension information for the input ports
// lbx_0
ssSetInputPortVectorDimension(S, 0, 3);
// ubx_0
ssSetInputPortVectorDimension(S, 1, 3);
// parameters
ssSetInputPortVectorDimension(S, 2, (12+1) * 5);
// y_ref_0
ssSetInputPortVectorDimension(S, 3, 6);
// y_ref
ssSetInputPortVectorDimension(S, 4, 66);
// y_ref_e
ssSetInputPortVectorDimension(S, 5, 5);
// lh
ssSetInputPortVectorDimension(S, 6, 4);
// uh
ssSetInputPortVectorDimension(S, 7, 4);/* specify dimension information for the OUTPUT ports */
ssSetOutputPortVectorDimension(S, 0, 1 );
ssSetOutputPortVectorDimension(S, 1, 1 );
ssSetOutputPortVectorDimension(S, 2, 1 );
ssSetOutputPortVectorDimension(S, 3, 3 ); // state at shooting node 1
ssSetOutputPortVectorDimension(S, 4, 1);
ssSetOutputPortVectorDimension(S, 5, 1 );
// specify the direct feedthrough status
// should be set to 1 for all inputs used in mdlOutputs
ssSetInputPortDirectFeedThrough(S, 0, 1);
ssSetInputPortDirectFeedThrough(S, 1, 1);
ssSetInputPortDirectFeedThrough(S, 2, 1);
ssSetInputPortDirectFeedThrough(S, 3, 1);
ssSetInputPortDirectFeedThrough(S, 4, 1);
ssSetInputPortDirectFeedThrough(S, 5, 1);
ssSetInputPortDirectFeedThrough(S, 6, 1);
ssSetInputPortDirectFeedThrough(S, 7, 1);
// one sample time
ssSetNumSampleTimes(S, 1);
}
#if defined(MATLAB_MEX_FILE)
#define MDL_SET_INPUT_PORT_DIMENSION_INFO
#define MDL_SET_OUTPUT_PORT_DIMENSION_INFO
static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo)
{
if ( !ssSetInputPortDimensionInfo(S, port, dimsInfo) )
return;
}
static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo)
{
if ( !ssSetOutputPortDimensionInfo(S, port, dimsInfo) )
return;
}
#endif /* MATLAB_MEX_FILE */
static void mdlInitializeSampleTimes(SimStruct *S)
{
ssSetSampleTime(S, 0, SAMPLINGTIME);
ssSetOffsetTime(S, 0, 0.0);
}
static void mdlStart(SimStruct *S)
{
long_solver_capsule *capsule = long_acados_create_capsule();
long_acados_create(capsule);
ssSetUserData(S, (void*)capsule);
}
static void mdlOutputs(SimStruct *S, int_T tid)
{
long_solver_capsule *capsule = ssGetUserData(S);
ocp_nlp_config *nlp_config = long_acados_get_nlp_config(capsule);
ocp_nlp_dims *nlp_dims = long_acados_get_nlp_dims(capsule);
ocp_nlp_in *nlp_in = long_acados_get_nlp_in(capsule);
ocp_nlp_out *nlp_out = long_acados_get_nlp_out(capsule);
InputRealPtrsType in_sign;
// local buffer
real_t buffer[6];
/* go through inputs */
// lbx_0
in_sign = ssGetInputPortRealSignalPtrs(S, 0);
for (int i = 0; i < 3; i++)
buffer[i] = (double)(*in_sign[i]);
ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", buffer);
// ubx_0
in_sign = ssGetInputPortRealSignalPtrs(S, 1);
for (int i = 0; i < 3; i++)
buffer[i] = (double)(*in_sign[i]);
ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", buffer);
// parameters - stage-variant !!!
in_sign = ssGetInputPortRealSignalPtrs(S, 2);
// update value of parameters
for (int ii = 0; ii <= 12; ii++)
{
for (int jj = 0; jj < 5; jj++)
buffer[jj] = (double)(*in_sign[ii*5+jj]);
long_acados_update_params(capsule, ii, buffer, 5);
}
// y_ref_0
in_sign = ssGetInputPortRealSignalPtrs(S, 3);
for (int i = 0; i < 6; i++)
buffer[i] = (double)(*in_sign[i]);
ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", (void *) buffer);
// y_ref - for stages 1 to N-1
in_sign = ssGetInputPortRealSignalPtrs(S, 4);
for (int ii = 1; ii < 12; ii++)
{
for (int jj = 0; jj < 6; jj++)
buffer[jj] = (double)(*in_sign[(ii-1)*6+jj]);
ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "yref", (void *) buffer);
}
// y_ref_e
in_sign = ssGetInputPortRealSignalPtrs(S, 5);
for (int i = 0; i < 5; i++)
buffer[i] = (double)(*in_sign[i]);
ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 12, "yref", (void *) buffer);
// lh
in_sign = ssGetInputPortRealSignalPtrs(S, 6);
for (int i = 0; i < 4; i++)
buffer[i] = (double)(*in_sign[i]);
for (int ii = 0; ii < 12; ii++)
ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lh", buffer);
// uh
in_sign = ssGetInputPortRealSignalPtrs(S, 7);
for (int i = 0; i < 4; i++)
buffer[i] = (double)(*in_sign[i]);
for (int ii = 0; ii < 12; ii++)
ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "uh", buffer);
/* call solver */
int rti_phase = 0;
ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "rti_phase", &rti_phase);
int acados_status = long_acados_solve(capsule);
/* set outputs */
// assign pointers to output signals
real_t *out_u0, *out_utraj, *out_xtraj, *out_status, *out_sqp_iter, *out_KKT_res, *out_x1, *out_cpu_time, *out_cpu_time_sim, *out_cpu_time_qp, *out_cpu_time_lin;
int tmp_int;
out_u0 = ssGetOutputPortRealSignal(S, 0);
ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "u", (void *) out_u0);
out_status = ssGetOutputPortRealSignal(S, 1);
*out_status = (real_t) acados_status;
out_KKT_res = ssGetOutputPortRealSignal(S, 2);
*out_KKT_res = (real_t) nlp_out->inf_norm_res;
out_x1 = ssGetOutputPortRealSignal(S, 3);
ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 1, "x", (void *) out_x1);
out_cpu_time = ssGetOutputPortRealSignal(S, 4);
// get solution time
ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_tot", (void *) out_cpu_time);
out_sqp_iter = ssGetOutputPortRealSignal(S, 5);
// get sqp iter
ocp_nlp_get(nlp_config, capsule->nlp_solver, "sqp_iter", (void *) &tmp_int);
*out_sqp_iter = (real_t) tmp_int;
}
static void mdlTerminate(SimStruct *S)
{
long_solver_capsule *capsule = ssGetUserData(S);
long_acados_free(capsule);
long_acados_free_capsule(capsule);
}
#ifdef MATLAB_MEX_FILE
#include "simulink.c"
#else
#include "cg_sfun.h"
#endif
selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_sim_long.c
-129
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@@ -1,129 +0,0 @@
/*
* Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
* Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
* Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
* Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
*
* This file is part of acados.
*
* The 2-Clause BSD License
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.;
*/
// standard
#include <stdio.h>
#include <stdlib.h>
// acados
#include "acados/utils/print.h"
#include "acados/utils/math.h"
#include "acados_c/sim_interface.h"
#include "acados_sim_solver_long.h"
#define NX LONG_NX
#define NZ LONG_NZ
#define NU LONG_NU
#define NP LONG_NP
int main()
{
int status = 0;
sim_solver_capsule *capsule = long_acados_sim_solver_create_capsule();
status = long_acados_sim_create(capsule);
if (status)
{
printf("acados_create() returned status %d. Exiting.\n", status);
exit(1);
}
sim_config *acados_sim_config = long_acados_get_sim_config(capsule);
sim_in *acados_sim_in = long_acados_get_sim_in(capsule);
sim_out *acados_sim_out = long_acados_get_sim_out(capsule);
void *acados_sim_dims = long_acados_get_sim_dims(capsule);
// initial condition
double x_current[NX];
x_current[0] = 0.0;
x_current[1] = 0.0;
x_current[2] = 0.0;
x_current[0] = 0;
x_current[1] = 0;
x_current[2] = 0;
// initial value for control input
double u0[NU];
u0[0] = 0.0;
// set parameters
double p[NP];
p[0] = -1.2;
p[1] = 1.2;
p[2] = 0;
p[3] = 0;
p[4] = 1.45;
long_acados_sim_update_params(capsule, p, NP);
int n_sim_steps = 3;
// solve ocp in loop
for (int ii = 0; ii < n_sim_steps; ii++)
{
sim_in_set(acados_sim_config, acados_sim_dims,
acados_sim_in, "x", x_current);
status = long_acados_sim_solve(capsule);
if (status != ACADOS_SUCCESS)
{
printf("acados_solve() failed with status %d.\n", status);
}
sim_out_get(acados_sim_config, acados_sim_dims,
acados_sim_out, "x", x_current);
printf("\nx_current, %d\n", ii);
for (int jj = 0; jj < NX; jj++)
{
printf("%e\n", x_current[jj]);
}
}
printf("\nPerformed %d simulation steps with acados integrator successfully.\n\n", n_sim_steps);
// free solver
status = long_acados_sim_free(capsule);
if (status) {
printf("long_acados_sim_free() returned status %d. \n", status);
}
long_acados_sim_solver_free_capsule(capsule);
return status;
}
selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/make_sfun_long.m
-128
View File
@@ -1,128 +0,0 @@
%
% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
%
% This file is part of acados.
%
% The 2-Clause BSD License
%
% Redistribution and use in source and binary forms, with or without
% modification, are permitted provided that the following conditions are met:
%
% 1. Redistributions of source code must retain the above copyright notice,
% this list of conditions and the following disclaimer.
%
% 2. Redistributions in binary form must reproduce the above copyright notice,
% this list of conditions and the following disclaimer in the documentation
% and/or other materials provided with the distribution.
%
% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
% POSSIBILITY OF SUCH DAMAGE.;
%
SOURCES = { ...
'long_model/long_expl_ode_fun.c', ...
'long_model/long_expl_vde_forw.c',...
'long_cost/long_cost_y_0_fun.c',...
'long_cost/long_cost_y_0_fun_jac_ut_xt.c',...
'long_cost/long_cost_y_0_hess.c',...
'long_cost/long_cost_y_fun.c',...
'long_cost/long_cost_y_fun_jac_ut_xt.c',...
'long_cost/long_cost_y_hess.c',...
'long_cost/long_cost_y_e_fun.c',...
'long_cost/long_cost_y_e_fun_jac_ut_xt.c',...
'long_cost/long_cost_y_e_hess.c',...
'long_constraints/long_constr_h_fun.c', ...
'long_constraints/long_constr_h_fun_jac_uxt_zt_hess.c', ...
'long_constraints/long_constr_h_fun_jac_uxt_zt.c', ...
'acados_solver_sfunction_long.c', ...
'acados_solver_long.c'
};
INC_PATH = '/data/openpilot/third_party/acados/include/acados/include';
INCS = {['-I', fullfile(INC_PATH, 'blasfeo', 'include')], ...
['-I', fullfile(INC_PATH, 'hpipm', 'include')], ...
['-I', fullfile(INC_PATH, 'acados')], ...
['-I', fullfile(INC_PATH)]};
CFLAGS = 'CFLAGS=$CFLAGS';
LDFLAGS = 'LDFLAGS=$LDFLAGS';
COMPFLAGS = 'COMPFLAGS=$COMPFLAGS';
COMPDEFINES = 'COMPDEFINES=$COMPDEFINES';
LIB_PATH = ['-L', fullfile('/data/openpilot/third_party/acados/include/acados/lib')];
LIBS = {'-lacados', '-lhpipm', '-lblasfeo'};
% acados linking libraries and flags
mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ...
LIB_PATH, LIBS{:}, SOURCES{:}, ...
'-output', 'acados_solver_sfunction_long' );
fprintf( [ '\n\nSuccessfully created sfunction:\nacados_solver_sfunction_long', '.', ...
eval('mexext')] );
%% print note on usage of s-function
fprintf('\n\nNote: Usage of Sfunction is as follows:\n')
input_note = 'Inputs are:\n';
i_in = 1;
input_note = strcat(input_note, num2str(i_in), ') lbx_0 - lower bound on x for stage 0,',...
' size [3]\n ');
i_in = i_in + 1;
input_note = strcat(input_note, num2str(i_in), ') ubx_0 - upper bound on x for stage 0,',...
' size [3]\n ');
i_in = i_in + 1;
input_note = strcat(input_note, num2str(i_in), ') parameters - concatenated for all shooting nodes 0 to N+1,',...
' size [65]\n ');
i_in = i_in + 1;
input_note = strcat(input_note, num2str(i_in), ') y_ref_0, size [6]\n ');
i_in = i_in + 1;
input_note = strcat(input_note, num2str(i_in), ') y_ref - concatenated for shooting nodes 1 to N-1,',...
