mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-07-24 14:22:10 +08:00
dragonpilot beta3
date: 2023-11-20T10:53:27 commit: 7521cefd30dbe703c281db9056f6c6e5f8a05de8
This commit is contained in:
dragonpilot
@@ -79,6 +79,7 @@ comma*.sh
|
||||
|
||||
selfdrive/modeld/thneed/compile
|
||||
selfdrive/modeld/models/*.thneed
|
||||
selfdrive/modeld/models/*.pkl
|
||||
|
||||
*.bz2
|
||||
|
||||
|
||||
+28
-2
@@ -1,4 +1,30 @@
|
||||
dragonpilot beta3 2023.10.17
|
||||
dragonpilot beta3 2023.11.20
|
||||
=======================
|
||||
* Comma 0.9.5 release
|
||||
* New driving model (Farm Ville)
|
||||
* Improved navigate on openpilot performance using navigation instructions as an additional model input
|
||||
* Do lateral planning inside the model
|
||||
* New vision transformer architecture
|
||||
* Cadillac Escalade ESV 2019 support thanks to twilsonco!
|
||||
* Hyundai Azera 2022 support thanks to sunnyhaibin!
|
||||
* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
|
||||
* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
|
||||
* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, alamo3, and sshane!
|
||||
* Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
|
||||
* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
|
||||
* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
|
||||
* Kia Optima Hybrid 2019 support
|
||||
* Lexus IS 2023 support thanks to L3R5!
|
||||
* DP HIGHLIGHT:
|
||||
* Otisserv Improvement/bug fixes. You can now see your car 12v battery on the main page. (https://dragonpilot.org)
|
||||
* UI/UX Improvement.
|
||||
* TSS2 updated long tune.
|
||||
* Added Smooth braking and Aggressive take off Thanks to @FrogAi.
|
||||
* Added Toggle to Disable uploads onroad.
|
||||
* Remove Lane Priority Mode.
|
||||
|
||||
|
||||
dragonpilot beta3 [2023.10.20]
|
||||
=======================
|
||||
* openpilot master branch on 2023.10.20.
|
||||
* Otisserv improvement/bug fixes.
|
||||
@@ -8,7 +34,7 @@ dragonpilot beta3 2023.10.17
|
||||
dragonpilot beta3 [2023-10-09]
|
||||
=======================
|
||||
* openpilot master branch on 2023.07.21.
|
||||
* Comma 0.9.6 release
|
||||
* Comma 0.9.3 release
|
||||
* Night Strike Model
|
||||
* Improved navigate on openpilot performance using navigation instructions as an additional model input
|
||||
* DP HIGHLIGHT:
|
||||
|
||||
@@ -109,7 +109,6 @@ Directory Structure
|
||||
├── third_party # External libraries
|
||||
└── system # Generic services
|
||||
├── camerad # Driver to capture images from the camera sensors
|
||||
├── clocksd # Broadcasts current time
|
||||
├── hardware # Hardware abstraction classes
|
||||
├── logcatd # systemd journal as a service
|
||||
├── loggerd # Logger and uploader of car data
|
||||
|
||||
@@ -2,6 +2,9 @@ Version 0.9.5 (2023-XX-XX)
|
||||
========================
|
||||
* New driving model
|
||||
* Improved navigate on openpilot performance using navigation instructions as an additional model input
|
||||
* Do lateral planning inside the model
|
||||
* New vision transformer architecture
|
||||
* Cadillac Escalade ESV 2019 support thanks to twilsonco!
|
||||
* Hyundai Azera 2022 support thanks to sunnyhaibin!
|
||||
* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
|
||||
* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1 +1 @@
|
||||
const uint8_t gitversion[8] = "0ca26c43";
|
||||
const uint8_t gitversion[8] = "bcce255c";
|
||||
|
||||
+439
-208
@@ -204,17 +204,17 @@ const ::capnp::_::RawSchema s_d692e23d1a247d99 = {
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
CAPNP_DEFINE_ENUM(LongitudinalPersonality_d692e23d1a247d99, d692e23d1a247d99);
|
||||
static const ::capnp::_::AlignedData<428> b_e71008caeb3fb65c = {
|
||||
static const ::capnp::_::AlignedData<444> b_e71008caeb3fb65c = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
92, 182, 63, 235, 202, 8, 16, 231,
|
||||
10, 0, 0, 0, 1, 0, 1, 0,
|
||||
10, 0, 0, 0, 1, 0, 2, 0,
|
||||
91, 40, 164, 37, 126, 241, 177, 243,
|
||||
17, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 154, 0, 0, 0,
|
||||
29, 0, 0, 0, 103, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
129, 0, 0, 0, 103, 4, 0, 0,
|
||||
129, 0, 0, 0, 159, 4, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 111, 103, 46, 99, 97, 112, 110,
|
||||
@@ -247,147 +247,154 @@ static const ::capnp::_::AlignedData<428> b_e71008caeb3fb65c = {
|
||||
97, 0, 0, 0, 0, 0, 0, 0,
|
||||
73, 111, 115, 66, 117, 105, 108, 100,
|
||||
73, 110, 102, 111, 0, 0, 0, 0,
|
||||
80, 0, 0, 0, 3, 0, 4, 0,
|
||||
84, 0, 0, 0, 3, 0, 4, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 2, 0, 0, 90, 0, 0, 0,
|
||||
61, 2, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
32, 2, 0, 0, 3, 0, 1, 0,
|
||||
60, 2, 0, 0, 2, 0, 1, 0,
|
||||
15, 0, 0, 0, 1, 0, 0, 0,
|
||||
60, 2, 0, 0, 3, 0, 1, 0,
|
||||
88, 2, 0, 0, 2, 0, 1, 0,
|
||||
16, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 1, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
57, 2, 0, 0, 122, 0, 0, 0,
|
||||
85, 2, 0, 0, 122, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
56, 2, 0, 0, 3, 0, 1, 0,
|
||||
68, 2, 0, 0, 2, 0, 1, 0,
|
||||
84, 2, 0, 0, 3, 0, 1, 0,
|
||||
96, 2, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
65, 2, 0, 0, 74, 0, 0, 0,
|
||||
93, 2, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
64, 2, 0, 0, 3, 0, 1, 0,
|
||||
76, 2, 0, 0, 2, 0, 1, 0,
|
||||
92, 2, 0, 0, 3, 0, 1, 0,
|
||||
104, 2, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 3, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
73, 2, 0, 0, 90, 0, 0, 0,
|
||||
101, 2, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
72, 2, 0, 0, 3, 0, 1, 0,
|
||||
84, 2, 0, 0, 2, 0, 1, 0,
|
||||
100, 2, 0, 0, 3, 0, 1, 0,
|
||||