' size [66]\n ');
i_in = i_in + 1;
input_note = strcat(input_note, num2str(i_in), ') y_ref_e, size [5]\n ');
i_in = i_in + 1;
input_note = strcat(input_note, num2str(i_in), ') lh, size [4]\n ');
i_in = i_in + 1;
input_note = strcat(input_note, num2str(i_in), ') uh, size [4]\n ');
i_in = i_in + 1;
fprintf(input_note)
disp(' ')
output_note = 'Outputs are:\n';
i_out = 0;
i_out = i_out + 1;
output_note = strcat(output_note, num2str(i_out), ') u0, control input at node 0, size [1]\n ');
i_out = i_out + 1;
output_note = strcat(output_note, num2str(i_out), ') acados solver status (0 = SUCCESS)\n ');
i_out = i_out + 1;
output_note = strcat(output_note, num2str(i_out), ') KKT residual\n ');
i_out = i_out + 1;
output_note = strcat(output_note, num2str(i_out), ') x1, state at node 1\n ');
i_out = i_out + 1;
output_note = strcat(output_note, num2str(i_out), ') CPU time\n ');
i_out = i_out + 1;
output_note = strcat(output_note, num2str(i_out), ') SQP iterations\n ');
fprintf(output_note)
selfdrive/dragonpilot/dmonitoringd.py → selfdrive/dragonpilot/dpmonitoringd.py
+3 -3
View File
@@ -14,8 +14,8 @@ MAX_TERMINAL_ALERTS = 3 # not allowed to engage after 3 terminal alerts
MAX_TERMINAL_DURATION = int(30 / DT_DMON) # not allowed to engage after 30s of terminal alerts
from common.realtime import Ratekeeper
def dmonitoringd_thread(sm=None, pm=None):
rk = Ratekeeper(20, print_delay_threshold=None) # Keeps rate at 20 hz
def dpmonitoringd_thread(sm=None, pm=None):
rk = Ratekeeper(10, print_delay_threshold=None) # Keeps rate at 10 hz
gc.disable()
set_realtime_priority(2)
@@ -81,7 +81,7 @@ def dmonitoringd_thread(sm=None, pm=None):
def main(sm=None, pm=None):
dmonitoringd_thread(sm, pm)
dpmonitoringd_thread(sm, pm)
if __name__ == '__main__':
selfdrive/locationd/locationd
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selfdrive/locationd/ubloxd
BIN
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selfdrive/manager/manager.py
+1 -1
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@@ -135,7 +135,7 @@ def manager_thread() -> None:
# dp
dp_otisserv = params.get_bool('dp_otisserv')
ignore += ['dmonitoringmodeld', 'dmonitoringd'] if params.get_bool('dp_jetson') else []
ignore += ['dmonitoringmodeld', 'dmonitoringd', 'dpmonitoringd'] if params.get_bool('dp_jetson') else []
ignore += ['otisserv'] if not dp_otisserv else []
dp_mapd = params.get_bool('dp_mapd')
ignore += ['mapd'] if not dp_mapd else []
selfdrive/manager/process_config.py
+7 -5
View File
@@ -7,8 +7,10 @@ from selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProces
WEBCAM = os.getenv("USE_WEBCAM") is not None
dp_dm = Params().get_bool('dp_dm')
def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
return params.get_bool("IsDriverViewEnabled") # type: ignore
return dp_dm and params.get_bool("IsDriverViewEnabled") # type: ignore
def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
return CP.notCar # type: ignore
@@ -19,7 +21,7 @@ def logging(started, params, CP: car.CarParams) -> bool:
procs = [
# due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True), #, callback=driverview),
NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview),
NativeProcess("clocksd", "system/clocksd", ["./clocksd"]),
# NativeProcess("logcatd", "system/logcatd", ["./logcatd"]),
# NativeProcess("proclogd", "system/proclogd", ["./proclogd"]),
@@ -27,7 +29,7 @@ procs = [
# PythonProcess("timezoned", "system.timezoned", enabled=not PC, offroad=True),
DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
# NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview),
NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=dp_dm, callback=driverview),
# NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]),
# NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging),
NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
@@ -40,7 +42,7 @@ procs = [
PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),
PythonProcess("controlsd", "selfdrive.controls.controlsd"),
# PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True),
# PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview),
PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=dp_dm, callback=driverview),
# PythonProcess("laikad", "selfdrive.locationd.laikad"),
# PythonProcess("navd", "selfdrive.navd.navd"),
PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True),
@@ -66,7 +68,7 @@ procs = [
PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=(TICI and os.path.isfile("/persist/comma/use-quectel-rawgps"))),
# dp
PythonProcess("dmonitoringd", "selfdrive.dragonpilot.dmonitoringd", enabled=EON),
PythonProcess("dpmonitoringd", "selfdrive.dragonpilot.dpmonitoringd", enabled=not dp_dm),
PythonProcess("mapd", "selfdrive.mapd.mapd"),
PythonProcess("systemd", "selfdrive.dragonpilot.systemd", offroad=True),
PythonProcess("gpxd", "selfdrive.dragonpilot.gpxd"),
selfdrive/modeld/_dmonitoringmodeld
Executable
BIN
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selfdrive/modeld/_modeld
BIN
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selfdrive/modeld/dmonitoringmodeld
+9 -3
View File
@@ -3,10 +3,16 @@
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
cd $DIR
if [ -f /TICI ]; then
export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/third_party/snpe/larch64:$LD_LIBRARY_PATH"
export ADSP_LIBRARY_PATH="/data/pythonpath/third_party/snpe/dsp/"
if [ -d /system ]; then
if [ -f /TICI ]; then # QCOM2
export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/third_party/snpe/larch64:$LD_LIBRARY_PATH"
export ADSP_LIBRARY_PATH="/data/pythonpath/third_party/snpe/dsp/"
else # QCOM
export LD_LIBRARY_PATH="../../third_party/snpe/aarch64/:$LD_LIBRARY_PATH"
export ADSP_LIBRARY_PATH="../../third_party/snpe/dsp/"
fi
else
# PC
export LD_LIBRARY_PATH="$DIR/../../third_party/snpe/x86_64-linux-clang:$DIR/../../openpilot/third_party/snpe/x86_64:$LD_LIBRARY_PATH"
fi
exec ./_dmonitoringmodeld
selfdrive/modeld/models/dmonitoring.h
+52
View File
@@ -0,0 +1,52 @@
#pragma once
#include <vector>
#include "cereal/messaging/messaging.h"
#include "common/util.h"
#include "selfdrive/modeld/models/commonmodel.h"
#include "selfdrive/modeld/runners/run.h"
#define CALIB_LEN 3
#define OUTPUT_SIZE 45
#define REG_SCALE 0.25f
typedef struct DMonitoringResult {
float face_orientation[3];
float face_orientation_meta[3];
float face_position[2];
float face_position_meta[2];
float face_prob;
float left_eye_prob;
float right_eye_prob;
float left_blink_prob;
float right_blink_prob;
float sg_prob;
float poor_vision;
float partial_face;
float distracted_pose;
float distracted_eyes;
float occluded_prob;
float ready_prob[4];
float not_ready_prob[2];
float dsp_execution_time;
} DMonitoringResult;
typedef struct DMonitoringModelState {
RunModel *m;
bool is_rhd;
float output[OUTPUT_SIZE];
std::vector<uint8_t> resized_buf;
std::vector<uint8_t> cropped_buf;
std::vector<uint8_t> premirror_cropped_buf;
std::vector<float> net_input_buf;
float calib[CALIB_LEN];
float tensor[UINT8_MAX + 1];
} DMonitoringModelState;
void dmonitoring_init(DMonitoringModelState* s);
DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height, float *calib);
void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr<const float> raw_pred);
void dmonitoring_free(DMonitoringModelState* s);
selfdrive/modeld/models/dmonitoring_model_q.dlc
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selfdrive/monitoring/dmonitoringd.py
+12 -11
View File
@@ -3,7 +3,7 @@ import gc
import cereal.messaging as messaging
from cereal import car
from common.params import Params, put_bool_nonblocking
from common.params import Params
from common.realtime import set_realtime_priority
from selfdrive.controls.lib.events import Events
from selfdrive.locationd.calibrationd import Calibration
@@ -18,9 +18,10 @@ def dmonitoringd_thread(sm=None, pm=None):
pm = messaging.PubMaster(['driverMonitoringState'])
if sm is None:
sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2'])
sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverState'])
driver_status = DriverStatus(rhd_saved=Params().get_bool("IsRhdDetected"))
rhd = Params().get_bool("IsRhdDetected")
driver_status = DriverStatus(rhd=rhd)
sm['liveCalibration'].calStatus = Calibration.INVALID
sm['liveCalibration'].rpyCalib = [0, 0, 0]
@@ -34,7 +35,7 @@ def dmonitoringd_thread(sm=None, pm=None):
while True:
sm.update()
if not sm.updated['driverStateV2']:
if not sm.updated['driverState']:
continue
# Get interaction
@@ -52,7 +53,7 @@ def dmonitoringd_thread(sm=None, pm=None):
# Get data from dmonitoringmodeld
events = Events()
driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
driver_status.update_states(sm['driverState'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
# Block engaging after max number of distrations
if driver_status.terminal_alert_cnt >= driver_status.settings._MAX_TERMINAL_ALERTS or \
@@ -80,15 +81,15 @@ def dmonitoringd_thread(sm=None, pm=None):
"isLowStd": driver_status.pose.low_std,
"hiStdCount": driver_status.hi_stds,
"isActiveMode": driver_status.active_monitoring_mode,
"isRHD": driver_status.wheel_on_right,
"isRHD": rhd,
}
pm.send('driverMonitoringState', dat)
# save rhd virtual toggle every 5 mins
if (sm['driverStateV2'].frameId % 6000 == 0 and
driver_status.wheelpos_learner.filtered_stat.n > driver_status.settings._WHEELPOS_FILTER_MIN_COUNT and
driver_status.wheel_on_right == (driver_status.wheelpos_learner.filtered_stat.M > driver_status.settings._WHEELPOS_THRESHOLD)):
put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right)
# # save rhd virtual toggle every 5 mins
# if (sm['driverStateV2'].frameId % 6000 == 0 and
# driver_status.wheelpos_learner.filtered_stat.n > driver_status.settings._WHEELPOS_FILTER_MIN_COUNT and
# driver_status.wheel_on_right == (driver_status.wheelpos_learner.filtered_stat.M > driver_status.settings._WHEELPOS_THRESHOLD)):
# put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right)
def main(sm=None, pm=None):
dmonitoringd_thread(sm, pm)
selfdrive/monitoring/driver_monitor.py
+52 -63
View File
@@ -5,7 +5,6 @@ from common.numpy_fast import interp
from common.realtime import DT_DMON
from common.filter_simple import FirstOrderFilter
from common.stat_live import RunningStatFilter
from common.transformations.camera import tici_d_frame_size
EventName = car.CarEvent.EventName
@@ -16,7 +15,7 @@ EventName = car.CarEvent.EventName
# ******************************************************************************************
class DRIVER_MONITOR_SETTINGS():
def __init__(self):
def __init__(self, DT_DMON=DT_DMON):
self._DT_DMON = DT_DMON
# ref (page15-16): https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2
self._AWARENESS_TIME = 30. # passive wheeltouch total timeout
@@ -26,30 +25,33 @@ class DRIVER_MONITOR_SETTINGS():
self._DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
self._FACE_THRESHOLD = 0.7
self._EYE_THRESHOLD = 0.65
self._SG_THRESHOLD = 0.9
self._BLINK_THRESHOLD = 0.87
self._FACE_THRESHOLD = 0.5
self._PARTIAL_FACE_THRESHOLD = 0.45
self._EYE_THRESHOLD = 0.6
self._SG_THRESHOLD = 0.91
self._BLINK_THRESHOLD = 0.55
self._BLINK_THRESHOLD_SLACK = 0.7
self._BLINK_THRESHOLD_STRICT = self._BLINK_THRESHOLD
self._EE_THRESH11 = 0.75
self._EE_THRESH12 = 3.25
self._EE_THRESH11 = 0.4
self._EE_THRESH12 = 2.45
self._EE_THRESH21 = 0.01
self._EE_THRESH22 = 0.35
self._POSE_PITCH_THRESHOLD = 0.3133
self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
self._POSE_PITCH_THRESHOLD = 0.3237
self._POSE_PITCH_THRESHOLD_SLACK = 0.3657
self._POSE_PITCH_THRESHOLD_STRICT = self._POSE_PITCH_THRESHOLD
self._POSE_YAW_THRESHOLD = 0.4020
self._POSE_YAW_THRESHOLD_SLACK = 0.5042
self._POSE_YAW_THRESHOLD = 0.3109
self._POSE_YAW_THRESHOLD_SLACK = 0.4294
self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
self._PITCH_NATURAL_OFFSET = 0.029 # initial value before offset is learned
self._YAW_NATURAL_OFFSET = 0.097 # initial value before offset is learned
self._PITCH_NATURAL_OFFSET = 0.057 # initial value before offset is learned
self._YAW_NATURAL_OFFSET = 0.11 # initial value before offset is learned
self._PITCH_MAX_OFFSET = 0.124
self._PITCH_MIN_OFFSET = -0.0881
self._YAW_MAX_OFFSET = 0.289
self._YAW_MIN_OFFSET = -0.0246
self._POSESTD_THRESHOLD = 0.3
self._POSESTD_THRESHOLD = 0.315
self._HI_STD_FALLBACK_TIME = int(10 / self._DT_DMON) # fall back to wheel touch if model is uncertain for 10s
self._DISTRACTED_FILTER_TS = 0.25 # 0.6Hz
@@ -57,10 +59,6 @@ class DRIVER_MONITOR_SETTINGS():
self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON) # valid data counts before calibration completes, 1min cumulative
self._POSE_OFFSET_MAX_COUNT = int(360 / self._DT_DMON) # stop deweighting new data after 6 min, aka "short term memory"
self._WHEELPOS_CALIB_MIN_SPEED = 11
self._WHEELPOS_THRESHOLD = 0.5
self._WHEELPOS_FILTER_MIN_COUNT = int(15 / self._DT_DMON) # allow 15 seconds to converge wheel side
self._RECOVERY_FACTOR_MAX = 5. # relative to minus step change
self._RECOVERY_FACTOR_MIN = 1.25 # relative to minus step change
@@ -68,9 +66,9 @@ class DRIVER_MONITOR_SETTINGS():
self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON) # not allowed to engage after 30s of terminal alerts
# model output refers to center of undistorted+leveled image
EFL = 598.0 # focal length in K
W, H = tici_d_frame_size # corrected image has same size as raw
# model output refers to center of cropped image, so need to apply the x displacement offset
RESIZED_FOCAL = 320.0
H, W, FULL_W = 320, 160, 426
class DistractedType:
NOT_DISTRACTED = 0
@@ -78,22 +76,22 @@ class DistractedType:
DISTRACTED_BLINK = 2
DISTRACTED_E2E = 4
def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
def face_orientation_from_net(angles_desc, pos_desc, rpy_calib, is_rhd):
# the output of these angles are in device frame
# so from driver's perspective, pitch is up and yaw is right
pitch_net, yaw_net, roll_net = angles_desc
face_pixel_position = ((pos_desc[0]+0.5)*W, (pos_desc[1]+0.5)*H)
yaw_focal_angle = atan2(face_pixel_position[0] - W//2, EFL)
pitch_focal_angle = atan2(face_pixel_position[1] - H//2, EFL)
face_pixel_position = ((pos_desc[0] + .5)*W - W + FULL_W, (pos_desc[1]+.5)*H)
yaw_focal_angle = atan2(face_pixel_position[0] - FULL_W//2, RESIZED_FOCAL)
pitch_focal_angle = atan2(face_pixel_position[1] - H//2, RESIZED_FOCAL)
pitch = pitch_net + pitch_focal_angle
yaw = -yaw_net + yaw_focal_angle
# no calib for roll
pitch -= rpy_calib[1]
yaw -= rpy_calib[2]
yaw -= rpy_calib[2] * (1 - 2 * int(is_rhd)) # lhd -> -=, rhd -> +=
return roll_net, pitch, yaw
class DriverPose():
@@ -114,14 +112,15 @@ class DriverBlink():
def __init__(self):
self.left_blink = 0.
self.right_blink = 0.
self.cfactor = 1.
class DriverStatus():
def __init__(self, rhd_saved=False, settings=DRIVER_MONITOR_SETTINGS()):
def __init__(self, rhd=False, settings=DRIVER_MONITOR_SETTINGS()):
# init policy settings
self.settings = settings
# init driver status
self.wheelpos_learner = RunningStatFilter()
self.is_rhd_region = rhd
self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
self.pose_calibrated = False
self.blink = DriverBlink()
@@ -138,10 +137,8 @@ class DriverStatus():
self.distracted_types = []
self.driver_distracted = False
self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON)
self.wheel_on_right = False
self.wheel_on_right_last = None
self.wheel_on_right_default = rhd_saved
self.face_detected = False
self.face_partial = False
self.terminal_alert_cnt = 0
self.terminal_time = 0
self.step_change = 0.
@@ -200,7 +197,7 @@ class DriverStatus():
yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw:
distracted_types.append(DistractedType.DISTRACTED_POSE)
if (self.blink.left_blink + self.blink.right_blink)*0.5 > self.settings._BLINK_THRESHOLD:
if (self.blink.left_blink + self.blink.right_blink)*0.5 > self.settings._BLINK_THRESHOLD*self.blink.cfactor:
distracted_types.append(DistractedType.DISTRACTED_BLINK)
if self.ee1_calibrated:
@@ -217,7 +214,13 @@ class DriverStatus():
return distracted_types
def set_policy(self, model_data, car_speed):
ep = min(model_data.meta.engagedProb, 0.8) / 0.8 # engaged prob
bp = model_data.meta.disengagePredictions.brakeDisengageProbs[0] # brake disengage prob in next 2s
# TODO: retune adaptive blink
self.blink.cfactor = interp(ep, [0, 0.5, 1],
[self.settings._BLINK_THRESHOLD_STRICT,
self.settings._BLINK_THRESHOLD,
self.settings._BLINK_THRESHOLD_SLACK]) / self.settings._BLINK_THRESHOLD
k1 = max(-0.00156*((car_speed-16)**2)+0.6, 0.2)
bp_normal = max(min(bp / k1, 0.5),0)
self.pose.cfactor_pitch = interp(bp_normal, [0, 0.5],
@@ -228,42 +231,28 @@ class DriverStatus():
self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD
def update_states(self, driver_state, cal_rpy, car_speed, op_engaged):
rhd_pred = driver_state.wheelOnRightProb
# calibrates only when there's movement and either face detected
if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
self.wheelpos_learner.push_and_update(rhd_pred)
if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT:
self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
else:
self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
# make sure no switching when engaged
if op_engaged and self.wheel_on_right_last is not None and self.wheel_on_right_last != self.wheel_on_right:
self.wheel_on_right = self.wheel_on_right_last
driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData
if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition,
driver_data.faceOrientationStd, driver_data.facePositionStd,
driver_data.readyProb, driver_data.notReadyProb)):
if not all(len(x) > 0 for x in (driver_state.faceOrientation, driver_state.facePosition,
driver_state.faceOrientationStd, driver_state.facePositionStd,
driver_state.readyProb, driver_state.notReadyProb)):
return
self.face_detected = driver_data.faceProb > self.settings._FACE_THRESHOLD
self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy)
if self.wheel_on_right:
self.pose.yaw *= -1
self.wheel_on_right_last = self.wheel_on_right
self.pose.pitch_std = driver_data.faceOrientationStd[0]
self.pose.yaw_std = driver_data.faceOrientationStd[1]
self.face_partial = driver_state.partialFace > self.settings._PARTIAL_FACE_THRESHOLD
self.face_detected = driver_state.faceProb > self.settings._FACE_THRESHOLD or self.face_partial
self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_state.faceOrientation, driver_state.facePosition, cal_rpy, self.is_rhd_region)
self.pose.pitch_std = driver_state.faceOrientationStd[0]
self.pose.yaw_std = driver_state.faceOrientationStd[1]
# self.pose.roll_std = driver_state.faceOrientationStd[2]
model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
self.eev1 = driver_data.notReadyProb[1]
self.eev2 = driver_data.readyProb[0]
self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD and not self.face_partial
self.blink.left_blink = driver_state.leftBlinkProb * (driver_state.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_state.sunglassesProb < self.settings._SG_THRESHOLD)
self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_state.sunglassesProb < self.settings._SG_THRESHOLD)
self.eev1 = driver_state.notReadyProb[1]
self.eev2 = driver_state.readyProb[0]
self.distracted_types = self._get_distracted_types()
self.driver_distracted = (DistractedType.DISTRACTED_POSE in self.distracted_types or
DistractedType.DISTRACTED_BLINK in self.distracted_types) and \
driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
DistractedType.DISTRACTED_BLINK in self.distracted_types) and \
driver_state.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
self.driver_distraction_filter.update(self.driver_distracted)
# update offseter
selfdrive/sensord/_sensord
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selfdrive/thermald/thermald.py
+1 -1
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@@ -287,7 +287,7 @@ def thermald_thread(end_event, hw_queue):
startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2
# startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version or \
# params.get_bool("Passive")
# startup_conditions["not_driver_view"] = not params.get_bool("IsDriverViewEnabled")
startup_conditions["not_driver_view"] = not params.get_bool("IsDriverViewEnabled")
# startup_conditions["not_taking_snapshot"] = not params.get_bool("IsTakingSnapshot")
# if any CPU gets above 107 or the battery gets above 63, kill all processes
# controls will warn with CPU above 95 or battery above 60
selfdrive/ui/_ui
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selfdrive/ui/qt/spinner
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selfdrive/ui/qt/text
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selfdrive/ui/soundd/_soundd
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selfdrive/ui/translations/main_ja.ts
+141 -126
View File
@@ -114,109 +114,109 @@
<context>
<name>DPCarPanel</name>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="390"/>
<location filename="../qt/offroad/settings_dp.cc" line="398"/>
<source>Override Speed When Below</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="390"/>
<location filename="../qt/offroad/settings_dp.cc" line="398"/>
<source>Override feature will be enabled when set cruise speed is lower than this value.
1 km/h = 0.62 mph.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="390"/>
<location filename="../qt/offroad/settings_dp.cc" line="398"/>
<source> km/h</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="394"/>
<location filename="../qt/offroad/settings_dp.cc" line="402"/>
<source>Turn On Cruise Speed Override</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="394"/>
<location filename="../qt/offroad/settings_dp.cc" line="402"/>
<source>This feature will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h)</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="412"/>
<location filename="../qt/offroad/settings_dp.cc" line="420"/>
<source>Toyota / Lexus</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="418"/>
<location filename="../qt/offroad/settings_dp.cc" line="426"/>
<source>Enable SnG Mod</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="418"/>
<location filename="../qt/offroad/settings_dp.cc" line="426"/>
<source>Enable this to fix stop and go (SnG) issue on some models.
Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="424"/>
<location filename="../qt/offroad/settings_dp.cc" line="432"/>
<source>Enable AM Physical Button Ctrl</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="424"/>
<location filename="../qt/offroad/settings_dp.cc" line="432"/>
<source>Enable this to link Accel Mode (AM) control to the physical button (TSS2).
ONLY WORK ON SOME OF TSS1 VEHICLES.
Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="437"/>
<location filename="../qt/offroad/settings_dp.cc" line="445"/>
<source>Enable Door Auto Lock</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="437"/>
<location filename="../qt/offroad/settings_dp.cc" line="445"/>
<source>Enable this to lock doors when drive above 25 km/h.
ONLY WORK ON SOME VEHICLES.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="439"/>
<location filename="../qt/offroad/settings_dp.cc" line="447"/>
<source>Enable Door Auto Unlock</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="439"/>
<location filename="../qt/offroad/settings_dp.cc" line="447"/>
<source>Enable this to unlock doors when shift to gear P.
ONLY WORK ON SOME VEHICLES.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="441"/>
<location filename="../qt/offroad/settings_dp.cc" line="449"/>
<source>Honda</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="443"/>
<location filename="../qt/offroad/settings_dp.cc" line="451"/>
<source>Enable EPS Mod Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="443"/>
<location filename="../qt/offroad/settings_dp.cc" line="451"/>
<source>Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware.
Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="461"/>
<location filename="../qt/offroad/settings_dp.cc" line="469"/>
<source>Mazda</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="463"/>
<location filename="../qt/offroad/settings_dp.cc" line="471"/>
<source>Display Below Steer Speed Alert</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="463"/>
<location filename="../qt/offroad/settings_dp.cc" line="471"/>
<source>Enable this will show below steer speed alert.
Thanks to @TheCrowd</source>
<translation type="unfinished"></translation>
@@ -225,118 +225,118 @@ Thanks to @TheCrowd</source>
<context>
<name>DPControlPanel</name>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="170"/>
<location filename="../qt/offroad/settings_dp.cc" line="178"/>
<source>ALCA Delay</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="170"/>
<location filename="../qt/offroad/settings_dp.cc" line="178"/>
<source>Once the vehicle meets all ALCA criteria, it will wait for the seconds set here before peforming lane change automatically.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="170"/>
<location filename="../qt/offroad/settings_dp.cc" line="178"/>
<source> secs</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="172"/>
<location filename="../qt/offroad/settings_dp.cc" line="180"/>
<source>ALCA Min Speed</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="172"/>
<location filename="../qt/offroad/settings_dp.cc" line="180"/>
<source>ALCA minimum engage speed in mph.
1 mph = 1.61 km/h.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="172"/>
<location filename="../qt/offroad/settings_dp.cc" line="181"/>
<location filename="../qt/offroad/settings_dp.cc" line="180"/>
<location filename="../qt/offroad/settings_dp.cc" line="189"/>
<source> mph</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="181"/>
<location filename="../qt/offroad/settings_dp.cc" line="189"/>
<source>LCA Min Speed</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="181"/>
<location filename="../qt/offroad/settings_dp.cc" line="189"/>
<source>LCA minimum engage speed in mph.
1 mph = 1.61 km/h.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="192"/>
<location filename="../qt/offroad/settings_dp.cc" line="200"/>
<source>Lateral Ctrl Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="192"/>
<location filename="../qt/offroad/settings_dp.cc" line="200"/>
<source>1 = Lane Change Assist (LCA)
2 = Auto Lane Change Assist (ALCA)</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="232"/>
<location filename="../qt/offroad/settings_dp.cc" line="240"/>
<source>Longitudinal</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="234"/>
<location filename="../qt/offroad/settings_dp.cc" line="242"/>
<source>Manually Control Accel Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="234"/>
<location filename="../qt/offroad/settings_dp.cc" line="242"/>
<source>Enable this if you wish to adjust openpilot&apos;s acceleration control.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="237"/>
<location filename="../qt/offroad/settings_dp.cc" line="245"/>
<source>Enable vision based turn control</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="238"/>
<location filename="../qt/offroad/settings_dp.cc" line="246"/>
<source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="292"/>
<location filename="../qt/offroad/settings_dp.cc" line="300"/>
<source>Lateral</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="297"/>
<location filename="../qt/offroad/settings_dp.cc" line="305"/>
<source>Use Lane Lines</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="297"/>
<location filename="../qt/offroad/settings_dp.cc" line="305"/>
<source>Enable this if you wish to use lane lines mode.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="300"/>
<location filename="../qt/offroad/settings_dp.cc" line="308"/>
<source>Use LQR Controller</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="300"/>
<location filename="../qt/offroad/settings_dp.cc" line="308"/>
<source>Enable this if you wish to use LQR instead of PID or INDI controller.
WORKS WELL ONLY ON SOME VEHICLES.
More linear steering experience.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="305"/>
<location filename="../qt/offroad/settings_dp.cc" line="313"/>
<source>Always On Lateral</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="305"/>
<location filename="../qt/offroad/settings_dp.cc" line="313"/>
<source>Use at your own risk!
1 = Stock Long
2 = OP Long
@@ -345,12 +345,12 @@ Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="313"/>
<location filename="../qt/offroad/settings_dp.cc" line="321"/>
<source>Camera Offset</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="313"/>
<location filename="../qt/offroad/settings_dp.cc" line="321"/>
<source>Adjust your camera position if your device is not mounted as per guidance.</source>
<translation type="unfinished"></translation>
</message>
@@ -444,100 +444,115 @@ Reboot required.</source>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="103"/>
<source>Enable Jetson Support</source>
<source>Enable Driver Monitor (Front Cam)</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="103"/>
<source>Enable this option if you wish to use front camera for driver monitoring.
On = Front Cam Monitor + Steering Monitor
Off = Steering Monitor only.
Enable this will increase device temp a lot, use at your own risk.
Reboot Required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="111"/>
<source>Enable Jetson Support</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="111"/>
<source>Enable this option if you intend to run dp on Nvidia Jetson.
Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="105"/>
<location filename="../qt/offroad/settings_dp.cc" line="113"/>
<source>Reboot recommended.
Reboot?</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="129"/>
<location filename="../qt/offroad/settings_dp.cc" line="137"/>
<source>Flashing Panda Firmware</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="129"/>
<location filename="../qt/offroad/settings_dp.cc" line="137"/>
<source>FLASH</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="129"/>
<location filename="../qt/offroad/settings_dp.cc" line="137"/>
<source>Tap the button to update your panda firmware.
The device should reboot once if it finish updating.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="131"/>
<location filename="../qt/offroad/settings_dp.cc" line="139"/>
<source>Are you sure you want to flash the panda?</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="158"/>
<location filename="../qt/offroad/settings_dp.cc" line="166"/>
<source>Are you sure delete all media?</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="138"/>
<location filename="../qt/offroad/settings_dp.cc" line="146"/>
<source>Pandas Firmware Recovery</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="138"/>
<location filename="../qt/offroad/settings_dp.cc" line="146"/>
<source>RECOVER</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="138"/>
<location filename="../qt/offroad/settings_dp.cc" line="146"/>
<source>Tap the button ONLY if your panda ran into issue.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="140"/>
<location filename="../qt/offroad/settings_dp.cc" line="148"/>
<source>Are you sure you want to run recover panda script?</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="147"/>
<location filename="../qt/offroad/settings_dp.cc" line="155"/>
<source>Reset dragonpilot conf</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="147"/>
<location filename="../qt/offroad/settings_dp.cc" line="155"/>
<source>RESET</source>
<translation type="unfinished">ﾘｾｯﾄ</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="147"/>
<location filename="../qt/offroad/settings_dp.cc" line="155"/>
<source>Tap the button to reset all your dragonpilot congiration to default value.
Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="149"/>
<location filename="../qt/offroad/settings_dp.cc" line="157"/>
<source>Are you sure you want to reset dp params?</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="156"/>
<location filename="../qt/offroad/settings_dp.cc" line="164"/>
<source>Delete All Driving Log</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="156"/>
<location filename="../qt/offroad/settings_dp.cc" line="164"/>
<source>DELETE</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="156"/>
<location filename="../qt/offroad/settings_dp.cc" line="164"/>
<source>Tap the button to delete ALL your driving logs (including dashcam / gpx / driving logs).</source>
<translation type="unfinished"></translation>
</message>
@@ -545,34 +560,34 @@ Reboot required.</source>
<context>
<name>DPMapsPanel</name>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="522"/>
<location filename="../qt/offroad/settings_dp.cc" line="530"/>
<source>Show Full Screen Nav.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="522"/>
<location filename="../qt/offroad/settings_dp.cc" line="530"/>
<source>This will show navigation in full screen.
Please tap green boarder if you wish to switch back drive view.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="524"/>
<location filename="../qt/offroad/settings_dp.cc" line="532"/>
<source>Search Destination using Google Map</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="524"/>
<location filename="../qt/offroad/settings_dp.cc" line="532"/>
<source>This will allow you to search destination in google map api.
You will need to apply your own google map api key.<byte value="x8"/>Enter your key detail in web interface once it&apos;s enabled.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="528"/>
<location filename="../qt/offroad/settings_dp.cc" line="536"/>
<source>Enable Nav.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="528"/>
<location filename="../qt/offroad/settings_dp.cc" line="536"/>
<source>This will let use the build in Navigation.
Use web interface to control it: *http://&lt;device_ip&gt;:8082*.
You will need to apply your own mapbox token at https://www.mapbox.com/.
@@ -581,52 +596,52 @@ Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="551"/>
<location filename="../qt/offroad/settings_dp.cc" line="559"/>
<source>Enable Speed Limit Control</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="552"/>
<location filename="../qt/offroad/settings_dp.cc" line="560"/>
<source>Use speed limit signs information from map data and car interface to automatically adapt cruise speed to road limits.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="556"/>
<location filename="../qt/offroad/settings_dp.cc" line="564"/>
<source>Enable Speed Limit Offset</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="557"/>
<location filename="../qt/offroad/settings_dp.cc" line="565"/>
<source>Set speed limit slightly higher than actual speed limit for a more natural drive.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="561"/>
<location filename="../qt/offroad/settings_dp.cc" line="569"/>
<source>Enable Map Data Turn Control</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="562"/>
<location filename="../qt/offroad/settings_dp.cc" line="570"/>
<source>Use curvature info from map data to define speed limits to take turns ahead</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="566"/>
<location filename="../qt/offroad/settings_dp.cc" line="574"/>
<source>Show debug UI elements</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="567"/>
<location filename="../qt/offroad/settings_dp.cc" line="575"/>
<source>Show UI elements that aid debugging.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="572"/>
<location filename="../qt/offroad/settings_dp.cc" line="580"/>
<source>Enable MapD</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="572"/>
<location filename="../qt/offroad/settings_dp.cc" line="580"/>
<source>Use OSM to assist lateral/longitudinal control.
Please note:
1. This feature will works only when your car support OP longitudinal.
@@ -639,95 +654,95 @@ Please note:
<context>
<name>DPUIPanel</name>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="329"/>
<location filename="../qt/offroad/settings_dp.cc" line="337"/>
<source>Display Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="329"/>
<location filename="../qt/offroad/settings_dp.cc" line="337"/>
<source>0 = Default
1 = Screen Off While Driving</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="331"/>
<location filename="../qt/offroad/settings_dp.cc" line="339"/>
<source>Screen Brightness</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="331"/>
<location filename="../qt/offroad/settings_dp.cc" line="339"/>
<source>Adjust your screen brightness.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="331"/>
<location filename="../qt/offroad/settings_dp.cc" line="333"/>
<location filename="../qt/offroad/settings_dp.cc" line="339"/>
<location filename="../qt/offroad/settings_dp.cc" line="341"/>
<source>AUTO</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="333"/>
<location filename="../qt/offroad/settings_dp.cc" line="341"/>
<source>Alert Volume</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="333"/>
<location filename="../qt/offroad/settings_dp.cc" line="341"/>
<source>Adjust your alert volume.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="335"/>
<location filename="../qt/offroad/settings_dp.cc" line="343"/>
<source>Quiet Drive</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="335"/>
<location filename="../qt/offroad/settings_dp.cc" line="343"/>
<source>Display alert and play important warning sound. Thanks @sunnyhaibin.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="337"/>
<location filename="../qt/offroad/settings_dp.cc" line="345"/>
<source>Display Speed</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="337"/>
<location filename="../qt/offroad/settings_dp.cc" line="345"/>
<source>Enable this to display your current speed.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="345"/>
<location filename="../qt/offroad/settings_dp.cc" line="353"/>
<source>Display Event / Steer Icon</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="345"/>
<location filename="../qt/offroad/settings_dp.cc" line="349"/>
<location filename="../qt/offroad/settings_dp.cc" line="353"/>
<location filename="../qt/offroad/settings_dp.cc" line="357"/>
<source>Enable this to display the icon.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="349"/>
<location filename="../qt/offroad/settings_dp.cc" line="357"/>
<source>Display Driver Monitor Indicator</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="351"/>
<location filename="../qt/offroad/settings_dp.cc" line="359"/>
<source>Display Side Info</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="351"/>
<location filename="../qt/offroad/settings_dp.cc" line="359"/>
<source>Enable this to display steering angle / lead car distance / engine RPM.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="353"/>
<location filename="../qt/offroad/settings_dp.cc" line="361"/>
<source>Display Top Info</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="353"/>
<location filename="../qt/offroad/settings_dp.cc" line="361"/>
<source>Enable this to display time / system temp / battery level.</source>
<translation type="unfinished"></translation>
</message>
@@ -1145,60 +1160,60 @@ location set</source>
<translation>mph</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="434"/>
<location filename="../qt/onroad.cc" line="437"/>
<location filename="../qt/onroad.cc" line="432"/>
<location filename="../qt/onroad.cc" line="435"/>
<source>MAX</source>
<translation>最高速度</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="487"/>
<location filename="../qt/onroad.cc" line="490"/>
<location filename="../qt/onroad.cc" line="485"/>
<location filename="../qt/onroad.cc" line="488"/>
<source>SPEED</source>
<translation>速度</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="493"/>
<location filename="../qt/onroad.cc" line="496"/>
<location filename="../qt/onroad.cc" line="491"/>
<location filename="../qt/onroad.cc" line="494"/>
<source>LIMIT</source>
<translation>制限速度</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="963"/>
<location filename="../qt/onroad.cc" line="959"/>
<source>REAL STEER</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="971"/>
<location filename="../qt/onroad.cc" line="967"/>
<source>RAM PER</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="983"/>
<location filename="../qt/onroad.cc" line="979"/>
<source>OFF</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="986"/>
<location filename="../qt/onroad.cc" line="982"/>
<source>ENG RPM</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="1019"/>
<location filename="../qt/onroad.cc" line="1015"/>
<source>NOR</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="1022"/>
<location filename="../qt/onroad.cc" line="1018"/>
<source>SPT</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="1025"/>
<location filename="../qt/onroad.cc" line="1021"/>
<source>ECO</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="1027"/>
<location filename="../qt/onroad.cc" line="1023"/>
<source>ACCEL</source>
<translation type="unfinished"></translation>
</message>
@@ -1206,17 +1221,17 @@ location set</source>
<context>
<name>OffroadHome</name>
<message>
<location filename="../qt/home.cc" line="115"/>
<location filename="../qt/home.cc" line="113"/>
<source>UPDATE</source>
<translation>更新</translation>
</message>
<message>
<location filename="../qt/home.cc" line="206"/>
<location filename="../qt/home.cc" line="204"/>
<source> ALERTS</source>
<translation> 警告</translation>
</message>
<message>
<location filename="../qt/home.cc" line="206"/>
<location filename="../qt/home.cc" line="204"/>
<source> ALERT</source>
<translation> 警告</translation>
</message>
@@ -1410,53 +1425,53 @@ location set</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="462"/>
<location filename="../qt/offroad/settings.cc" line="460"/>
<source>Device</source>
<translation>デバイス</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="463"/>
<location filename="../qt/offroad/settings.cc" line="519"/>
<location filename="../qt/offroad/settings.cc" line="461"/>
<location filename="../qt/offroad/settings.cc" line="517"/>
<source>Network</source>
<translation>ﾈｯﾄﾜｰｸ</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="464"/>
<location filename="../qt/offroad/settings.cc" line="462"/>
<source>Toggles</source>
<translation>切り替え</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="465"/>
<location filename="../qt/offroad/settings.cc" line="463"/>
<source>Software</source>
<translation>ｿﾌﾄｳｪｱ</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="475"/>
<location filename="../qt/offroad/settings.cc" line="473"/>
<source>Navigation</source>
<translation>ﾅﾋﾞｹﾞｰｼｮﾝ</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="481"/>
<location filename="../qt/offroad/settings.cc" line="479"/>
<source>DP - General</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="482"/>
<location filename="../qt/offroad/settings.cc" line="480"/>
<source>DP - Controls</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="483"/>
<location filename="../qt/offroad/settings.cc" line="481"/>
<source>DP - UI</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="484"/>
<location filename="../qt/offroad/settings.cc" line="482"/>
<source>DP - Cars</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="487"/>
<location filename="../qt/offroad/settings.cc" line="485"/>
<source>DP - Maps</source>
<translation type="unfinished"></translation>
</message>
selfdrive/ui/translations/main_ko.ts
+141 -126
View File
@@ -114,109 +114,109 @@
<context>
<name>DPCarPanel</name>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="390"/>
<location filename="../qt/offroad/settings_dp.cc" line="398"/>
<source>Override Speed When Below</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="390"/>
<location filename="../qt/offroad/settings_dp.cc" line="398"/>
<source>Override feature will be enabled when set cruise speed is lower than this value.