112, 2, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
81, 2, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
76, 2, 0, 0, 3, 0, 1, 0,
|
||||
88, 2, 0, 0, 2, 0, 1, 0,
|
||||
16, 0, 0, 0, 4, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
85, 2, 0, 0, 138, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
88, 2, 0, 0, 3, 0, 1, 0,
|
||||
100, 2, 0, 0, 2, 0, 1, 0,
|
||||
17, 0, 0, 0, 5, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
97, 2, 0, 0, 202, 0, 0, 0,
|
||||
109, 2, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
104, 2, 0, 0, 3, 0, 1, 0,
|
||||
132, 2, 0, 0, 2, 0, 1, 0,
|
||||
18, 0, 0, 0, 6, 0, 0, 0,
|
||||
116, 2, 0, 0, 2, 0, 1, 0,
|
||||
17, 0, 0, 0, 4, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
113, 2, 0, 0, 138, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
116, 2, 0, 0, 3, 0, 1, 0,
|
||||
128, 2, 0, 0, 2, 0, 1, 0,
|
||||
18, 0, 0, 0, 5, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
125, 2, 0, 0, 202, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
132, 2, 0, 0, 3, 0, 1, 0,
|
||||
160, 2, 0, 0, 2, 0, 1, 0,
|
||||
19, 0, 0, 0, 6, 0, 0, 0,
|
||||
0, 0, 1, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
129, 2, 0, 0, 226, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
136, 2, 0, 0, 3, 0, 1, 0,
|
||||
148, 2, 0, 0, 2, 0, 1, 0,
|
||||
10, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 1, 0, 8, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
145, 2, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
144, 2, 0, 0, 3, 0, 1, 0,
|
||||
156, 2, 0, 0, 2, 0, 1, 0,
|
||||
11, 0, 0, 0, 16, 0, 0, 0,
|
||||
0, 0, 1, 0, 9, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
153, 2, 0, 0, 50, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
148, 2, 0, 0, 3, 0, 1, 0,
|
||||
160, 2, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 0, 0, 8, 0, 0, 0,
|
||||
0, 0, 1, 0, 10, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
157, 2, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
156, 2, 0, 0, 3, 0, 1, 0,
|
||||
168, 2, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 0, 0, 9, 0, 0, 0,
|
||||
0, 0, 1, 0, 11, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
165, 2, 0, 0, 82, 0, 0, 0,
|
||||
157, 2, 0, 0, 226, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
164, 2, 0, 0, 3, 0, 1, 0,
|
||||
176, 2, 0, 0, 2, 0, 1, 0,
|
||||
12, 0, 0, 0, 17, 0, 0, 0,
|
||||
0, 0, 1, 0, 12, 0, 0, 0,
|
||||
10, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 1, 0, 8, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
173, 2, 0, 0, 66, 0, 0, 0,
|
||||
173, 2, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
168, 2, 0, 0, 3, 0, 1, 0,
|
||||
180, 2, 0, 0, 2, 0, 1, 0,
|
||||
8, 0, 0, 0, 10, 0, 0, 0,
|
||||
0, 0, 1, 0, 13, 0, 0, 0,
|
||||
172, 2, 0, 0, 3, 0, 1, 0,
|
||||
184, 2, 0, 0, 2, 0, 1, 0,
|
||||
11, 0, 0, 0, 16, 0, 0, 0,
|
||||
0, 0, 1, 0, 9, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
177, 2, 0, 0, 82, 0, 0, 0,
|
||||
181, 2, 0, 0, 50, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
176, 2, 0, 0, 3, 0, 1, 0,
|
||||
188, 2, 0, 0, 2, 0, 1, 0,
|
||||
19, 0, 0, 0, 11, 0, 0, 0,
|
||||
0, 0, 1, 0, 14, 0, 0, 0,
|
||||
6, 0, 0, 0, 8, 0, 0, 0,
|
||||
0, 0, 1, 0, 10, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
185, 2, 0, 0, 186, 0, 0, 0,
|
||||
185, 2, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
188, 2, 0, 0, 3, 0, 1, 0,
|
||||
200, 2, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 0, 0, 12, 0, 0, 0,
|
||||
0, 0, 1, 0, 15, 0, 0, 0,
|
||||
184, 2, 0, 0, 3, 0, 1, 0,
|
||||
196, 2, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 0, 0, 9, 0, 0, 0,
|
||||
0, 0, 1, 0, 11, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
197, 2, 0, 0, 114, 0, 0, 0,
|
||||
193, 2, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
192, 2, 0, 0, 3, 0, 1, 0,
|
||||
204, 2, 0, 0, 2, 0, 1, 0,
|
||||
12, 0, 0, 0, 17, 0, 0, 0,
|
||||
0, 0, 1, 0, 12, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
201, 2, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
196, 2, 0, 0, 3, 0, 1, 0,
|
||||
208, 2, 0, 0, 2, 0, 1, 0,
|
||||
8, 0, 0, 0, 10, 0, 0, 0,
|
||||
0, 0, 1, 0, 13, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
205, 2, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
204, 2, 0, 0, 3, 0, 1, 0,
|
||||
216, 2, 0, 0, 2, 0, 1, 0,
|
||||
20, 0, 0, 0, 11, 0, 0, 0,
|
||||
0, 0, 1, 0, 14, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
213, 2, 0, 0, 186, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
216, 2, 0, 0, 3, 0, 1, 0,
|
||||
228, 2, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 0, 0, 12, 0, 0, 0,
|
||||
0, 0, 1, 0, 15, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
225, 2, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
224, 2, 0, 0, 3, 0, 1, 0,
|
||||
236, 2, 0, 0, 2, 0, 1, 0,
|
||||
9, 0, 0, 0, 13, 0, 0, 0,
|
||||
0, 0, 1, 0, 16, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
205, 2, 0, 0, 146, 0, 0, 0,
|
||||
233, 2, 0, 0, 146, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
208, 2, 0, 0, 3, 0, 1, 0,
|
||||
36, 3, 0, 0, 2, 0, 1, 0,
|
||||
236, 2, 0, 0, 3, 0, 1, 0,
|
||||
64, 3, 0, 0, 2, 0, 1, 0,
|
||||
13, 0, 0, 0, 14, 0, 0, 0,
|
||||
0, 0, 1, 0, 17, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 3, 0, 0, 58, 0, 0, 0,
|
||||
61, 3, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
28, 3, 0, 0, 3, 0, 1, 0,
|
||||
112, 3, 0, 0, 2, 0, 1, 0,
|
||||
56, 3, 0, 0, 3, 0, 1, 0,
|
||||
140, 3, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 15, 0, 0, 0,
|
||||
0, 0, 1, 0, 18, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
109, 3, 0, 0, 82, 0, 0, 0,
|
||||
137, 3, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 3, 0, 0, 3, 0, 1, 0,
|
||||
120, 3, 0, 0, 2, 0, 1, 0,