1 km/h = 0.62 mph.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="390"/>
<location filename="../qt/offroad/settings_dp.cc" line="398"/>
<source> km/h</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="394"/>
<location filename="../qt/offroad/settings_dp.cc" line="402"/>
<source>Turn On Cruise Speed Override</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="394"/>
<location filename="../qt/offroad/settings_dp.cc" line="402"/>
<source>This feature will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h)</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="412"/>
<location filename="../qt/offroad/settings_dp.cc" line="420"/>
<source>Toyota / Lexus</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="418"/>
<location filename="../qt/offroad/settings_dp.cc" line="426"/>
<source>Enable SnG Mod</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="418"/>
<location filename="../qt/offroad/settings_dp.cc" line="426"/>
<source>Enable this to fix stop and go (SnG) issue on some models.
Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="424"/>
<location filename="../qt/offroad/settings_dp.cc" line="432"/>
<source>Enable AM Physical Button Ctrl</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="424"/>
<location filename="../qt/offroad/settings_dp.cc" line="432"/>
<source>Enable this to link Accel Mode (AM) control to the physical button (TSS2).
ONLY WORK ON SOME OF TSS1 VEHICLES.
Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="437"/>
<location filename="../qt/offroad/settings_dp.cc" line="445"/>
<source>Enable Door Auto Lock</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="437"/>
<location filename="../qt/offroad/settings_dp.cc" line="445"/>
<source>Enable this to lock doors when drive above 25 km/h.
ONLY WORK ON SOME VEHICLES.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="439"/>
<location filename="../qt/offroad/settings_dp.cc" line="447"/>
<source>Enable Door Auto Unlock</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="439"/>
<location filename="../qt/offroad/settings_dp.cc" line="447"/>
<source>Enable this to unlock doors when shift to gear P.
ONLY WORK ON SOME VEHICLES.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="441"/>
<location filename="../qt/offroad/settings_dp.cc" line="449"/>
<source>Honda</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="443"/>
<location filename="../qt/offroad/settings_dp.cc" line="451"/>
<source>Enable EPS Mod Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="443"/>
<location filename="../qt/offroad/settings_dp.cc" line="451"/>
<source>Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware.
Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="461"/>
<location filename="../qt/offroad/settings_dp.cc" line="469"/>
<source>Mazda</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="463"/>
<location filename="../qt/offroad/settings_dp.cc" line="471"/>
<source>Display Below Steer Speed Alert</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="463"/>
<location filename="../qt/offroad/settings_dp.cc" line="471"/>
<source>Enable this will show below steer speed alert.
Thanks to @TheCrowd</source>
<translation type="unfinished"></translation>
@@ -225,118 +225,118 @@ Thanks to @TheCrowd</source>
<context>
<name>DPControlPanel</name>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="170"/>
<location filename="../qt/offroad/settings_dp.cc" line="178"/>
<source>ALCA Delay</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="170"/>
<location filename="../qt/offroad/settings_dp.cc" line="178"/>
<source>Once the vehicle meets all ALCA criteria, it will wait for the seconds set here before peforming lane change automatically.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="170"/>
<location filename="../qt/offroad/settings_dp.cc" line="178"/>
<source> secs</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="172"/>
<location filename="../qt/offroad/settings_dp.cc" line="180"/>
<source>ALCA Min Speed</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="172"/>
<location filename="../qt/offroad/settings_dp.cc" line="180"/>
<source>ALCA minimum engage speed in mph.
1 mph = 1.61 km/h.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="172"/>
<location filename="../qt/offroad/settings_dp.cc" line="181"/>
<location filename="../qt/offroad/settings_dp.cc" line="180"/>
<location filename="../qt/offroad/settings_dp.cc" line="189"/>
<source> mph</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="181"/>
<location filename="../qt/offroad/settings_dp.cc" line="189"/>
<source>LCA Min Speed</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="181"/>
<location filename="../qt/offroad/settings_dp.cc" line="189"/>
<source>LCA minimum engage speed in mph.
1 mph = 1.61 km/h.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="192"/>
<location filename="../qt/offroad/settings_dp.cc" line="200"/>
<source>Lateral Ctrl Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="192"/>
<location filename="../qt/offroad/settings_dp.cc" line="200"/>
<source>1 = Lane Change Assist (LCA)
2 = Auto Lane Change Assist (ALCA)</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="232"/>
<location filename="../qt/offroad/settings_dp.cc" line="240"/>
<source>Longitudinal</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="234"/>
<location filename="../qt/offroad/settings_dp.cc" line="242"/>
<source>Manually Control Accel Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="234"/>
<location filename="../qt/offroad/settings_dp.cc" line="242"/>
<source>Enable this if you wish to adjust openpilot&apos;s acceleration control.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="237"/>
<location filename="../qt/offroad/settings_dp.cc" line="245"/>
<source>Enable vision based turn control</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="238"/>
<location filename="../qt/offroad/settings_dp.cc" line="246"/>
<source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="292"/>
<location filename="../qt/offroad/settings_dp.cc" line="300"/>
<source>Lateral</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="297"/>
<location filename="../qt/offroad/settings_dp.cc" line="305"/>
<source>Use Lane Lines</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="297"/>
<location filename="../qt/offroad/settings_dp.cc" line="305"/>
<source>Enable this if you wish to use lane lines mode.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="300"/>
<location filename="../qt/offroad/settings_dp.cc" line="308"/>
<source>Use LQR Controller</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="300"/>
<location filename="../qt/offroad/settings_dp.cc" line="308"/>
<source>Enable this if you wish to use LQR instead of PID or INDI controller.
WORKS WELL ONLY ON SOME VEHICLES.
More linear steering experience.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="305"/>
<location filename="../qt/offroad/settings_dp.cc" line="313"/>
<source>Always On Lateral</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="305"/>
<location filename="../qt/offroad/settings_dp.cc" line="313"/>
<source>Use at your own risk!
1 = Stock Long
2 = OP Long
@@ -345,12 +345,12 @@ Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="313"/>
<location filename="../qt/offroad/settings_dp.cc" line="321"/>
<source>Camera Offset</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="313"/>
<location filename="../qt/offroad/settings_dp.cc" line="321"/>
<source>Adjust your camera position if your device is not mounted as per guidance.</source>
<translation type="unfinished"></translation>
</message>
@@ -444,100 +444,115 @@ Reboot required.</source>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="103"/>
<source>Enable Jetson Support</source>
<source>Enable Driver Monitor (Front Cam)</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="103"/>
<source>Enable this option if you wish to use front camera for driver monitoring.
On = Front Cam Monitor + Steering Monitor
Off = Steering Monitor only.
Enable this will increase device temp a lot, use at your own risk.
Reboot Required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="111"/>
<source>Enable Jetson Support</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="111"/>
<source>Enable this option if you intend to run dp on Nvidia Jetson.
Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="105"/>
<location filename="../qt/offroad/settings_dp.cc" line="113"/>
<source>Reboot recommended.
Reboot?</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="129"/>
<location filename="../qt/offroad/settings_dp.cc" line="137"/>
<source>Flashing Panda Firmware</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="129"/>
<location filename="../qt/offroad/settings_dp.cc" line="137"/>
<source>FLASH</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="129"/>
<location filename="../qt/offroad/settings_dp.cc" line="137"/>
<source>Tap the button to update your panda firmware.
The device should reboot once if it finish updating.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="131"/>
<location filename="../qt/offroad/settings_dp.cc" line="139"/>
<source>Are you sure you want to flash the panda?</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="158"/>
<location filename="../qt/offroad/settings_dp.cc" line="166"/>
<source>Are you sure delete all media?</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="138"/>
<location filename="../qt/offroad/settings_dp.cc" line="146"/>
<source>Pandas Firmware Recovery</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="138"/>
<location filename="../qt/offroad/settings_dp.cc" line="146"/>
<source>RECOVER</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="138"/>
<location filename="../qt/offroad/settings_dp.cc" line="146"/>
<source>Tap the button ONLY if your panda ran into issue.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="140"/>
<location filename="../qt/offroad/settings_dp.cc" line="148"/>
<source>Are you sure you want to run recover panda script?</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="147"/>
<location filename="../qt/offroad/settings_dp.cc" line="155"/>
<source>Reset dragonpilot conf</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="147"/>
<location filename="../qt/offroad/settings_dp.cc" line="155"/>
<source>RESET</source>
<translation type="unfinished">재설정</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="147"/>
<location filename="../qt/offroad/settings_dp.cc" line="155"/>
<source>Tap the button to reset all your dragonpilot congiration to default value.
Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="149"/>
<location filename="../qt/offroad/settings_dp.cc" line="157"/>
<source>Are you sure you want to reset dp params?</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="156"/>
<location filename="../qt/offroad/settings_dp.cc" line="164"/>
<source>Delete All Driving Log</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="156"/>
<location filename="../qt/offroad/settings_dp.cc" line="164"/>
<source>DELETE</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="156"/>
<location filename="../qt/offroad/settings_dp.cc" line="164"/>
<source>Tap the button to delete ALL your driving logs (including dashcam / gpx / driving logs).</source>
<translation type="unfinished"></translation>
</message>
@@ -545,34 +560,34 @@ Reboot required.</source>
<context>
<name>DPMapsPanel</name>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="522"/>
<location filename="../qt/offroad/settings_dp.cc" line="530"/>
<source>Show Full Screen Nav.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="522"/>
<location filename="../qt/offroad/settings_dp.cc" line="530"/>
<source>This will show navigation in full screen.
Please tap green boarder if you wish to switch back drive view.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="524"/>
<location filename="../qt/offroad/settings_dp.cc" line="532"/>
<source>Search Destination using Google Map</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="524"/>
<location filename="../qt/offroad/settings_dp.cc" line="532"/>
<source>This will allow you to search destination in google map api.
You will need to apply your own google map api key.<byte value="x8"/>Enter your key detail in web interface once it&apos;s enabled.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="528"/>
<location filename="../qt/offroad/settings_dp.cc" line="536"/>
<source>Enable Nav.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="528"/>
<location filename="../qt/offroad/settings_dp.cc" line="536"/>
<source>This will let use the build in Navigation.
Use web interface to control it: *http://&lt;device_ip&gt;:8082*.
You will need to apply your own mapbox token at https://www.mapbox.com/.
@@ -581,52 +596,52 @@ Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="551"/>
<location filename="../qt/offroad/settings_dp.cc" line="559"/>
<source>Enable Speed Limit Control</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="552"/>
<location filename="../qt/offroad/settings_dp.cc" line="560"/>
<source>Use speed limit signs information from map data and car interface to automatically adapt cruise speed to road limits.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="556"/>
<location filename="../qt/offroad/settings_dp.cc" line="564"/>
<source>Enable Speed Limit Offset</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="557"/>
<location filename="../qt/offroad/settings_dp.cc" line="565"/>
<source>Set speed limit slightly higher than actual speed limit for a more natural drive.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="561"/>
<location filename="../qt/offroad/settings_dp.cc" line="569"/>
<source>Enable Map Data Turn Control</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="562"/>
<location filename="../qt/offroad/settings_dp.cc" line="570"/>
<source>Use curvature info from map data to define speed limits to take turns ahead</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="566"/>
<location filename="../qt/offroad/settings_dp.cc" line="574"/>
<source>Show debug UI elements</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="567"/>
<location filename="../qt/offroad/settings_dp.cc" line="575"/>
<source>Show UI elements that aid debugging.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="572"/>
<location filename="../qt/offroad/settings_dp.cc" line="580"/>
<source>Enable MapD</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="572"/>
<location filename="../qt/offroad/settings_dp.cc" line="580"/>
<source>Use OSM to assist lateral/longitudinal control.
Please note:
1. This feature will works only when your car support OP longitudinal.
@@ -639,95 +654,95 @@ Please note:
<context>
<name>DPUIPanel</name>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="329"/>
<location filename="../qt/offroad/settings_dp.cc" line="337"/>
<source>Display Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="329"/>
<location filename="../qt/offroad/settings_dp.cc" line="337"/>
<source>0 = Default
1 = Screen Off While Driving</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="331"/>
<location filename="../qt/offroad/settings_dp.cc" line="339"/>
<source>Screen Brightness</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="331"/>
<location filename="../qt/offroad/settings_dp.cc" line="339"/>
<source>Adjust your screen brightness.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="331"/>
<location filename="../qt/offroad/settings_dp.cc" line="333"/>
<location filename="../qt/offroad/settings_dp.cc" line="339"/>
<location filename="../qt/offroad/settings_dp.cc" line="341"/>
<source>AUTO</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="333"/>
<location filename="../qt/offroad/settings_dp.cc" line="341"/>
<source>Alert Volume</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="333"/>
<location filename="../qt/offroad/settings_dp.cc" line="341"/>
<source>Adjust your alert volume.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="335"/>
<location filename="../qt/offroad/settings_dp.cc" line="343"/>
<source>Quiet Drive</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="335"/>
<location filename="../qt/offroad/settings_dp.cc" line="343"/>
<source>Display alert and play important warning sound. Thanks @sunnyhaibin.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="337"/>
<location filename="../qt/offroad/settings_dp.cc" line="345"/>
<source>Display Speed</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="337"/>
<location filename="../qt/offroad/settings_dp.cc" line="345"/>
<source>Enable this to display your current speed.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="345"/>
<location filename="../qt/offroad/settings_dp.cc" line="353"/>
<source>Display Event / Steer Icon</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="345"/>
<location filename="../qt/offroad/settings_dp.cc" line="349"/>
<location filename="../qt/offroad/settings_dp.cc" line="353"/>
<location filename="../qt/offroad/settings_dp.cc" line="357"/>
<source>Enable this to display the icon.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="349"/>
<location filename="../qt/offroad/settings_dp.cc" line="357"/>
<source>Display Driver Monitor Indicator</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="351"/>
<location filename="../qt/offroad/settings_dp.cc" line="359"/>
<source>Display Side Info</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="351"/>
<location filename="../qt/offroad/settings_dp.cc" line="359"/>
<source>Enable this to display steering angle / lead car distance / engine RPM.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="353"/>
<location filename="../qt/offroad/settings_dp.cc" line="361"/>
<source>Display Top Info</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="353"/>
<location filename="../qt/offroad/settings_dp.cc" line="361"/>
<source>Enable this to display time / system temp / battery level.</source>
<translation type="unfinished"></translation>
</message>
@@ -1145,60 +1160,60 @@ location set</source>
<translation>mph</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="434"/>
<location filename="../qt/onroad.cc" line="437"/>
<location filename="../qt/onroad.cc" line="432"/>
<location filename="../qt/onroad.cc" line="435"/>
<source>MAX</source>
<translation>MAX</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="487"/>
<location filename="../qt/onroad.cc" line="490"/>
<location filename="../qt/onroad.cc" line="485"/>
<location filename="../qt/onroad.cc" line="488"/>
<source>SPEED</source>
<translation>SPEED</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="493"/>
<location filename="../qt/onroad.cc" line="496"/>
<location filename="../qt/onroad.cc" line="491"/>
<location filename="../qt/onroad.cc" line="494"/>
<source>LIMIT</source>
<translation>LIMIT</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="963"/>
<location filename="../qt/onroad.cc" line="959"/>
<source>REAL STEER</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="971"/>
<location filename="../qt/onroad.cc" line="967"/>
<source>RAM PER</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="983"/>
<location filename="../qt/onroad.cc" line="979"/>
<source>OFF</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="986"/>
<location filename="../qt/onroad.cc" line="982"/>
<source>ENG RPM</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="1019"/>
<location filename="../qt/onroad.cc" line="1015"/>
<source>NOR</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="1022"/>
<location filename="../qt/onroad.cc" line="1018"/>
<source>SPT</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="1025"/>
<location filename="../qt/onroad.cc" line="1021"/>
<source>ECO</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="1027"/>
<location filename="../qt/onroad.cc" line="1023"/>
<source>ACCEL</source>
<translation type="unfinished"></translation>
</message>
@@ -1206,17 +1221,17 @@ location set</source>
<context>
<name>OffroadHome</name>
<message>
<location filename="../qt/home.cc" line="115"/>
<location filename="../qt/home.cc" line="113"/>
<source>UPDATE</source>
<translation>업데이트</translation>
</message>
<message>
<location filename="../qt/home.cc" line="206"/>
<location filename="../qt/home.cc" line="204"/>
<source> ALERTS</source>
<translation> 알림</translation>
</message>
<message>
<location filename="../qt/home.cc" line="206"/>
<location filename="../qt/home.cc" line="204"/>
<source> ALERT</source>
<translation> 알림</translation>
</message>
@@ -1410,53 +1425,53 @@ location set</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="462"/>
<location filename="../qt/offroad/settings.cc" line="460"/>
<source>Device</source>
<translation>장치</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="463"/>
<location filename="../qt/offroad/settings.cc" line="519"/>
<location filename="../qt/offroad/settings.cc" line="461"/>
<location filename="../qt/offroad/settings.cc" line="517"/>
<source>Network</source>
<translation>네트워크</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="464"/>
<location filename="../qt/offroad/settings.cc" line="462"/>
<source>Toggles</source>
<translation>토글</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="465"/>
<location filename="../qt/offroad/settings.cc" line="463"/>
<source>Software</source>
<translation>소프트웨어</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="475"/>
<location filename="../qt/offroad/settings.cc" line="473"/>
<source>Navigation</source>
<translation>네비게이션</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="481"/>
<location filename="../qt/offroad/settings.cc" line="479"/>
<source>DP - General</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="482"/>
<location filename="../qt/offroad/settings.cc" line="480"/>
<source>DP - Controls</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="483"/>
<location filename="../qt/offroad/settings.cc" line="481"/>
<source>DP - UI</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="484"/>
<location filename="../qt/offroad/settings.cc" line="482"/>
<source>DP - Cars</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="487"/>
<location filename="../qt/offroad/settings.cc" line="485"/>
<source>DP - Maps</source>
<translation type="unfinished"></translation>
</message>
selfdrive/ui/translations/main_pt-BR.ts
+141 -126
View File
@@ -114,109 +114,109 @@
<context>
<name>DPCarPanel</name>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="390"/>
<location filename="../qt/offroad/settings_dp.cc" line="398"/>
<source>Override Speed When Below</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="390"/>
<location filename="../qt/offroad/settings_dp.cc" line="398"/>
<source>Override feature will be enabled when set cruise speed is lower than this value.
1 km/h = 0.62 mph.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="390"/>
<location filename="../qt/offroad/settings_dp.cc" line="398"/>
<source> km/h</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="394"/>
<location filename="../qt/offroad/settings_dp.cc" line="402"/>
<source>Turn On Cruise Speed Override</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="394"/>
<location filename="../qt/offroad/settings_dp.cc" line="402"/>
<source>This feature will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h)</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="412"/>
<location filename="../qt/offroad/settings_dp.cc" line="420"/>
<source>Toyota / Lexus</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="418"/>
<location filename="../qt/offroad/settings_dp.cc" line="426"/>
<source>Enable SnG Mod</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="418"/>
<location filename="../qt/offroad/settings_dp.cc" line="426"/>
<source>Enable this to fix stop and go (SnG) issue on some models.
Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="424"/>
<location filename="../qt/offroad/settings_dp.cc" line="432"/>
<source>Enable AM Physical Button Ctrl</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="424"/>
<location filename="../qt/offroad/settings_dp.cc" line="432"/>
<source>Enable this to link Accel Mode (AM) control to the physical button (TSS2).
ONLY WORK ON SOME OF TSS1 VEHICLES.
Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="437"/>
<location filename="../qt/offroad/settings_dp.cc" line="445"/>
<source>Enable Door Auto Lock</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="437"/>
<location filename="../qt/offroad/settings_dp.cc" line="445"/>
<source>Enable this to lock doors when drive above 25 km/h.
ONLY WORK ON SOME VEHICLES.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="439"/>
<location filename="../qt/offroad/settings_dp.cc" line="447"/>
<source>Enable Door Auto Unlock</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="439"/>
<location filename="../qt/offroad/settings_dp.cc" line="447"/>
<source>Enable this to unlock doors when shift to gear P.
ONLY WORK ON SOME VEHICLES.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="441"/>
<location filename="../qt/offroad/settings_dp.cc" line="449"/>
<source>Honda</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="443"/>
<location filename="../qt/offroad/settings_dp.cc" line="451"/>
<source>Enable EPS Mod Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="443"/>
<location filename="../qt/offroad/settings_dp.cc" line="451"/>
<source>Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware.
Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="461"/>
<location filename="../qt/offroad/settings_dp.cc" line="469"/>
<source>Mazda</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="463"/>
<location filename="../qt/offroad/settings_dp.cc" line="471"/>
<source>Display Below Steer Speed Alert</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="463"/>
<location filename="../qt/offroad/settings_dp.cc" line="471"/>
<source>Enable this will show below steer speed alert.
Thanks to @TheCrowd</source>
<translation type="unfinished"></translation>
@@ -225,118 +225,118 @@ Thanks to @TheCrowd</source>
<context>
<name>DPControlPanel</name>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="170"/>
<location filename="../qt/offroad/settings_dp.cc" line="178"/>
<source>ALCA Delay</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="170"/>
<location filename="../qt/offroad/settings_dp.cc" line="178"/>
<source>Once the vehicle meets all ALCA criteria, it will wait for the seconds set here before peforming lane change automatically.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="170"/>
<location filename="../qt/offroad/settings_dp.cc" line="178"/>
<source> secs</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="172"/>
<location filename="../qt/offroad/settings_dp.cc" line="180"/>
<source>ALCA Min Speed</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="172"/>
<location filename="../qt/offroad/settings_dp.cc" line="180"/>
<source>ALCA minimum engage speed in mph.
1 mph = 1.61 km/h.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="172"/>
<location filename="../qt/offroad/settings_dp.cc" line="181"/>
<location filename="../qt/offroad/settings_dp.cc" line="180"/>
<location filename="../qt/offroad/settings_dp.cc" line="189"/>
<source> mph</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="181"/>
<location filename="../qt/offroad/settings_dp.cc" line="189"/>
<source>LCA Min Speed</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="181"/>
<location filename="../qt/offroad/settings_dp.cc" line="189"/>
<source>LCA minimum engage speed in mph.
1 mph = 1.61 km/h.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="192"/>
<location filename="../qt/offroad/settings_dp.cc" line="200"/>
<source>Lateral Ctrl Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="192"/>
<location filename="../qt/offroad/settings_dp.cc" line="200"/>
<source>1 = Lane Change Assist (LCA)
2 = Auto Lane Change Assist (ALCA)</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="232"/>
<location filename="../qt/offroad/settings_dp.cc" line="240"/>
<source>Longitudinal</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="234"/>
<location filename="../qt/offroad/settings_dp.cc" line="242"/>
<source>Manually Control Accel Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="234"/>
<location filename="../qt/offroad/settings_dp.cc" line="242"/>
<source>Enable this if you wish to adjust openpilot&apos;s acceleration control.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="237"/>
<location filename="../qt/offroad/settings_dp.cc" line="245"/>
<source>Enable vision based turn control</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="238"/>
<location filename="../qt/offroad/settings_dp.cc" line="246"/>
<source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="292"/>
<location filename="../qt/offroad/settings_dp.cc" line="300"/>
<source>Lateral</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="297"/>
<location filename="../qt/offroad/settings_dp.cc" line="305"/>
<source>Use Lane Lines</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="297"/>
<location filename="../qt/offroad/settings_dp.cc" line="305"/>
<source>Enable this if you wish to use lane lines mode.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="300"/>
<location filename="../qt/offroad/settings_dp.cc" line="308"/>
<source>Use LQR Controller</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="300"/>
<location filename="../qt/offroad/settings_dp.cc" line="308"/>
<source>Enable this if you wish to use LQR instead of PID or INDI controller.
WORKS WELL ONLY ON SOME VEHICLES.
More linear steering experience.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="305"/>
<location filename="../qt/offroad/settings_dp.cc" line="313"/>
<source>Always On Lateral</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="305"/>
<location filename="../qt/offroad/settings_dp.cc" line="313"/>
<source>Use at your own risk!
1 = Stock Long
2 = OP Long
@@ -345,12 +345,12 @@ Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="313"/>
<location filename="../qt/offroad/settings_dp.cc" line="321"/>
<source>Camera Offset</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="313"/>
<location filename="../qt/offroad/settings_dp.cc" line="321"/>
<source>Adjust your camera position if your device is not mounted as per guidance.</source>
<translation type="unfinished"></translation>
</message>
@@ -444,100 +444,115 @@ Reboot required.</source>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="103"/>
<source>Enable Jetson Support</source>
<source>Enable Driver Monitor (Front Cam)</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="103"/>
<source>Enable this option if you wish to use front camera for driver monitoring.
On = Front Cam Monitor + Steering Monitor
Off = Steering Monitor only.
Enable this will increase device temp a lot, use at your own risk.
Reboot Required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="111"/>
<source>Enable Jetson Support</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="111"/>
<source>Enable this option if you intend to run dp on Nvidia Jetson.
Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="105"/>
<location filename="../qt/offroad/settings_dp.cc" line="113"/>
<source>Reboot recommended.
Reboot?</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="129"/>
<location filename="../qt/offroad/settings_dp.cc" line="137"/>
<source>Flashing Panda Firmware</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="129"/>
<location filename="../qt/offroad/settings_dp.cc" line="137"/>
<source>FLASH</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="129"/>
<location filename="../qt/offroad/settings_dp.cc" line="137"/>
<source>Tap the button to update your panda firmware.
The device should reboot once if it finish updating.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="131"/>
<location filename="../qt/offroad/settings_dp.cc" line="139"/>
<source>Are you sure you want to flash the panda?</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="158"/>
<location filename="../qt/offroad/settings_dp.cc" line="166"/>
<source>Are you sure delete all media?</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="138"/>
<location filename="../qt/offroad/settings_dp.cc" line="146"/>
<source>Pandas Firmware Recovery</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="138"/>
<location filename="../qt/offroad/settings_dp.cc" line="146"/>
<source>RECOVER</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="138"/>
<location filename="../qt/offroad/settings_dp.cc" line="146"/>
<source>Tap the button ONLY if your panda ran into issue.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="140"/>
<location filename="../qt/offroad/settings_dp.cc" line="148"/>
<source>Are you sure you want to run recover panda script?</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="147"/>
<location filename="../qt/offroad/settings_dp.cc" line="155"/>
<source>Reset dragonpilot conf</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="147"/>
<location filename="../qt/offroad/settings_dp.cc" line="155"/>
<source>RESET</source>
<translation type="unfinished">RESET</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="147"/>
<location filename="../qt/offroad/settings_dp.cc" line="155"/>
<source>Tap the button to reset all your dragonpilot congiration to default value.
Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="149"/>
<location filename="../qt/offroad/settings_dp.cc" line="157"/>
<source>Are you sure you want to reset dp params?</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="156"/>
<location filename="../qt/offroad/settings_dp.cc" line="164"/>
<source>Delete All Driving Log</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="156"/>
<location filename="../qt/offroad/settings_dp.cc" line="164"/>
<source>DELETE</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="156"/>
<location filename="../qt/offroad/settings_dp.cc" line="164"/>
<source>Tap the button to delete ALL your driving logs (including dashcam / gpx / driving logs).</source>
<translation type="unfinished"></translation>
</message>
@@ -545,34 +560,34 @@ Reboot required.</source>
<context>
<name>DPMapsPanel</name>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="522"/>
<location filename="../qt/offroad/settings_dp.cc" line="530"/>
<source>Show Full Screen Nav.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="522"/>
<location filename="../qt/offroad/settings_dp.cc" line="530"/>
<source>This will show navigation in full screen.
Please tap green boarder if you wish to switch back drive view.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="524"/>
<location filename="../qt/offroad/settings_dp.cc" line="532"/>
<source>Search Destination using Google Map</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="524"/>
<location filename="../qt/offroad/settings_dp.cc" line="532"/>
<source>This will allow you to search destination in google map api.
You will need to apply your own google map api key.<byte value="x8"/>Enter your key detail in web interface once it&apos;s enabled.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="528"/>
<location filename="../qt/offroad/settings_dp.cc" line="536"/>
<source>Enable Nav.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="528"/>
<location filename="../qt/offroad/settings_dp.cc" line="536"/>
<source>This will let use the build in Navigation.
Use web interface to control it: *http://&lt;device_ip&gt;:8082*.
You will need to apply your own mapbox token at https://www.mapbox.com/.
@@ -581,52 +596,52 @@ Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="551"/>
<location filename="../qt/offroad/settings_dp.cc" line="559"/>
<source>Enable Speed Limit Control</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="552"/>
<location filename="../qt/offroad/settings_dp.cc" line="560"/>
<source>Use speed limit signs information from map data and car interface to automatically adapt cruise speed to road limits.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="556"/>
<location filename="../qt/offroad/settings_dp.cc" line="564"/>
<source>Enable Speed Limit Offset</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="557"/>
<location filename="../qt/offroad/settings_dp.cc" line="565"/>
<source>Set speed limit slightly higher than actual speed limit for a more natural drive.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="561"/>
<location filename="../qt/offroad/settings_dp.cc" line="569"/>
<source>Enable Map Data Turn Control</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="562"/>
<location filename="../qt/offroad/settings_dp.cc" line="570"/>
<source>Use curvature info from map data to define speed limits to take turns ahead</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="566"/>
<location filename="../qt/offroad/settings_dp.cc" line="574"/>
<source>Show debug UI elements</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="567"/>
<location filename="../qt/offroad/settings_dp.cc" line="575"/>
<source>Show UI elements that aid debugging.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="572"/>
<location filename="../qt/offroad/settings_dp.cc" line="580"/>
<source>Enable MapD</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="572"/>
<location filename="../qt/offroad/settings_dp.cc" line="580"/>
<source>Use OSM to assist lateral/longitudinal control.