|
||||
136, 3, 0, 0, 3, 0, 1, 0,
|
||||
148, 3, 0, 0, 2, 0, 1, 0,
|
||||
14, 0, 0, 0, 16, 0, 0, 0,
|
||||
0, 0, 1, 0, 19, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
117, 3, 0, 0, 74, 0, 0, 0,
|
||||
145, 3, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
116, 3, 0, 0, 3, 0, 1, 0,
|
||||
200, 3, 0, 0, 2, 0, 1, 0,
|
||||
144, 3, 0, 0, 3, 0, 1, 0,
|
||||
228, 3, 0, 0, 2, 0, 1, 0,
|
||||
15, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 20, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
225, 3, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
224, 3, 0, 0, 3, 0, 1, 0,
|
||||
236, 3, 0, 0, 2, 0, 1, 0,
|
||||
107, 101, 114, 110, 101, 108, 65, 114,
|
||||
103, 115, 0, 0, 0, 0, 0, 0,
|
||||
14, 0, 0, 0, 0, 0, 0, 0,
|
||||
@@ -631,6 +638,15 @@ static const ::capnp::_::AlignedData<428> b_e71008caeb3fb65c = {
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
119, 97, 108, 108, 84, 105, 109, 101,
|
||||
78, 97, 110, 111, 115, 0, 0, 0,
|
||||
9, 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,
|
||||
9, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
};
|
||||
@@ -645,16 +661,16 @@ static const ::capnp::_::RawSchema* const d_e71008caeb3fb65c[] = {
|
||||
&s_f8b13ce2183eb696,
|
||||
&s_fe2919d5c21f426c,
|
||||
};
|
||||
static const uint16_t m_e71008caeb3fb65c[] = {5, 16, 6, 7, 19, 3, 9, 2, 1, 11, 10, 13, 14, 0, 15, 18, 8, 17, 12, 4};
|
||||
static const uint16_t i_e71008caeb3fb65c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19};
|
||||
static const uint16_t m_e71008caeb3fb65c[] = {5, 16, 6, 7, 19, 3, 9, 2, 1, 11, 10, 13, 14, 0, 15, 18, 8, 17, 12, 4, 20};
|
||||
static const uint16_t i_e71008caeb3fb65c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20};
|
||||
KJ_CONSTEXPR(const) ::capnp::_::RawBrandedSchema::Dependency bd_e71008caeb3fb65c[] = {
|
||||
{ 16777232, ::cereal::Map< ::capnp::Text, ::capnp::Text>::_capnpPrivate::brand() },
|
||||
{ 16777233, ::cereal::Map< ::capnp::Text, ::capnp::Data>::_capnpPrivate::brand() },
|
||||
{ 16777235, ::cereal::Map< ::capnp::Text, ::capnp::Data>::_capnpPrivate::brand() },
|
||||
};
|
||||
const ::capnp::_::RawSchema s_e71008caeb3fb65c = {
|
||||
0xe71008caeb3fb65c, b_e71008caeb3fb65c.words, 428, d_e71008caeb3fb65c, m_e71008caeb3fb65c,
|
||||
7, 20, i_e71008caeb3fb65c, nullptr, nullptr, { &s_e71008caeb3fb65c, nullptr, bd_e71008caeb3fb65c, 0, sizeof(bd_e71008caeb3fb65c) / sizeof(bd_e71008caeb3fb65c[0]), nullptr }
|
||||
0xe71008caeb3fb65c, b_e71008caeb3fb65c.words, 444, d_e71008caeb3fb65c, m_e71008caeb3fb65c,
|
||||
7, 21, i_e71008caeb3fb65c, nullptr, nullptr, { &s_e71008caeb3fb65c, nullptr, bd_e71008caeb3fb65c, 0, sizeof(bd_e71008caeb3fb65c) / sizeof(bd_e71008caeb3fb65c[0]), nullptr }
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<48> b_9d5d7238eba86608 = {
|
||||
@@ -10012,35 +10028,37 @@ const ::capnp::_::RawSchema s_c3cbae1fd505ae80 = {
|
||||
0, 7, i_c3cbae1fd505ae80, nullptr, nullptr, { &s_c3cbae1fd505ae80, nullptr, nullptr, 0, 0, nullptr }
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<468> b_c4713f6b0d36abe9 = {
|
||||
static const ::capnp::_::AlignedData<490> b_c4713f6b0d36abe9 = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
233, 171, 54, 13, 107, 63, 113, 196,
|
||||
10, 0, 0, 0, 1, 0, 6, 0,
|
||||
91, 40, 164, 37, 126, 241, 177, 243,
|
||||
15, 0, 7, 0, 0, 0, 0, 0,
|
||||
16, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 178, 0, 0, 0,
|
||||
29, 0, 0, 0, 103, 0, 0, 0,
|
||||
29, 0, 0, 0, 119, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
121, 0, 0, 0, 127, 5, 0, 0,
|
||||
141, 0, 0, 0, 183, 5, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 111, 103, 46, 99, 97, 112, 110,
|
||||
112, 58, 77, 111, 100, 101, 108, 68,
|
||||
97, 116, 97, 86, 50, 0, 0, 0,
|
||||
24, 0, 0, 0, 1, 0, 1, 0,
|
||||
28, 0, 0, 0, 1, 0, 1, 0,
|
||||
40, 175, 135, 33, 43, 237, 68, 164,
|
||||
41, 0, 0, 0, 90, 0, 0, 0,
|
||||
49, 0, 0, 0, 90, 0, 0, 0,
|
||||
235, 127, 206, 208, 26, 136, 152, 214,
|
||||
41, 0, 0, 0, 90, 0, 0, 0,
|
||||
49, 0, 0, 0, 90, 0, 0, 0,
|
||||
189, 250, 92, 180, 179, 106, 100, 209,
|
||||
41, 0, 0, 0, 74, 0, 0, 0,
|
||||
49, 0, 0, 0, 74, 0, 0, 0,
|
||||
212, 28, 166, 210, 217, 71, 50, 170,
|
||||
41, 0, 0, 0, 130, 0, 0, 0,
|
||||
49, 0, 0, 0, 130, 0, 0, 0,
|
||||
37, 141, 220, 188, 221, 165, 10, 134,
|
||||
41, 0, 0, 0, 170, 0, 0, 0,
|
||||
49, 0, 0, 0, 170, 0, 0, 0,
|
||||
79, 136, 103, 46, 112, 192, 62, 251,
|
||||
45, 0, 0, 0, 42, 0, 0, 0,
|
||||
53, 0, 0, 0, 42, 0, 0, 0,
|
||||
254, 172, 180, 166, 165, 236, 202, 132,
|
||||
49, 0, 0, 0, 186, 0, 0, 0,
|
||||
76, 101, 97, 100, 68, 97, 116, 97,
|
||||
86, 50, 0, 0, 0, 0, 0, 0,
|
||||
76, 101, 97, 100, 68, 97, 116, 97,
|
||||
@@ -10053,182 +10071,192 @@ static const ::capnp::_::AlignedData<468> b_c4713f6b0d36abe9 = {
|
||||
101, 80, 114, 101, 100, 105, 99, 116,
|
||||
105, 111, 110, 115, 0, 0, 0, 0,
|
||||
80, 111, 115, 101, 0, 0, 0, 0,
|
||||
100, 0, 0, 0, 3, 0, 4, 0,
|
||||
76, 97, 116, 101, 114, 97, 108, 80,
|
||||
108, 97, 110, 110, 101, 114, 83, 111,
|
||||
108, 117, 116, 105, 111, 110, 0, 0,
|
||||
104, 0, 0, 0, 3, 0, 4, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
173, 2, 0, 0, 66, 0, 0, 0,
|
||||
201, 2, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
168, 2, 0, 0, 3, 0, 1, 0,
|
||||
180, 2, 0, 0, 2, 0, 1, 0,
|
||||
196, 2, 0, 0, 3, 0, 1, 0,
|
||||
208, 2, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 1, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
177, 2, 0, 0, 74, 0, 0, 0,
|
||||
205, 2, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
176, 2, 0, 0, 3, 0, 1, 0,
|
||||
188, 2, 0, 0, 2, 0, 1, 0,
|
||||
204, 2, 0, 0, 3, 0, 1, 0,
|
||||
216, 2, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