Please note:
1. This feature will works only when your car support OP longitudinal.
@@ -639,95 +654,95 @@ Please note:
<context>
<name>DPUIPanel</name>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="329"/>
<location filename="../qt/offroad/settings_dp.cc" line="337"/>
<source>Display Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="329"/>
<location filename="../qt/offroad/settings_dp.cc" line="337"/>
<source>0 = Default
1 = Screen Off While Driving</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="331"/>
<location filename="../qt/offroad/settings_dp.cc" line="339"/>
<source>Screen Brightness</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="331"/>
<location filename="../qt/offroad/settings_dp.cc" line="339"/>
<source>Adjust your screen brightness.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="331"/>
<location filename="../qt/offroad/settings_dp.cc" line="333"/>
<location filename="../qt/offroad/settings_dp.cc" line="339"/>
<location filename="../qt/offroad/settings_dp.cc" line="341"/>
<source>AUTO</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="333"/>
<location filename="../qt/offroad/settings_dp.cc" line="341"/>
<source>Alert Volume</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="333"/>
<location filename="../qt/offroad/settings_dp.cc" line="341"/>
<source>Adjust your alert volume.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="335"/>
<location filename="../qt/offroad/settings_dp.cc" line="343"/>
<source>Quiet Drive</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="335"/>
<location filename="../qt/offroad/settings_dp.cc" line="343"/>
<source>Display alert and play important warning sound. Thanks @sunnyhaibin.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="337"/>
<location filename="../qt/offroad/settings_dp.cc" line="345"/>
<source>Display Speed</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="337"/>
<location filename="../qt/offroad/settings_dp.cc" line="345"/>
<source>Enable this to display your current speed.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="345"/>
<location filename="../qt/offroad/settings_dp.cc" line="353"/>
<source>Display Event / Steer Icon</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="345"/>
<location filename="../qt/offroad/settings_dp.cc" line="349"/>
<location filename="../qt/offroad/settings_dp.cc" line="353"/>
<location filename="../qt/offroad/settings_dp.cc" line="357"/>
<source>Enable this to display the icon.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="349"/>
<location filename="../qt/offroad/settings_dp.cc" line="357"/>
<source>Display Driver Monitor Indicator</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="351"/>
<location filename="../qt/offroad/settings_dp.cc" line="359"/>
<source>Display Side Info</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="351"/>
<location filename="../qt/offroad/settings_dp.cc" line="359"/>
<source>Enable this to display steering angle / lead car distance / engine RPM.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="353"/>
<location filename="../qt/offroad/settings_dp.cc" line="361"/>
<source>Display Top Info</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="353"/>
<location filename="../qt/offroad/settings_dp.cc" line="361"/>
<source>Enable this to display time / system temp / battery level.</source>
<translation type="unfinished"></translation>
</message>
@@ -1146,60 +1161,60 @@ trabalho definido</translation>
<translation>mph</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="434"/>
<location filename="../qt/onroad.cc" line="437"/>
<location filename="../qt/onroad.cc" line="432"/>
<location filename="../qt/onroad.cc" line="435"/>
<source>MAX</source>
<translation>LIMITE</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="487"/>
<location filename="../qt/onroad.cc" line="490"/>
<location filename="../qt/onroad.cc" line="485"/>
<location filename="../qt/onroad.cc" line="488"/>
<source>SPEED</source>
<translation>MAX</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="493"/>
<location filename="../qt/onroad.cc" line="496"/>
<location filename="../qt/onroad.cc" line="491"/>
<location filename="../qt/onroad.cc" line="494"/>
<source>LIMIT</source>
<translation>VELO</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="963"/>
<location filename="../qt/onroad.cc" line="959"/>
<source>REAL STEER</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="971"/>
<location filename="../qt/onroad.cc" line="967"/>
<source>RAM PER</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="983"/>
<location filename="../qt/onroad.cc" line="979"/>
<source>OFF</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="986"/>
<location filename="../qt/onroad.cc" line="982"/>
<source>ENG RPM</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="1019"/>
<location filename="../qt/onroad.cc" line="1015"/>
<source>NOR</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="1022"/>
<location filename="../qt/onroad.cc" line="1018"/>
<source>SPT</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="1025"/>
<location filename="../qt/onroad.cc" line="1021"/>
<source>ECO</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="1027"/>
<location filename="../qt/onroad.cc" line="1023"/>
<source>ACCEL</source>
<translation type="unfinished"></translation>
</message>
@@ -1207,17 +1222,17 @@ trabalho definido</translation>
<context>
<name>OffroadHome</name>
<message>
<location filename="../qt/home.cc" line="115"/>
<location filename="../qt/home.cc" line="113"/>
<source>UPDATE</source>
<translation>ATUALIZAÇÃO</translation>
</message>
<message>
<location filename="../qt/home.cc" line="206"/>
<location filename="../qt/home.cc" line="204"/>
<source> ALERTS</source>
<translation> ALERTAS</translation>
</message>
<message>
<location filename="../qt/home.cc" line="206"/>
<location filename="../qt/home.cc" line="204"/>
<source> ALERT</source>
<translation> ALERTA</translation>
</message>
@@ -1414,53 +1429,53 @@ trabalho definido</translation>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="462"/>
<location filename="../qt/offroad/settings.cc" line="460"/>
<source>Device</source>
<translation>Dispositivo</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="463"/>
<location filename="../qt/offroad/settings.cc" line="519"/>
<location filename="../qt/offroad/settings.cc" line="461"/>
<location filename="../qt/offroad/settings.cc" line="517"/>
<source>Network</source>
<translation>Rede</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="464"/>
<location filename="../qt/offroad/settings.cc" line="462"/>
<source>Toggles</source>
<translation>Ajustes</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="465"/>
<location filename="../qt/offroad/settings.cc" line="463"/>
<source>Software</source>
<translation>Software</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="475"/>
<location filename="../qt/offroad/settings.cc" line="473"/>
<source>Navigation</source>
<translation>Navegação</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="481"/>
<location filename="../qt/offroad/settings.cc" line="479"/>
<source>DP - General</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="482"/>
<location filename="../qt/offroad/settings.cc" line="480"/>
<source>DP - Controls</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="483"/>
<location filename="../qt/offroad/settings.cc" line="481"/>
<source>DP - UI</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="484"/>
<location filename="../qt/offroad/settings.cc" line="482"/>
<source>DP - Cars</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="487"/>
<location filename="../qt/offroad/settings.cc" line="485"/>
<source>DP - Maps</source>
<translation type="unfinished"></translation>
</message>
selfdrive/ui/translations/main_zh-CHS.ts
+141 -126
View File
@@ -114,109 +114,109 @@
<context>
<name>DPCarPanel</name>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="390"/>
<location filename="../qt/offroad/settings_dp.cc" line="398"/>
<source>Override Speed When Below</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="390"/>
<location filename="../qt/offroad/settings_dp.cc" line="398"/>
<source>Override feature will be enabled when set cruise speed is lower than this value.
1 km/h = 0.62 mph.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="390"/>
<location filename="../qt/offroad/settings_dp.cc" line="398"/>
<source> km/h</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="394"/>
<location filename="../qt/offroad/settings_dp.cc" line="402"/>
<source>Turn On Cruise Speed Override</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="394"/>
<location filename="../qt/offroad/settings_dp.cc" line="402"/>
<source>This feature will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h)</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="412"/>
<location filename="../qt/offroad/settings_dp.cc" line="420"/>
<source>Toyota / Lexus</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="418"/>
<location filename="../qt/offroad/settings_dp.cc" line="426"/>
<source>Enable SnG Mod</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="418"/>
<location filename="../qt/offroad/settings_dp.cc" line="426"/>
<source>Enable this to fix stop and go (SnG) issue on some models.
Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="424"/>
<location filename="../qt/offroad/settings_dp.cc" line="432"/>
<source>Enable AM Physical Button Ctrl</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="424"/>
<location filename="../qt/offroad/settings_dp.cc" line="432"/>
<source>Enable this to link Accel Mode (AM) control to the physical button (TSS2).
ONLY WORK ON SOME OF TSS1 VEHICLES.
Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="437"/>
<location filename="../qt/offroad/settings_dp.cc" line="445"/>
<source>Enable Door Auto Lock</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="437"/>
<location filename="../qt/offroad/settings_dp.cc" line="445"/>
<source>Enable this to lock doors when drive above 25 km/h.
ONLY WORK ON SOME VEHICLES.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="439"/>
<location filename="../qt/offroad/settings_dp.cc" line="447"/>
<source>Enable Door Auto Unlock</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="439"/>
<location filename="../qt/offroad/settings_dp.cc" line="447"/>
<source>Enable this to unlock doors when shift to gear P.
ONLY WORK ON SOME VEHICLES.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="441"/>
<location filename="../qt/offroad/settings_dp.cc" line="449"/>
<source>Honda</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="443"/>
<location filename="../qt/offroad/settings_dp.cc" line="451"/>
<source>Enable EPS Mod Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="443"/>
<location filename="../qt/offroad/settings_dp.cc" line="451"/>
<source>Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware.
Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="461"/>
<location filename="../qt/offroad/settings_dp.cc" line="469"/>
<source>Mazda</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="463"/>
<location filename="../qt/offroad/settings_dp.cc" line="471"/>
<source>Display Below Steer Speed Alert</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="463"/>
<location filename="../qt/offroad/settings_dp.cc" line="471"/>
<source>Enable this will show below steer speed alert.
Thanks to @TheCrowd</source>
<translation type="unfinished"></translation>
@@ -225,118 +225,118 @@ Thanks to @TheCrowd</source>
<context>
<name>DPControlPanel</name>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="170"/>
<location filename="../qt/offroad/settings_dp.cc" line="178"/>
<source>ALCA Delay</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="170"/>
<location filename="../qt/offroad/settings_dp.cc" line="178"/>
<source>Once the vehicle meets all ALCA criteria, it will wait for the seconds set here before peforming lane change automatically.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="170"/>
<location filename="../qt/offroad/settings_dp.cc" line="178"/>
<source> secs</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="172"/>
<location filename="../qt/offroad/settings_dp.cc" line="180"/>
<source>ALCA Min Speed</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="172"/>
<location filename="../qt/offroad/settings_dp.cc" line="180"/>
<source>ALCA minimum engage speed in mph.
1 mph = 1.61 km/h.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="172"/>
<location filename="../qt/offroad/settings_dp.cc" line="181"/>
<location filename="../qt/offroad/settings_dp.cc" line="180"/>
<location filename="../qt/offroad/settings_dp.cc" line="189"/>
<source> mph</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="181"/>
<location filename="../qt/offroad/settings_dp.cc" line="189"/>
<source>LCA Min Speed</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="181"/>
<location filename="../qt/offroad/settings_dp.cc" line="189"/>
<source>LCA minimum engage speed in mph.
1 mph = 1.61 km/h.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="192"/>
<location filename="../qt/offroad/settings_dp.cc" line="200"/>
<source>Lateral Ctrl Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="192"/>
<location filename="../qt/offroad/settings_dp.cc" line="200"/>
<source>1 = Lane Change Assist (LCA)
2 = Auto Lane Change Assist (ALCA)</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="232"/>
<location filename="../qt/offroad/settings_dp.cc" line="240"/>
<source>Longitudinal</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="234"/>
<location filename="../qt/offroad/settings_dp.cc" line="242"/>
<source>Manually Control Accel Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="234"/>
<location filename="../qt/offroad/settings_dp.cc" line="242"/>
<source>Enable this if you wish to adjust openpilot&apos;s acceleration control.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="237"/>
<location filename="../qt/offroad/settings_dp.cc" line="245"/>
<source>Enable vision based turn control</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="238"/>
<location filename="../qt/offroad/settings_dp.cc" line="246"/>
<source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="292"/>
<location filename="../qt/offroad/settings_dp.cc" line="300"/>
<source>Lateral</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="297"/>
<location filename="../qt/offroad/settings_dp.cc" line="305"/>
<source>Use Lane Lines</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="297"/>
<location filename="../qt/offroad/settings_dp.cc" line="305"/>
<source>Enable this if you wish to use lane lines mode.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="300"/>
<location filename="../qt/offroad/settings_dp.cc" line="308"/>
<source>Use LQR Controller</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="300"/>
<location filename="../qt/offroad/settings_dp.cc" line="308"/>
<source>Enable this if you wish to use LQR instead of PID or INDI controller.
WORKS WELL ONLY ON SOME VEHICLES.
More linear steering experience.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="305"/>
<location filename="../qt/offroad/settings_dp.cc" line="313"/>
<source>Always On Lateral</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="305"/>
<location filename="../qt/offroad/settings_dp.cc" line="313"/>
<source>Use at your own risk!
1 = Stock Long
2 = OP Long
@@ -345,12 +345,12 @@ Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="313"/>
<location filename="../qt/offroad/settings_dp.cc" line="321"/>
<source>Camera Offset</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="313"/>
<location filename="../qt/offroad/settings_dp.cc" line="321"/>
<source>Adjust your camera position if your device is not mounted as per guidance.</source>
<translation type="unfinished"></translation>
</message>
@@ -444,100 +444,115 @@ Reboot required.</source>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="103"/>
<source>Enable Jetson Support</source>
<source>Enable Driver Monitor (Front Cam)</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="103"/>
<source>Enable this option if you wish to use front camera for driver monitoring.
On = Front Cam Monitor + Steering Monitor
Off = Steering Monitor only.
Enable this will increase device temp a lot, use at your own risk.
Reboot Required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="111"/>
<source>Enable Jetson Support</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="111"/>
<source>Enable this option if you intend to run dp on Nvidia Jetson.
Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="105"/>
<location filename="../qt/offroad/settings_dp.cc" line="113"/>
<source>Reboot recommended.
Reboot?</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="129"/>
<location filename="../qt/offroad/settings_dp.cc" line="137"/>
<source>Flashing Panda Firmware</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="129"/>
<location filename="../qt/offroad/settings_dp.cc" line="137"/>
<source>FLASH</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="129"/>
<location filename="../qt/offroad/settings_dp.cc" line="137"/>
<source>Tap the button to update your panda firmware.
The device should reboot once if it finish updating.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="131"/>
<location filename="../qt/offroad/settings_dp.cc" line="139"/>
<source>Are you sure you want to flash the panda?</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="158"/>
<location filename="../qt/offroad/settings_dp.cc" line="166"/>
<source>Are you sure delete all media?</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="138"/>
<location filename="../qt/offroad/settings_dp.cc" line="146"/>
<source>Pandas Firmware Recovery</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="138"/>
<location filename="../qt/offroad/settings_dp.cc" line="146"/>
<source>RECOVER</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="138"/>
<location filename="../qt/offroad/settings_dp.cc" line="146"/>
<source>Tap the button ONLY if your panda ran into issue.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="140"/>
<location filename="../qt/offroad/settings_dp.cc" line="148"/>
<source>Are you sure you want to run recover panda script?</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="147"/>
<location filename="../qt/offroad/settings_dp.cc" line="155"/>
<source>Reset dragonpilot conf</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="147"/>
<location filename="../qt/offroad/settings_dp.cc" line="155"/>
<source>RESET</source>
<translation type="unfinished">重置</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="147"/>
<location filename="../qt/offroad/settings_dp.cc" line="155"/>
<source>Tap the button to reset all your dragonpilot congiration to default value.
Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="149"/>
<location filename="../qt/offroad/settings_dp.cc" line="157"/>
<source>Are you sure you want to reset dp params?</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="156"/>
<location filename="../qt/offroad/settings_dp.cc" line="164"/>
<source>Delete All Driving Log</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="156"/>
<location filename="../qt/offroad/settings_dp.cc" line="164"/>
<source>DELETE</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="156"/>
<location filename="../qt/offroad/settings_dp.cc" line="164"/>
<source>Tap the button to delete ALL your driving logs (including dashcam / gpx / driving logs).</source>
<translation type="unfinished"></translation>
</message>
@@ -545,34 +560,34 @@ Reboot required.</source>
<context>
<name>DPMapsPanel</name>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="522"/>
<location filename="../qt/offroad/settings_dp.cc" line="530"/>
<source>Show Full Screen Nav.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="522"/>
<location filename="../qt/offroad/settings_dp.cc" line="530"/>
<source>This will show navigation in full screen.
Please tap green boarder if you wish to switch back drive view.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="524"/>
<location filename="../qt/offroad/settings_dp.cc" line="532"/>
<source>Search Destination using Google Map</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="524"/>
<location filename="../qt/offroad/settings_dp.cc" line="532"/>
<source>This will allow you to search destination in google map api.
You will need to apply your own google map api key.<byte value="x8"/>Enter your key detail in web interface once it&apos;s enabled.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="528"/>
<location filename="../qt/offroad/settings_dp.cc" line="536"/>
<source>Enable Nav.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="528"/>
<location filename="../qt/offroad/settings_dp.cc" line="536"/>
<source>This will let use the build in Navigation.
Use web interface to control it: *http://&lt;device_ip&gt;:8082*.
You will need to apply your own mapbox token at https://www.mapbox.com/.
@@ -581,52 +596,52 @@ Reboot required.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="551"/>
<location filename="../qt/offroad/settings_dp.cc" line="559"/>
<source>Enable Speed Limit Control</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="552"/>
<location filename="../qt/offroad/settings_dp.cc" line="560"/>
<source>Use speed limit signs information from map data and car interface to automatically adapt cruise speed to road limits.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="556"/>
<location filename="../qt/offroad/settings_dp.cc" line="564"/>
<source>Enable Speed Limit Offset</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="557"/>
<location filename="../qt/offroad/settings_dp.cc" line="565"/>
<source>Set speed limit slightly higher than actual speed limit for a more natural drive.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="561"/>
<location filename="../qt/offroad/settings_dp.cc" line="569"/>
<source>Enable Map Data Turn Control</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="562"/>
<location filename="../qt/offroad/settings_dp.cc" line="570"/>
<source>Use curvature info from map data to define speed limits to take turns ahead</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="566"/>
<location filename="../qt/offroad/settings_dp.cc" line="574"/>
<source>Show debug UI elements</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="567"/>
<location filename="../qt/offroad/settings_dp.cc" line="575"/>
<source>Show UI elements that aid debugging.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="572"/>
<location filename="../qt/offroad/settings_dp.cc" line="580"/>
<source>Enable MapD</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="572"/>
<location filename="../qt/offroad/settings_dp.cc" line="580"/>
<source>Use OSM to assist lateral/longitudinal control.
Please note:
1. This feature will works only when your car support OP longitudinal.
@@ -639,95 +654,95 @@ Please note:
<context>
<name>DPUIPanel</name>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="329"/>
<location filename="../qt/offroad/settings_dp.cc" line="337"/>
<source>Display Mode</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="329"/>
<location filename="../qt/offroad/settings_dp.cc" line="337"/>
<source>0 = Default
1 = Screen Off While Driving</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="331"/>
<location filename="../qt/offroad/settings_dp.cc" line="339"/>
<source>Screen Brightness</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="331"/>
<location filename="../qt/offroad/settings_dp.cc" line="339"/>
<source>Adjust your screen brightness.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="331"/>
<location filename="../qt/offroad/settings_dp.cc" line="333"/>
<location filename="../qt/offroad/settings_dp.cc" line="339"/>
<location filename="../qt/offroad/settings_dp.cc" line="341"/>
<source>AUTO</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="333"/>
<location filename="../qt/offroad/settings_dp.cc" line="341"/>
<source>Alert Volume</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="333"/>
<location filename="../qt/offroad/settings_dp.cc" line="341"/>
<source>Adjust your alert volume.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="335"/>
<location filename="../qt/offroad/settings_dp.cc" line="343"/>
<source>Quiet Drive</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="335"/>
<location filename="../qt/offroad/settings_dp.cc" line="343"/>
<source>Display alert and play important warning sound. Thanks @sunnyhaibin.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="337"/>
<location filename="../qt/offroad/settings_dp.cc" line="345"/>
<source>Display Speed</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="337"/>
<location filename="../qt/offroad/settings_dp.cc" line="345"/>
<source>Enable this to display your current speed.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="345"/>
<location filename="../qt/offroad/settings_dp.cc" line="353"/>
<source>Display Event / Steer Icon</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="345"/>
<location filename="../qt/offroad/settings_dp.cc" line="349"/>
<location filename="../qt/offroad/settings_dp.cc" line="353"/>
<location filename="../qt/offroad/settings_dp.cc" line="357"/>
<source>Enable this to display the icon.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="349"/>
<location filename="../qt/offroad/settings_dp.cc" line="357"/>
<source>Display Driver Monitor Indicator</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="351"/>
<location filename="../qt/offroad/settings_dp.cc" line="359"/>
<source>Display Side Info</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="351"/>
<location filename="../qt/offroad/settings_dp.cc" line="359"/>
<source>Enable this to display steering angle / lead car distance / engine RPM.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="353"/>
<location filename="../qt/offroad/settings_dp.cc" line="361"/>
<source>Display Top Info</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="353"/>
<location filename="../qt/offroad/settings_dp.cc" line="361"/>
<source>Enable this to display time / system temp / battery level.</source>
<translation type="unfinished"></translation>
</message>
@@ -1143,60 +1158,60 @@ location set</source>
<translation>mph</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="434"/>
<location filename="../qt/onroad.cc" line="437"/>
<location filename="../qt/onroad.cc" line="432"/>
<location filename="../qt/onroad.cc" line="435"/>
<source>MAX</source>
<translation>最高定速</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="487"/>
<location filename="../qt/onroad.cc" line="490"/>
<location filename="../qt/onroad.cc" line="485"/>
<location filename="../qt/onroad.cc" line="488"/>
<source>SPEED</source>
<translation>SPEED</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="493"/>
<location filename="../qt/onroad.cc" line="496"/>
<location filename="../qt/onroad.cc" line="491"/>
<location filename="../qt/onroad.cc" line="494"/>
<source>LIMIT</source>
<translation>LIMIT</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="963"/>
<location filename="../qt/onroad.cc" line="959"/>
<source>REAL STEER</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="971"/>
<location filename="../qt/onroad.cc" line="967"/>
<source>RAM PER</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="983"/>
<location filename="../qt/onroad.cc" line="979"/>
<source>OFF</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="986"/>
<location filename="../qt/onroad.cc" line="982"/>
<source>ENG RPM</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="1019"/>
<location filename="../qt/onroad.cc" line="1015"/>
<source>NOR</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="1022"/>
<location filename="../qt/onroad.cc" line="1018"/>
<source>SPT</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="1025"/>
<location filename="../qt/onroad.cc" line="1021"/>
<source>ECO</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="1027"/>
<location filename="../qt/onroad.cc" line="1023"/>
<source>ACCEL</source>
<translation type="unfinished"></translation>
</message>
@@ -1204,17 +1219,17 @@ location set</source>
<context>
<name>OffroadHome</name>
<message>
<location filename="../qt/home.cc" line="115"/>
<location filename="../qt/home.cc" line="113"/>
<source>UPDATE</source>
<translation>更新</translation>
</message>
<message>
<location filename="../qt/home.cc" line="206"/>
<location filename="../qt/home.cc" line="204"/>
<source> ALERTS</source>
<translation> 警报</translation>
</message>
<message>
<location filename="../qt/home.cc" line="206"/>
<location filename="../qt/home.cc" line="204"/>
<source> ALERT</source>
<translation> 警报</translation>
</message>
@@ -1408,53 +1423,53 @@ location set</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="462"/>
<location filename="../qt/offroad/settings.cc" line="460"/>
<source>Device</source>
<translation>设备</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="463"/>
<location filename="../qt/offroad/settings.cc" line="519"/>
<location filename="../qt/offroad/settings.cc" line="461"/>
<location filename="../qt/offroad/settings.cc" line="517"/>
<source>Network</source>
<translation>网络</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="464"/>
<location filename="../qt/offroad/settings.cc" line="462"/>
<source>Toggles</source>
<translation>设定</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="465"/>
<location filename="../qt/offroad/settings.cc" line="463"/>
<source>Software</source>
<translation>软件</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="475"/>
<location filename="../qt/offroad/settings.cc" line="473"/>
<source>Navigation</source>
<translation>导航</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="481"/>
<location filename="../qt/offroad/settings.cc" line="479"/>
<source>DP - General</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="482"/>
<location filename="../qt/offroad/settings.cc" line="480"/>
<source>DP - Controls</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="483"/>
<location filename="../qt/offroad/settings.cc" line="481"/>
<source>DP - UI</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="484"/>
<location filename="../qt/offroad/settings.cc" line="482"/>
<source>DP - Cars</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="487"/>
<location filename="../qt/offroad/settings.cc" line="485"/>
<source>DP - Maps</source>
<translation type="unfinished"></translation>
</message>
selfdrive/ui/translations/main_zh-CHT.qm
BIN
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Binary file not shown.
selfdrive/ui/translations/main_zh-CHT.ts
+146 -127
View File
@@ -114,56 +114,56 @@
<context>
<name>DPCarPanel</name>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="390"/>
<location filename="../qt/offroad/settings_dp.cc" line="398"/>
<source>Override Speed When Below</source>
<translation>改寫定速當定速值低於：</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="390"/>
<location filename="../qt/offroad/settings_dp.cc" line="398"/>
<source>Override feature will be enabled when set cruise speed is lower than this value.
1 km/h = 0.62 mph.</source>
<translation>系統將會改寫定速值當低於此指定的值。
1 km/h = 0.62 mph。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="390"/>
<location filename="../qt/offroad/settings_dp.cc" line="398"/>
<source> km/h</source>
<translation> 公里</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="394"/>
<location filename="../qt/offroad/settings_dp.cc" line="402"/>
<source>Turn On Cruise Speed Override</source>
<translation>啟用巡航速度改寫</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="394"/>
<location filename="../qt/offroad/settings_dp.cc" line="402"/>
<source>This feature will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h)</source>
<translation>開啟這個選項後，您將可以把定速至最低 5km/hr (一般最低為 26～40km/h)</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="412"/>
<location filename="../qt/offroad/settings_dp.cc" line="420"/>
<source>Toyota / Lexus</source>
<translation></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="418"/>
<location filename="../qt/offroad/settings_dp.cc" line="426"/>
<source>Enable SnG Mod</source>
<translation>啟用 SnG 協助</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="418"/>
<location filename="../qt/offroad/settings_dp.cc" line="426"/>
<source>Enable this to fix stop and go (SnG) issue on some models.
Reboot required.</source>
<translation>開啟這個選項可以解決某些車型無法跟車到停後再啟動（SnG）的問題
需要重新啟動。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="424"/>
<location filename="../qt/offroad/settings_dp.cc" line="432"/>
<source>Enable AM Physical Button Ctrl</source>
<translation>啟用加速模式和方向盤實體按鈕關聯</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="424"/>
<location filename="../qt/offroad/settings_dp.cc" line="432"/>
<source>Enable this to link Accel Mode (AM) control to the physical button (TSS2).
ONLY WORK ON SOME OF TSS1 VEHICLES.
Reboot required.</source>
@@ -172,58 +172,58 @@ Reboot required.</source>
需重新啟動。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="437"/>
<location filename="../qt/offroad/settings_dp.cc" line="445"/>
<source>Enable Door Auto Lock</source>
<translation>啟用車門自動上鎖</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="437"/>
<location filename="../qt/offroad/settings_dp.cc" line="445"/>
<source>Enable this to lock doors when drive above 25 km/h.
ONLY WORK ON SOME VEHICLES.</source>
<translation>開啟這個選項後，車子在行駛超過 25 km/h 時會自動上鎖。
並不適用所有的車型。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="439"/>
<location filename="../qt/offroad/settings_dp.cc" line="447"/>
<source>Enable Door Auto Unlock</source>
<translation>啟用車門自動上鎖</translation>
<translation>啟用車門自動解鎖</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="439"/>
<location filename="../qt/offroad/settings_dp.cc" line="447"/>
<source>Enable this to unlock doors when shift to gear P.
ONLY WORK ON SOME VEHICLES.</source>
<translation>開啟這個選項後，車子在打入 P 檔時會自動解鎖。
並不適用所有的車型。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="441"/>
<location filename="../qt/offroad/settings_dp.cc" line="449"/>
<source>Honda</source>
<translation></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="443"/>
<location filename="../qt/offroad/settings_dp.cc" line="451"/>
<source>Enable EPS Mod Mode</source>
<translation>啟用 EPS 破解支持</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="443"/>
<location filename="../qt/offroad/settings_dp.cc" line="451"/>
<source>Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware.
Reboot required.</source>
<translation>啟用這個選項後 openpilot 將可以使用更廣的方向盤控制值。註：您的方向盤需要刷過修改過的 EPS 固件。
需重新啟動。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="461"/>
<location filename="../qt/offroad/settings_dp.cc" line="469"/>
<source>Mazda</source>
<translation></translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="463"/>
<location filename="../qt/offroad/settings_dp.cc" line="471"/>
<source>Display Below Steer Speed Alert</source>
<translation>顯示低速轉向失效提示</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="463"/>
<location filename="../qt/offroad/settings_dp.cc" line="471"/>
<source>Enable this will show below steer speed alert.
Thanks to @TheCrowd</source>
<translation>啟用這個選項後，將在車速低於可輔助轉向的速度時，顯示提示</translation>
@@ -232,109 +232,109 @@ Thanks to @TheCrowd</source>
<context>
<name>DPControlPanel</name>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="170"/>
<location filename="../qt/offroad/settings_dp.cc" line="178"/>
<source>ALCA Delay</source>
<translation>設置自動換道延遲時間</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="170"/>
<location filename="../qt/offroad/settings_dp.cc" line="178"/>
<source>Once the vehicle meets all ALCA criteria, it will wait for the seconds set here before peforming lane change automatically.</source>
<translation>一旦車輛滿足所有自動換道的啟動需求，它將會等待設定的秒數後再執行換道。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="170"/>
<location filename="../qt/offroad/settings_dp.cc" line="178"/>
<source> secs</source>
<translation> 秒</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="172"/>
<location filename="../qt/offroad/settings_dp.cc" line="180"/>
<source>ALCA Min Speed</source>
<translation>自動換道最低啟用速度</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="172"/>
<location filename="../qt/offroad/settings_dp.cc" line="180"/>
<source>ALCA minimum engage speed in mph.
1 mph = 1.61 km/h.</source>
<translation>自動換道啟用速度 (單位為每小時英里)。
1 英里 (mph) 約等於 1.61 公里 (km/h)。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="172"/>
<location filename="../qt/offroad/settings_dp.cc" line="181"/>
<location filename="../qt/offroad/settings_dp.cc" line="180"/>
<location filename="../qt/offroad/settings_dp.cc" line="189"/>
<source> mph</source>
<translation> 英里</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="181"/>
<location filename="../qt/offroad/settings_dp.cc" line="189"/>
<source>LCA Min Speed</source>
<translation>輔助換道最低啟用速度</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="181"/>
<location filename="../qt/offroad/settings_dp.cc" line="189"/>
<source>LCA minimum engage speed in mph.
1 mph = 1.61 km/h.</source>
<translation>輔助換道啟用速度 (單位為每小時英里)。
1 英里 (mph) 約等於 1.61 公里 (km/h)。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="192"/>
<location filename="../qt/offroad/settings_dp.cc" line="200"/>
<source>Lateral Ctrl Mode</source>
<translation>橫向控制模式</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="192"/>
<location filename="../qt/offroad/settings_dp.cc" line="200"/>
<source>1 = Lane Change Assist (LCA)
2 = Auto Lane Change Assist (ALCA)</source>
<translation>1 = 輔助換道 (LCA)
2 = 自動換道 (ALCA)</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="232"/>
<location filename="../qt/offroad/settings_dp.cc" line="240"/>
<source>Longitudinal</source>
<translation>縱向控制 (油門/剎車)</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="234"/>
<location filename="../qt/offroad/settings_dp.cc" line="242"/>
<source>Manually Control Accel Mode</source>
<translation>手動控制加速模式</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="234"/>
<location filename="../qt/offroad/settings_dp.cc" line="242"/>
<source>Enable this if you wish to adjust openpilot&apos;s acceleration control.</source>
<translation>啟用這個選項後您可以調整 openpilot 的加速模式 (節能、一般、運動)。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="237"/>
<location filename="../qt/offroad/settings_dp.cc" line="245"/>
<source>Enable vision based turn control</source>
<translation>啟用視覺模型路徑控制車速</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="238"/>
<location filename="../qt/offroad/settings_dp.cc" line="246"/>
<source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
<translation>使用視覺模型預測的路徑來判斷前方的過彎速度。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="292"/>
<location filename="../qt/offroad/settings_dp.cc" line="300"/>
<source>Lateral</source>
<translation>橫向控制 (方向盤)</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="297"/>
<location filename="../qt/offroad/settings_dp.cc" line="305"/>
<source>Use Lane Lines</source>
<translation>使用車道線</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="297"/>
<location filename="../qt/offroad/settings_dp.cc" line="305"/>
<source>Enable this if you wish to use lane lines mode.</source>
<translation>啟用這個選項後，模型將會以車道線判斷行駛路線。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="300"/>
<location filename="../qt/offroad/settings_dp.cc" line="308"/>
<source>Use LQR Controller</source>
<translation>使用 LQR 控制器</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="300"/>
<location filename="../qt/offroad/settings_dp.cc" line="308"/>
<source>Enable this if you wish to use LQR instead of PID or INDI controller.
WORKS WELL ONLY ON SOME VEHICLES.
More linear steering experience.</source>
@@ -343,12 +343,12 @@ More linear steering experience.</source>
LQR 提供比 PID、INDI 更線性的控制。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="305"/>
<location filename="../qt/offroad/settings_dp.cc" line="313"/>
<source>Always On Lateral</source>
<translation>全時置中</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="305"/>
<location filename="../qt/offroad/settings_dp.cc" line="313"/>
<source>Use at your own risk!