185, 2, 0, 0, 114, 0, 0, 0,
|
||||
213, 2, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
184, 2, 0, 0, 3, 0, 1, 0,
|
||||
196, 2, 0, 0, 2, 0, 1, 0,
|
||||
212, 2, 0, 0, 3, 0, 1, 0,
|
||||
224, 2, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 3, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
193, 2, 0, 0, 106, 0, 0, 0,
|
||||
221, 2, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
192, 2, 0, 0, 3, 0, 1, 0,
|
||||
204, 2, 0, 0, 2, 0, 1, 0,
|
||||
220, 2, 0, 0, 3, 0, 1, 0,
|
||||
232, 2, 0, 0, 2, 0, 1, 0,
|
||||
8, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
201, 2, 0, 0, 74, 0, 0, 0,
|
||||
229, 2, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
200, 2, 0, 0, 3, 0, 1, 0,
|
||||
212, 2, 0, 0, 2, 0, 1, 0,
|
||||
228, 2, 0, 0, 3, 0, 1, 0,
|
||||
240, 2, 0, 0, 2, 0, 1, 0,
|
||||
9, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
209, 2, 0, 0, 98, 0, 0, 0,
|
||||
237, 2, 0, 0, 98, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
208, 2, 0, 0, 3, 0, 1, 0,
|
||||
220, 2, 0, 0, 2, 0, 1, 0,
|
||||
236, 2, 0, 0, 3, 0, 1, 0,
|
||||
248, 2, 0, 0, 2, 0, 1, 0,
|
||||
10, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
217, 2, 0, 0, 74, 0, 0, 0,
|
||||
245, 2, 0, 0, 74, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
216, 2, 0, 0, 3, 0, 1, 0,
|
||||
228, 2, 0, 0, 2, 0, 1, 0,
|
||||
244, 2, 0, 0, 3, 0, 1, 0,
|
||||
0, 3, 0, 0, 2, 0, 1, 0,
|
||||
11, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
225, 2, 0, 0, 130, 0, 0, 0,
|
||||
253, 2, 0, 0, 130, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
224, 2, 0, 0, 3, 0, 1, 0,
|
||||
236, 2, 0, 0, 2, 0, 1, 0,
|
||||
252, 2, 0, 0, 3, 0, 1, 0,
|
||||
8, 3, 0, 0, 2, 0, 1, 0,
|
||||
13, 0, 0, 0, 4, 0, 0, 0,
|
||||
0, 0, 1, 0, 8, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
233, 2, 0, 0, 82, 0, 0, 0,
|
||||
5, 3, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
232, 2, 0, 0, 3, 0, 1, 0,
|
||||
4, 3, 0, 0, 2, 0, 1, 0,
|
||||
4, 3, 0, 0, 3, 0, 1, 0,
|
||||
32, 3, 0, 0, 2, 0, 1, 0,
|
||||
14, 0, 0, 0, 5, 0, 0, 0,
|
||||
0, 0, 1, 0, 9, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
1, 3, 0, 0, 114, 0, 0, 0,
|
||||
29, 3, 0, 0, 114, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 3, 0, 0, 3, 0, 1, 0,
|
||||
28, 3, 0, 0, 2, 0, 1, 0,
|
||||
28, 3, 0, 0, 3, 0, 1, 0,
|
||||
56, 3, 0, 0, 2, 0, 1, 0,
|
||||
16, 0, 0, 0, 6, 0, 0, 0,
|
||||
0, 0, 1, 0, 10, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
25, 3, 0, 0, 82, 0, 0, 0,
|
||||
53, 3, 0, 0, 82, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
24, 3, 0, 0, 3, 0, 1, 0,
|
||||
52, 3, 0, 0, 2, 0, 1, 0,
|
||||
52, 3, 0, 0, 3, 0, 1, 0,
|
||||
80, 3, 0, 0, 2, 0, 1, 0,
|
||||
18, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 1, 0, 11, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
49, 3, 0, 0, 50, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
44, 3, 0, 0, 3, 0, 1, 0,
|
||||
72, 3, 0, 0, 2, 0, 1, 0,
|
||||
20, 0, 0, 0, 8, 0, 0, 0,
|
||||
0, 0, 1, 0, 12, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
69, 3, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
64, 3, 0, 0, 3, 0, 1, 0,
|
||||
76, 3, 0, 0, 2, 0, 1, 0,
|
||||
15, 0, 0, 0, 9, 0, 0, 0,
|
||||
0, 0, 1, 0, 13, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
73, 3, 0, 0, 106, 0, 0, 0,
|
||||
77, 3, 0, 0, 50, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
72, 3, 0, 0, 3, 0, 1, 0,
|
||||
100, 3, 0, 0, 2, 0, 1, 0,
|
||||
20, 0, 0, 0, 8, 0, 0, 0,
|
||||
0, 0, 1, 0, 12, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
97, 3, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
92, 3, 0, 0, 3, 0, 1, 0,
|
||||
104, 3, 0, 0, 2, 0, 1, 0,
|
||||
15, 0, 0, 0, 9, 0, 0, 0,
|
||||
0, 0, 1, 0, 13, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
101, 3, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
100, 3, 0, 0, 3, 0, 1, 0,
|
||||
128, 3, 0, 0, 2, 0, 1, 0,
|
||||
17, 0, 0, 0, 10, 0, 0, 0,
|
||||
0, 0, 1, 0, 14, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
97, 3, 0, 0, 106, 0, 0, 0,
|
||||
125, 3, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
96, 3, 0, 0, 3, 0, 1, 0,
|
||||
124, 3, 0, 0, 2, 0, 1, 0,
|
||||
124, 3, 0, 0, 3, 0, 1, 0,
|
||||
152, 3, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 15, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
121, 3, 0, 0, 154, 0, 0, 0,
|
||||
149, 3, 0, 0, 154, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
124, 3, 0, 0, 3, 0, 1, 0,
|
||||
136, 3, 0, 0, 2, 0, 1, 0,
|
||||
152, 3, 0, 0, 3, 0, 1, 0,
|
||||
164, 3, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 0, 0, 11, 0, 0, 0,
|
||||
0, 0, 1, 0, 16, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
133, 3, 0, 0, 122, 0, 0, 0,
|
||||
161, 3, 0, 0, 122, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
132, 3, 0, 0, 3, 0, 1, 0,
|
||||
144, 3, 0, 0, 2, 0, 1, 0,
|
||||
160, 3, 0, 0, 3, 0, 1, 0,
|
||||
172, 3, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 0, 0, 6, 0, 0, 0,
|
||||
0, 0, 1, 0, 17, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
141, 3, 0, 0, 138, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
144, 3, 0, 0, 3, 0, 1, 0,
|
||||
156, 3, 0, 0, 2, 0, 1, 0,
|
||||
19, 0, 0, 0, 12, 0, 0, 0,
|
||||
0, 0, 1, 0, 18, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
153, 3, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
148, 3, 0, 0, 3, 0, 1, 0,
|
||||
176, 3, 0, 0, 2, 0, 1, 0,
|
||||
12, 0, 0, 0, 13, 0, 0, 0,
|
||||
0, 0, 1, 0, 19, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
173, 3, 0, 0, 106, 0, 0, 0,
|
||||
169, 3, 0, 0, 138, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
172, 3, 0, 0, 3, 0, 1, 0,
|
||||
184, 3, 0, 0, 2, 0, 1, 0,
|
||||
19, 0, 0, 0, 12, 0, 0, 0,
|
||||
0, 0, 1, 0, 18, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
181, 3, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
176, 3, 0, 0, 3, 0, 1, 0,
|
||||
204, 3, 0, 0, 2, 0, 1, 0,
|
||||
12, 0, 0, 0, 13, 0, 0, 0,
|
||||
0, 0, 1, 0, 19, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
201, 3, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
200, 3, 0, 0, 3, 0, 1, 0,
|
||||
212, 3, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 1, 0, 20, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
181, 3, 0, 0, 106, 0, 0, 0,
|
||||
209, 3, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
180, 3, 0, 0, 3, 0, 1, 0,
|
||||
192, 3, 0, 0, 2, 0, 1, 0,
|
||||
208, 3, 0, 0, 3, 0, 1, 0,
|
||||
220, 3, 0, 0, 2, 0, 1, 0,
|
||||
22, 0, 0, 0, 14, 0, 0, 0,
|
||||
0, 0, 1, 0, 21, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
189, 3, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
188, 3, 0, 0, 3, 0, 1, 0,
|
||||
200, 3, 0, 0, 2, 0, 1, 0,
|
||||
23, 0, 0, 0, 0, 1, 0, 0,
|
||||
0, 0, 1, 0, 22, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
197, 3, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
196, 3, 0, 0, 3, 0, 1, 0,
|
||||
208, 3, 0, 0, 2, 0, 1, 0,
|
||||
21, 0, 0, 0, 17, 0, 0, 0,
|
||||
0, 0, 1, 0, 23, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
205, 3, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
204, 3, 0, 0, 3, 0, 1, 0,
|
||||
216, 3, 0, 0, 2, 0, 1, 0,
|
||||
24, 0, 0, 0, 5, 0, 0, 0,
|
||||
0, 0, 1, 0, 24, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
213, 3, 0, 0, 138, 0, 0, 0,
|
||||
217, 3, 0, 0, 106, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
216, 3, 0, 0, 3, 0, 1, 0,
|
||||
228, 3, 0, 0, 2, 0, 1, 0,
|
||||
23, 0, 0, 0, 0, 1, 0, 0,
|
||||
0, 0, 1, 0, 22, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
225, 3, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
224, 3, 0, 0, 3, 0, 1, 0,
|
||||
236, 3, 0, 0, 2, 0, 1, 0,
|
||||
21, 0, 0, 0, 17, 0, 0, 0,
|
||||
0, 0, 1, 0, 23, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
233, 3, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
232, 3, 0, 0, 3, 0, 1, 0,
|
||||
244, 3, 0, 0, 2, 0, 1, 0,
|
||||
24, 0, 0, 0, 5, 0, 0, 0,
|
||||
0, 0, 1, 0, 24, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
241, 3, 0, 0, 138, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
244, 3, 0, 0, 3, 0, 1, 0,
|
||||
0, 4, 0, 0, 2, 0, 1, 0,
|
||||
25, 0, 0, 0, 15, 0, 0, 0,
|
||||
0, 0, 1, 0, 25, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
253, 3, 0, 0, 186, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 4, 0, 0, 3, 0, 1, 0,
|
||||
12, 4, 0, 0, 2, 0, 1, 0,
|
||||
102, 114, 97, 109, 101, 73, 100, 0,
|
||||
8, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
@@ -10479,12 +10507,23 @@ static const ::capnp::_::AlignedData<468> b_c4713f6b0d36abe9 = {
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
9, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 97, 116, 101, 114, 97, 108, 80,
|
||||
108, 97, 110, 110, 101, 114, 83, 111,
|
||||
108, 117, 116, 105, 111, 110, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
254, 172, 180, 166, 165, 236, 202, 132,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
16, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_c4713f6b0d36abe9 = b_c4713f6b0d36abe9.words;
|
||||
#if !CAPNP_LITE
|
||||
static const ::capnp::_::RawSchema* const d_c4713f6b0d36abe9[] = {
|
||||
&s_84caeca5a6b4acfe,
|
||||
&s_a444ed2b2187af28,
|
||||
&s_aa3247d9d2a61cd4,
|
||||
&s_c3cbae1fd505ae80,
|
||||
@@ -10492,11 +10531,11 @@ static const ::capnp::_::RawSchema* const d_c4713f6b0d36abe9[] = {
|
||||
&s_d698881ad0ce7feb,
|
||||
&s_fb3ec0702e67884f,
|
||||
};
|
||||
static const uint16_t m_c4713f6b0d36abe9[] = {19, 23, 1, 2, 0, 20, 17, 9, 13, 8, 11, 18, 24, 12, 15, 22, 5, 7, 4, 16, 14, 10, 21, 3, 6};
|
||||
static const uint16_t i_c4713f6b0d36abe9[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24};
|
||||
static const uint16_t m_c4713f6b0d36abe9[] = {19, 23, 1, 2, 0, 20, 17, 9, 13, 8, 25, 11, 18, 24, 12, 15, 22, 5, 7, 4, 16, 14, 10, 21, 3, 6};
|
||||
static const uint16_t i_c4713f6b0d36abe9[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25};
|
||||
const ::capnp::_::RawSchema s_c4713f6b0d36abe9 = {
|
||||
0xc4713f6b0d36abe9, b_c4713f6b0d36abe9.words, 468, d_c4713f6b0d36abe9, m_c4713f6b0d36abe9,
|
||||
6, 25, i_c4713f6b0d36abe9, nullptr, nullptr, { &s_c4713f6b0d36abe9, nullptr, nullptr, 0, 0, nullptr }
|
||||
0xc4713f6b0d36abe9, b_c4713f6b0d36abe9.words, 490, d_c4713f6b0d36abe9, m_c4713f6b0d36abe9,
|
||||
7, 26, i_c4713f6b0d36abe9, nullptr, nullptr, { &s_c4713f6b0d36abe9, nullptr, nullptr, 0, 0, nullptr }
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<87> b_a444ed2b2187af28 = {
|
||||
@@ -11336,6 +11375,190 @@ const ::capnp::_::RawSchema s_fb3ec0702e67884f = {
|
||||
0, 4, i_fb3ec0702e67884f, nullptr, nullptr, { &s_fb3ec0702e67884f, nullptr, nullptr, 0, 0, nullptr }
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<173> b_84caeca5a6b4acfe = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
254, 172, 180, 166, 165, 236, 202, 132,
|
||||
22, 0, 0, 0, 1, 0, 0, 0,
|
||||
233, 171, 54, 13, 107, 63, 113, 196,
|
||||
8, 0, 7, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
21, 0, 0, 0, 106, 1, 0, 0,
|
||||
41, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
37, 0, 0, 0, 199, 1, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
108, 111, 103, 46, 99, 97, 112, 110,
|
||||
112, 58, 77, 111, 100, 101, 108, 68,
|
||||
97, 116, 97, 86, 50, 46, 76, 97,
|
||||
116, 101, 114, 97, 108, 80, 108, 97,
|
||||
110, 110, 101, 114, 83, 111, 108, 117,
|
||||
116, 105, 111, 110, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 1, 0, 1, 0,
|
||||