1 = Stock Long
2 = OP Long
@@ -360,12 +360,12 @@ Reboot required.</source>
需重新啟動，如果遇到不能連線問題請使用恢復恢復 Panda 韌體功能。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="313"/>
<location filename="../qt/offroad/settings_dp.cc" line="321"/>
<source>Camera Offset</source>
<translation>相機偏移</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="313"/>
<location filename="../qt/offroad/settings_dp.cc" line="321"/>
<source>Adjust your camera position if your device is not mounted as per guidance.</source>
<translation>如果您的裝置並非依照安裝說明安裝，您可以用這個設定來微調您裝置的相機與 ADAS 相機的間距。</translation>
</message>
@@ -463,11 +463,29 @@ Reboot required.</source>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="103"/>
<source>Enable Driver Monitor (Front Cam)</source>
<translation>啟用駕駛監控 （相機）</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="103"/>
<source>Enable this option if you wish to use front camera for driver monitoring.
On = Front Cam Monitor + Steering Monitor
Off = Steering Monitor only.
Enable this will increase device temp a lot, use at your own risk.
Reboot Required.</source>
<translation>開啟這個選項後，您將可以使用前方鏡頭做駕駛監控。
開啟 = 鏡頭監控 + 方向盤監控
關閉 = 方向盤監控
使用這個功能設備可能會過熱，請小心使用，後過自負。
需重新開機。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="111"/>
<source>Enable Jetson Support</source>
<translation>啟用 Jetson 支持</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="103"/>
<location filename="../qt/offroad/settings_dp.cc" line="111"/>
<source>Enable this option if you intend to run dp on Nvidia Jetson.
Reboot required.</source>
<translation>如果您打算在 Nvidia Jetson NX 上跑 dp，請開啟這選項。
@@ -475,35 +493,36 @@ Reboot required.</source>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="105"/>
<location filename="../qt/offroad/settings_dp.cc" line="113"/>
<source>Reboot recommended.
Reboot?</source>
<translation>我們建議您重新啟動。
要重新啟動嗎？</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="129"/>
<location filename="../qt/offroad/settings_dp.cc" line="137"/>
<source>Flashing Panda Firmware</source>
<translation>刷新 Panda 韌體</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="129"/>
<location filename="../qt/offroad/settings_dp.cc" line="137"/>
<source>FLASH</source>
<translation>刷寫</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="129"/>
<location filename="../qt/offroad/settings_dp.cc" line="137"/>
<source>Tap the button to update your panda firmware.
The device should reboot once if it finish updating.</source>
<translation>點擊右方按鈕來刷寫更新 Panda 的韌體。
你的裝置將在刷寫完成後自動重新開機。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="131"/>
<location filename="../qt/offroad/settings_dp.cc" line="139"/>
<source>Are you sure you want to flash the panda?</source>
<translation>您確定要刷寫 Panda 嗎？</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="158"/>
<location filename="../qt/offroad/settings_dp.cc" line="166"/>
<source>Are you sure delete all media?</source>
<translation>您確定要刪除所有的行車記錄嗎？</translation>
</message>
@@ -512,59 +531,59 @@ The device should reboot once if it finish updating.</source>
<translation type="vanished">您確定嗎？</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="138"/>
<location filename="../qt/offroad/settings_dp.cc" line="146"/>
<source>Pandas Firmware Recovery</source>
<translation>恢復 Panda 韌體</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="138"/>
<location filename="../qt/offroad/settings_dp.cc" line="146"/>
<source>RECOVER</source>
<translation>恢復</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="138"/>
<location filename="../qt/offroad/settings_dp.cc" line="146"/>
<source>Tap the button ONLY if your panda ran into issue.</source>
<translation>僅當您的 Panda 遇到問題時才點擊按鈕。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="140"/>
<location filename="../qt/offroad/settings_dp.cc" line="148"/>
<source>Are you sure you want to run recover panda script?</source>
<translation>您確定要執行 Panda 恢復的動作嗎？</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="147"/>
<location filename="../qt/offroad/settings_dp.cc" line="155"/>
<source>Reset dragonpilot conf</source>
<translation>重置所有 dragonpilot 的設定值</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="147"/>
<location filename="../qt/offroad/settings_dp.cc" line="155"/>
<source>RESET</source>
<translation>重置</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="147"/>
<location filename="../qt/offroad/settings_dp.cc" line="155"/>
<source>Tap the button to reset all your dragonpilot congiration to default value.
Reboot required.</source>
<translation>點擊右方按鈕來重置所有的 dragonpilot 相關的設定值。
需重新啟動。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="149"/>
<location filename="../qt/offroad/settings_dp.cc" line="157"/>
<source>Are you sure you want to reset dp params?</source>
<translation>您確定要重置嗎？</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="156"/>
<location filename="../qt/offroad/settings_dp.cc" line="164"/>
<source>Delete All Driving Log</source>
<translation>刪除所有的行駛記錄</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="156"/>
<location filename="../qt/offroad/settings_dp.cc" line="164"/>
<source>DELETE</source>
<translation>刪除</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="156"/>
<location filename="../qt/offroad/settings_dp.cc" line="164"/>
<source>Tap the button to delete ALL your driving logs (including dashcam / gpx / driving logs).</source>
<translation>點擊按鈕來清空您所有的行駛記錄（包含 dashcam / gpx 等等）。</translation>
</message>
@@ -572,36 +591,36 @@ Reboot required.</source>
<context>
<name>DPMapsPanel</name>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="522"/>
<location filename="../qt/offroad/settings_dp.cc" line="530"/>
<source>Show Full Screen Nav.</source>
<translation>啟用全螢幕道航</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="522"/>
<location filename="../qt/offroad/settings_dp.cc" line="530"/>
<source>This will show navigation in full screen.
Please tap green boarder if you wish to switch back drive view.</source>
<translation>這將會把導航畫面擴展至全螢幕。
如果想切換回行車畫面，請點擊或滑動綠色邊框區域。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="524"/>
<location filename="../qt/offroad/settings_dp.cc" line="532"/>
<source>Search Destination using Google Map</source>
<translation>使用 Google Map 搜尋目的地</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="524"/>
<location filename="../qt/offroad/settings_dp.cc" line="532"/>
<source>This will allow you to search destination in google map api.
You will need to apply your own google map api key.<byte value="x8"/>Enter your key detail in web interface once it&apos;s enabled.</source>
<translation>這將讓您使用 google map API 來搜尋目的地。
您將需要申請自已的 google map api 密鑰，申請完後進入網頁介面輸入即可。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="528"/>
<location filename="../qt/offroad/settings_dp.cc" line="536"/>
<source>Enable Nav.</source>
<translation>啟用導航服務</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="528"/>
<location filename="../qt/offroad/settings_dp.cc" line="536"/>
<source>This will let use the build in Navigation.
Use web interface to control it: *http://&lt;device_ip&gt;:8082*.
You will need to apply your own mapbox token at https://www.mapbox.com/.
@@ -614,53 +633,53 @@ Reboot required.</source>
需要重新開機。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="551"/>
<location filename="../qt/offroad/settings_dp.cc" line="559"/>
<source>Enable Speed Limit Control</source>
<translation>啟用速限控制</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="552"/>
<location filename="../qt/offroad/settings_dp.cc" line="560"/>
<source>Use speed limit signs information from map data and car interface to automatically adapt cruise speed to road limits.</source>
<translation>依照圖資上的速限控制您的車速。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="556"/>
<location filename="../qt/offroad/settings_dp.cc" line="564"/>
<source>Enable Speed Limit Offset</source>
<translation>啟用限速控制偏移</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="557"/>
<location filename="../qt/offroad/settings_dp.cc" line="565"/>
<source>Set speed limit slightly higher than actual speed limit for a more natural drive.</source>
<translation>將速度限製設置為略高於實際速度限制，實現更自然的駕駛。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="561"/>
<location filename="../qt/offroad/settings_dp.cc" line="569"/>
<source>Enable Map Data Turn Control</source>
<translation>啟用圖資路徑控制車速</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="562"/>
<location filename="../qt/offroad/settings_dp.cc" line="570"/>
<source>Use curvature info from map data to define speed limits to take turns ahead</source>
<translation>使用圖資上的路徑來判斷前方的過彎速度
使用速度顯示為UI中左下方三角形內數值</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="566"/>
<location filename="../qt/offroad/settings_dp.cc" line="574"/>
<source>Show debug UI elements</source>
<translation>顯示除錯用圖示</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="567"/>
<location filename="../qt/offroad/settings_dp.cc" line="575"/>
<source>Show UI elements that aid debugging.</source>
<translation>於右上方顯示除錯用訊息</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="572"/>
<location filename="../qt/offroad/settings_dp.cc" line="580"/>
<source>Enable MapD</source>
<translation>啟用 MapD 服務</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="572"/>
<location filename="../qt/offroad/settings_dp.cc" line="580"/>
<source>Use OSM to assist lateral/longitudinal control.
Please note:
1. This feature will works only when your car support OP longitudinal.
@@ -678,96 +697,96 @@ Please note:
<context>
<name>DPUIPanel</name>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="329"/>
<location filename="../qt/offroad/settings_dp.cc" line="337"/>
<source>Display Mode</source>
<translation>顯示模式</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="329"/>
<location filename="../qt/offroad/settings_dp.cc" line="337"/>
<source>0 = Default
1 = Screen Off While Driving</source>
<translation>0 = 預設
1 = 行駛時關閉畫面</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="331"/>
<location filename="../qt/offroad/settings_dp.cc" line="339"/>
<source>Screen Brightness</source>
<translation>螢幕亮度</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="331"/>
<location filename="../qt/offroad/settings_dp.cc" line="339"/>
<source>Adjust your screen brightness.</source>
<translation>調整螢幕的亮度。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="331"/>
<location filename="../qt/offroad/settings_dp.cc" line="333"/>
<location filename="../qt/offroad/settings_dp.cc" line="339"/>
<location filename="../qt/offroad/settings_dp.cc" line="341"/>
<source>AUTO</source>
<translation>自動</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="333"/>
<location filename="../qt/offroad/settings_dp.cc" line="341"/>
<source>Alert Volume</source>
<translation>提示音量</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="333"/>
<location filename="../qt/offroad/settings_dp.cc" line="341"/>
<source>Adjust your alert volume.</source>
<translation>調整設備的提示音量。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="335"/>
<location filename="../qt/offroad/settings_dp.cc" line="343"/>
<source>Quiet Drive</source>
<translation>靜音模式</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="335"/>
<location filename="../qt/offroad/settings_dp.cc" line="343"/>
<source>Display alert and play important warning sound. Thanks @sunnyhaibin.</source>
<translation>開啟這個選項後，設備只會在重要的警示時顯示和發出聲響。謝謝 @sunnyhaibin.</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="337"/>
<location filename="../qt/offroad/settings_dp.cc" line="345"/>
<source>Display Speed</source>
<translation>顯示車速</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="337"/>
<location filename="../qt/offroad/settings_dp.cc" line="345"/>
<source>Enable this to display your current speed.</source>
<translation>啟用這個選項來顯示目前車速。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="345"/>
<location filename="../qt/offroad/settings_dp.cc" line="353"/>
<source>Display Event / Steer Icon</source>
<translation>顯示事件圖示</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="345"/>
<location filename="../qt/offroad/settings_dp.cc" line="349"/>
<location filename="../qt/offroad/settings_dp.cc" line="353"/>
<location filename="../qt/offroad/settings_dp.cc" line="357"/>
<source>Enable this to display the icon.</source>
<translation>啟用UI右上角顯示事件/轉向圖標。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="349"/>
<location filename="../qt/offroad/settings_dp.cc" line="357"/>
<source>Display Driver Monitor Indicator</source>
<translation>顯示駕駛監控圖示</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="351"/>
<location filename="../qt/offroad/settings_dp.cc" line="359"/>
<source>Display Side Info</source>
<translation>顯示側邊資訊欄</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="351"/>
<location filename="../qt/offroad/settings_dp.cc" line="359"/>
<source>Enable this to display steering angle / lead car distance / engine RPM.</source>
<translation>開啟這個選項後，畫面側邊將會顯示額外的訊息。</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="353"/>
<location filename="../qt/offroad/settings_dp.cc" line="361"/>
<source>Display Top Info</source>
<translation>顯示上方資訊欄</translation>
</message>
<message>
<location filename="../qt/offroad/settings_dp.cc" line="353"/>
<location filename="../qt/offroad/settings_dp.cc" line="361"/>
<source>Enable this to display time / system temp / battery level.</source>
<translation>開啟這個選項後，畫面將會顯示額外的訊息。</translation>
</message>
@@ -1185,60 +1204,60 @@ location set</source>
<translation>mph</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="434"/>
<location filename="../qt/onroad.cc" line="437"/>
<location filename="../qt/onroad.cc" line="432"/>
<location filename="../qt/onroad.cc" line="435"/>
<source>MAX</source>
<translation>最高</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="487"/>
<location filename="../qt/onroad.cc" line="490"/>
<location filename="../qt/onroad.cc" line="485"/>
<location filename="../qt/onroad.cc" line="488"/>
<source>SPEED</source>
<translation>速度</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="493"/>
<location filename="../qt/onroad.cc" line="496"/>
<location filename="../qt/onroad.cc" line="491"/>
<location filename="../qt/onroad.cc" line="494"/>
<source>LIMIT</source>
<translation>速限</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="963"/>
<location filename="../qt/onroad.cc" line="959"/>
<source>REAL STEER</source>
<translation>實際轉角</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="971"/>
<location filename="../qt/onroad.cc" line="967"/>
<source>RAM PER</source>
<translation>記憶體用量</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="983"/>
<location filename="../qt/onroad.cc" line="979"/>
<source>OFF</source>
<translation>停止</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="986"/>
<location filename="../qt/onroad.cc" line="982"/>
<source>ENG RPM</source>
<translation>引擎轉速</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="1019"/>
<location filename="../qt/onroad.cc" line="1015"/>
<source>NOR</source>
<translation>一般</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="1022"/>
<location filename="../qt/onroad.cc" line="1018"/>
<source>SPT</source>
<translation>運動</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="1025"/>
<location filename="../qt/onroad.cc" line="1021"/>
<source>ECO</source>
<translation>節能</translation>
</message>
<message>
<location filename="../qt/onroad.cc" line="1027"/>
<location filename="../qt/onroad.cc" line="1023"/>
<source>ACCEL</source>
<translation>加速</translation>
</message>
@@ -1246,17 +1265,17 @@ location set</source>
<context>
<name>OffroadHome</name>
<message>
<location filename="../qt/home.cc" line="115"/>
<location filename="../qt/home.cc" line="113"/>
<source>UPDATE</source>
<translation>更新</translation>
</message>
<message>
<location filename="../qt/home.cc" line="206"/>
<location filename="../qt/home.cc" line="204"/>
<source> ALERTS</source>
<translation> 提醒</translation>
</message>
<message>
<location filename="../qt/home.cc" line="206"/>
<location filename="../qt/home.cc" line="204"/>
<source> ALERT</source>
<translation> 提醒</translation>
</message>
@@ -1450,53 +1469,53 @@ location set</source>
<translation>回上頁</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="462"/>
<location filename="../qt/offroad/settings.cc" line="460"/>
<source>Device</source>
<translation>設備</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="463"/>
<location filename="../qt/offroad/settings.cc" line="519"/>
<location filename="../qt/offroad/settings.cc" line="461"/>
<location filename="../qt/offroad/settings.cc" line="517"/>
<source>Network</source>
<translation>網路</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="464"/>
<location filename="../qt/offroad/settings.cc" line="462"/>
<source>Toggles</source>
<translation>設定</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="465"/>
<location filename="../qt/offroad/settings.cc" line="463"/>
<source>Software</source>
<translation>軟體</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="475"/>
<location filename="../qt/offroad/settings.cc" line="473"/>
<source>Navigation</source>
<translation>導航</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="481"/>
<location filename="../qt/offroad/settings.cc" line="479"/>
<source>DP - General</source>
<translation>DP - 一般</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="482"/>
<location filename="../qt/offroad/settings.cc" line="480"/>
<source>DP - Controls</source>
<translation>DP - 控制</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="483"/>
<location filename="../qt/offroad/settings.cc" line="481"/>
<source>DP - UI</source>
<translation>DP - 畫面</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="484"/>
<location filename="../qt/offroad/settings.cc" line="482"/>
<source>DP - Cars</source>
<translation>DP - 車型</translation>
</message>
<message>
<location filename="../qt/offroad/settings.cc" line="487"/>
<location filename="../qt/offroad/settings.cc" line="485"/>
<source>DP - Maps</source>
<translation>DP - 地圖</translation>
</message>
system/camerad/camerad
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system/camerad/cameras/camera_qcom.h
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@@ -110,7 +110,7 @@ typedef struct MultiCameraState {
VisionBuf stats_bufs[FRAME_BUF_COUNT];
CameraState road_cam;
// CameraState driver_cam;
CameraState driver_cam;
SubMaster *sm;
PubMaster *pm;
system/clocksd/clocksd
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