32, 0, 0, 0, 3, 0, 4, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 1, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
209, 0, 0, 0, 18, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
204, 0, 0, 0, 3, 0, 1, 0,
|
||||
232, 0, 0, 0, 2, 0, 1, 0,
|
||||
1, 0, 0, 0, 1, 0, 0, 0,
|
||||
0, 0, 1, 0, 1, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
229, 0, 0, 0, 18, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
224, 0, 0, 0, 3, 0, 1, 0,
|
||||
252, 0, 0, 0, 2, 0, 1, 0,
|
||||
2, 0, 0, 0, 2, 0, 0, 0,
|
||||
0, 0, 1, 0, 2, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
249, 0, 0, 0, 34, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
244, 0, 0, 0, 3, 0, 1, 0,
|
||||
16, 1, 0, 0, 2, 0, 1, 0,
|
||||
3, 0, 0, 0, 3, 0, 0, 0,
|
||||
0, 0, 1, 0, 3, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
13, 1, 0, 0, 66, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
8, 1, 0, 0, 3, 0, 1, 0,
|
||||
36, 1, 0, 0, 2, 0, 1, 0,
|
||||
4, 0, 0, 0, 4, 0, 0, 0,
|
||||
0, 0, 1, 0, 4, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
33, 1, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
28, 1, 0, 0, 3, 0, 1, 0,
|
||||
56, 1, 0, 0, 2, 0, 1, 0,
|
||||
5, 0, 0, 0, 5, 0, 0, 0,
|
||||
0, 0, 1, 0, 5, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
53, 1, 0, 0, 42, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
48, 1, 0, 0, 3, 0, 1, 0,
|
||||
76, 1, 0, 0, 2, 0, 1, 0,
|
||||
6, 0, 0, 0, 6, 0, 0, 0,
|
||||
0, 0, 1, 0, 6, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
73, 1, 0, 0, 58, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
68, 1, 0, 0, 3, 0, 1, 0,
|
||||
96, 1, 0, 0, 2, 0, 1, 0,
|
||||
7, 0, 0, 0, 7, 0, 0, 0,
|
||||
0, 0, 1, 0, 7, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
93, 1, 0, 0, 90, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
92, 1, 0, 0, 3, 0, 1, 0,
|
||||
120, 1, 0, 0, 2, 0, 1, 0,
|
||||
120, 0, 0, 0, 0, 0, 0, 0,
|
||||
14, 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, 3, 0, 1, 0,
|
||||
10, 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,
|
||||
14, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
121, 0, 0, 0, 0, 0, 0, 0,
|
||||
14, 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, 3, 0, 1, 0,
|
||||
10, 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,
|
||||
14, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
121, 97, 119, 0, 0, 0, 0, 0,
|
||||
14, 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, 3, 0, 1, 0,
|
||||
10, 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,
|
||||
14, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
121, 97, 119, 82, 97, 116, 101, 0,
|
||||
14, 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, 3, 0, 1, 0,
|
||||
10, 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,
|
||||
14, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
120, 83, 116, 100, 0, 0, 0, 0,
|
||||
14, 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, 3, 0, 1, 0,
|
||||
10, 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,
|
||||
14, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
121, 83, 116, 100, 0, 0, 0, 0,
|
||||
14, 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, 3, 0, 1, 0,
|
||||
10, 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,
|
||||
14, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
121, 97, 119, 83, 116, 100, 0, 0,
|
||||
14, 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, 3, 0, 1, 0,
|
||||
10, 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,
|
||||
14, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
121, 97, 119, 82, 97, 116, 101, 83,
|
||||
116, 100, 0, 0, 0, 0, 0, 0,
|
||||
14, 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, 3, 0, 1, 0,
|
||||
10, 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,
|
||||
14, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0,
|
||||
0, 0, 0, 0, 0, 0, 0, 0, }
|
||||
};
|
||||
::capnp::word const* const bp_84caeca5a6b4acfe = b_84caeca5a6b4acfe.words;
|
||||
#if !CAPNP_LITE
|
||||
static const uint16_t m_84caeca5a6b4acfe[] = {0, 4, 1, 5, 2, 3, 7, 6};
|
||||
static const uint16_t i_84caeca5a6b4acfe[] = {0, 1, 2, 3, 4, 5, 6, 7};
|
||||
const ::capnp::_::RawSchema s_84caeca5a6b4acfe = {
|
||||
0x84caeca5a6b4acfe, b_84caeca5a6b4acfe.words, 173, nullptr, m_84caeca5a6b4acfe,
|
||||
0, 8, i_84caeca5a6b4acfe, nullptr, nullptr, { &s_84caeca5a6b4acfe, nullptr, nullptr, 0, 0, nullptr }
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
static const ::capnp::_::AlignedData<176> b_89d394e3541735fc = {
|
||||
{ 0, 0, 0, 0, 5, 0, 6, 0,
|
||||
252, 53, 23, 84, 227, 148, 211, 137,
|
||||
@@ -29477,6 +29700,14 @@ constexpr ::capnp::Kind ModelDataV2::Pose::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* ModelDataV2::Pose::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// ModelDataV2::LateralPlannerSolution
|
||||
constexpr uint16_t ModelDataV2::LateralPlannerSolution::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t ModelDataV2::LateralPlannerSolution::_capnpPrivate::pointerCount;
|
||||
#if !CAPNP_LITE
|
||||
constexpr ::capnp::Kind ModelDataV2::LateralPlannerSolution::_capnpPrivate::kind;
|
||||
constexpr ::capnp::_::RawSchema const* ModelDataV2::LateralPlannerSolution::_capnpPrivate::schema;
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
// EncodeIndex
|
||||
constexpr uint16_t EncodeIndex::_capnpPrivate::dataWordSize;
|
||||
constexpr uint16_t EncodeIndex::_capnpPrivate::pointerCount;
|
||||
|
||||
+551
-2
@@ -269,6 +269,7 @@ enum class ConfidenceClass_aa3247d9d2a61cd4: uint16_t {
|
||||
CAPNP_DECLARE_ENUM(ConfidenceClass, aa3247d9d2a61cd4);
|
||||
CAPNP_DECLARE_SCHEMA(860aa5ddbcdc8d25);
|
||||
CAPNP_DECLARE_SCHEMA(fb3ec0702e67884f);
|
||||
CAPNP_DECLARE_SCHEMA(84caeca5a6b4acfe);
|
||||
CAPNP_DECLARE_SCHEMA(89d394e3541735fc);
|
||||
CAPNP_DECLARE_SCHEMA(c0ad259ec157ccd3);
|
||||
enum class Type_c0ad259ec157ccd3: uint16_t {
|
||||
@@ -555,7 +556,7 @@ struct InitData {
|
||||
struct IosBuildInfo;
|
||||
|
||||
struct _capnpPrivate {
|
||||
CAPNP_DECLARE_STRUCT_HEADER(e71008caeb3fb65c, 1, 17)
|
||||
CAPNP_DECLARE_STRUCT_HEADER(e71008caeb3fb65c, 2, 17)
|
||||
#if !CAPNP_LITE
|
||||
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
|
||||
#endif // !CAPNP_LITE
|
||||
@@ -1155,9 +1156,10 @@ struct ModelDataV2 {
|
||||
|
||||
struct DisengagePredictions;
|
||||
struct Pose;
|
||||
struct LateralPlannerSolution;
|
||||
|
||||
struct _capnpPrivate {
|
||||
CAPNP_DECLARE_STRUCT_HEADER(c4713f6b0d36abe9, 6, 15)
|
||||
CAPNP_DECLARE_STRUCT_HEADER(c4713f6b0d36abe9, 6, 16)
|
||||
#if !CAPNP_LITE
|
||||
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
|
||||
#endif // !CAPNP_LITE
|
||||
@@ -1239,6 +1241,21 @@ struct ModelDataV2::Pose {
|
||||
};
|
||||
};
|
||||
|
||||
struct ModelDataV2::LateralPlannerSolution {
|
||||
LateralPlannerSolution() = delete;
|
||||
|
||||
class Reader;
|
||||
class Builder;
|
||||
class Pipeline;
|
||||
|
||||
struct _capnpPrivate {
|
||||
CAPNP_DECLARE_STRUCT_HEADER(84caeca5a6b4acfe, 0, 8)
|
||||
#if !CAPNP_LITE
|
||||
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
|
||||
#endif // !CAPNP_LITE
|
||||
};
|
||||
};
|
||||
|
||||
struct EncodeIndex {
|
||||
EncodeIndex() = delete;
|
||||
|
||||
@@ -2732,6 +2749,8 @@ public:
|
||||
inline bool hasCommands() const;
|
||||
inline ::cereal::Map< ::capnp::Text, ::capnp::Data>::Reader getCommands() const;
|
||||
|
||||
inline ::uint64_t getWallTimeNanos() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -2889,6 +2908,9 @@ public:
|
||||
inline void adoptCommands(::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Data>>&& value);
|
||||
inline ::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Data>> disownCommands();
|
||||
|
||||
inline ::uint64_t getWallTimeNanos();
|
||||
inline void setWallTimeNanos( ::uint64_t value);
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -8167,6 +8189,9 @@ public:
|
||||
|
||||
inline ::uint64_t getLocationMonoTime() const;
|
||||
|
||||
inline bool hasLateralPlannerSolution() const;
|
||||
inline ::cereal::ModelDataV2::LateralPlannerSolution::Reader getLateralPlannerSolution() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -8333,6 +8358,13 @@ public:
|
||||
inline ::uint64_t getLocationMonoTime();
|
||||
inline void setLocationMonoTime( ::uint64_t value);
|
||||
|
||||
inline bool hasLateralPlannerSolution();
|
||||
inline ::cereal::ModelDataV2::LateralPlannerSolution::Builder getLateralPlannerSolution();
|
||||
inline void setLateralPlannerSolution( ::cereal::ModelDataV2::LateralPlannerSolution::Reader value);
|
||||
inline ::cereal::ModelDataV2::LateralPlannerSolution::Builder initLateralPlannerSolution();
|
||||
inline void adoptLateralPlannerSolution(::capnp::Orphan< ::cereal::ModelDataV2::LateralPlannerSolution>&& value);
|
||||
inline ::capnp::Orphan< ::cereal::ModelDataV2::LateralPlannerSolution> disownLateralPlannerSolution();
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
@@ -8358,6 +8390,7 @@ public:
|
||||
inline ::cereal::ModelDataV2::MetaData::Pipeline getMeta();
|
||||
inline ::cereal::XYZTData::Pipeline getAcceleration();
|
||||
inline ::cereal::ModelDataV2::Pose::Pipeline getTemporalPose();
|
||||
inline ::cereal::ModelDataV2::LateralPlannerSolution::Pipeline getLateralPlannerSolution();
|
||||
private:
|
||||
::capnp::AnyPointer::Pipeline _typeless;
|
||||
friend class ::capnp::PipelineHook;
|
||||
@@ -9041,6 +9074,165 @@ private:
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
class ModelDataV2::LateralPlannerSolution::Reader {
|
||||
public:
|
||||
typedef LateralPlannerSolution Reads;
|
||||
|
||||
Reader() = default;
|
||||
inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
|
||||
|
||||
inline ::capnp::MessageSize totalSize() const {
|
||||
return _reader.totalSize().asPublic();
|
||||
}
|
||||
|
||||
#if !CAPNP_LITE
|
||||
inline ::kj::StringTree toString() const {
|
||||
return ::capnp::_::structString(_reader, *_capnpPrivate::brand());
|
||||
}
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
inline bool hasX() const;
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader getX() const;
|
||||
|
||||
inline bool hasY() const;
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader getY() const;
|
||||
|
||||
inline bool hasYaw() const;
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader getYaw() const;
|
||||
|
||||
inline bool hasYawRate() const;
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader getYawRate() const;
|
||||
|
||||
inline bool hasXStd() const;
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader getXStd() const;
|
||||
|
||||
inline bool hasYStd() const;
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader getYStd() const;
|
||||
|
||||
inline bool hasYawStd() const;
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader getYawStd() const;
|
||||
|
||||
inline bool hasYawRateStd() const;
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader getYawRateStd() const;
|
||||
|
||||
private:
|
||||
::capnp::_::StructReader _reader;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::ToDynamic_;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::_::PointerHelpers;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::List;
|
||||
friend class ::capnp::MessageBuilder;
|
||||
friend class ::capnp::Orphanage;
|
||||
};
|
||||
|
||||
class ModelDataV2::LateralPlannerSolution::Builder {
|
||||
public:
|
||||
typedef LateralPlannerSolution Builds;
|
||||
|
||||
Builder() = delete; // Deleted to discourage incorrect usage.
|
||||
// You can explicitly initialize to nullptr instead.
|
||||
inline Builder(decltype(nullptr)) {}
|
||||
inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
|
||||
inline operator Reader() const { return Reader(_builder.asReader()); }
|
||||
inline Reader asReader() const { return *this; }
|
||||
|
||||
inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
|
||||
#if !CAPNP_LITE
|
||||
inline ::kj::StringTree toString() const { return asReader().toString(); }
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
inline bool hasX();
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder getX();
|
||||
inline void setX( ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader value);
|
||||
inline void setX(::kj::ArrayPtr<const float> value);
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder initX(unsigned int size);
|
||||
inline void adoptX(::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>&& value);
|
||||
inline ::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>> disownX();
|
||||
|
||||
inline bool hasY();
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder getY();
|
||||
inline void setY( ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader value);
|
||||
inline void setY(::kj::ArrayPtr<const float> value);
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder initY(unsigned int size);
|
||||
inline void adoptY(::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>&& value);
|
||||
inline ::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>> disownY();
|
||||
|
||||
inline bool hasYaw();
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder getYaw();
|
||||
inline void setYaw( ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader value);
|
||||
inline void setYaw(::kj::ArrayPtr<const float> value);
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder initYaw(unsigned int size);
|
||||
inline void adoptYaw(::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>&& value);
|
||||
inline ::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>> disownYaw();
|
||||
|
||||
inline bool hasYawRate();
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder getYawRate();
|
||||
inline void setYawRate( ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader value);
|
||||
inline void setYawRate(::kj::ArrayPtr<const float> value);
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder initYawRate(unsigned int size);
|
||||
inline void adoptYawRate(::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>&& value);
|
||||
inline ::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>> disownYawRate();
|
||||
|
||||
inline bool hasXStd();
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder getXStd();
|
||||
inline void setXStd( ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader value);
|
||||
inline void setXStd(::kj::ArrayPtr<const float> value);
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder initXStd(unsigned int size);
|
||||
inline void adoptXStd(::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>&& value);
|
||||
inline ::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>> disownXStd();
|
||||
|
||||
inline bool hasYStd();
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder getYStd();
|
||||
inline void setYStd( ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader value);
|
||||
inline void setYStd(::kj::ArrayPtr<const float> value);
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder initYStd(unsigned int size);
|
||||
inline void adoptYStd(::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>&& value);
|
||||
inline ::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>> disownYStd();
|
||||
|
||||
inline bool hasYawStd();
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder getYawStd();
|
||||
inline void setYawStd( ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader value);
|
||||
inline void setYawStd(::kj::ArrayPtr<const float> value);
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder initYawStd(unsigned int size);
|
||||
inline void adoptYawStd(::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>&& value);
|
||||
inline ::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>> disownYawStd();
|
||||
|
||||
inline bool hasYawRateStd();
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder getYawRateStd();
|
||||
inline void setYawRateStd( ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader value);
|
||||
inline void setYawRateStd(::kj::ArrayPtr<const float> value);
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder initYawRateStd(unsigned int size);
|
||||
inline void adoptYawRateStd(::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>&& value);
|
||||
inline ::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>> disownYawRateStd();
|
||||
|
||||
private:
|
||||
::capnp::_::StructBuilder _builder;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::ToDynamic_;
|
||||
friend class ::capnp::Orphanage;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::_::PointerHelpers;
|
||||
};
|
||||
|
||||
#if !CAPNP_LITE
|
||||
class ModelDataV2::LateralPlannerSolution::Pipeline {
|
||||
public:
|
||||
typedef LateralPlannerSolution Pipelines;
|
||||
|
||||
inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
|
||||
inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
|
||||
: _typeless(kj::mv(typeless)) {}
|
||||
|
||||
private:
|
||||
::capnp::AnyPointer::Pipeline _typeless;
|
||||
friend class ::capnp::PipelineHook;
|
||||
template <typename, ::capnp::Kind>
|
||||
friend struct ::capnp::ToDynamic_;
|
||||
};
|
||||
#endif // !CAPNP_LITE
|
||||
|
||||
class EncodeIndex::Reader {
|
||||
public:
|
||||
typedef EncodeIndex Reads;
|
||||
@@ -20814,6 +21006,20 @@ inline ::capnp::Orphan< ::cereal::Map< ::capnp::Text, ::capnp::Data>> InitData:
|
||||
::capnp::bounded<16>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline ::uint64_t InitData::Reader::getWallTimeNanos() const {
|
||||
return _reader.getDataField< ::uint64_t>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
|
||||
inline ::uint64_t InitData::Builder::getWallTimeNanos() {
|
||||
return _builder.getDataField< ::uint64_t>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS);
|
||||
}
|
||||
inline void InitData::Builder::setWallTimeNanos( ::uint64_t value) {
|
||||
_builder.setDataField< ::uint64_t>(
|
||||
::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool InitData::PandaInfo::Reader::getHasPanda() const {
|
||||
return _reader.getDataField<bool>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
@@ -30122,6 +30328,45 @@ inline void ModelDataV2::Builder::setLocationMonoTime( ::uint64_t value) {
|
||||
::capnp::bounded<5>() * ::capnp::ELEMENTS, value);
|
||||
}
|
||||
|
||||
inline bool ModelDataV2::Reader::hasLateralPlannerSolution() const {
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<15>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline bool ModelDataV2::Builder::hasLateralPlannerSolution() {
|
||||
return !_builder.getPointerField(
|
||||
::capnp::bounded<15>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline ::cereal::ModelDataV2::LateralPlannerSolution::Reader ModelDataV2::Reader::getLateralPlannerSolution() const {
|
||||
return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::LateralPlannerSolution>::get(_reader.getPointerField(
|
||||
::capnp::bounded<15>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline ::cereal::ModelDataV2::LateralPlannerSolution::Builder ModelDataV2::Builder::getLateralPlannerSolution() {
|
||||
return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::LateralPlannerSolution>::get(_builder.getPointerField(
|
||||
::capnp::bounded<15>() * ::capnp::POINTERS));
|
||||
}
|
||||
#if !CAPNP_LITE
|
||||
inline ::cereal::ModelDataV2::LateralPlannerSolution::Pipeline ModelDataV2::Pipeline::getLateralPlannerSolution() {
|
||||
return ::cereal::ModelDataV2::LateralPlannerSolution::Pipeline(_typeless.getPointerField(15));
|
||||
}
|
||||
#endif // !CAPNP_LITE
|
||||
inline void ModelDataV2::Builder::setLateralPlannerSolution( ::cereal::ModelDataV2::LateralPlannerSolution::Reader value) {
|
||||
::capnp::_::PointerHelpers< ::cereal::ModelDataV2::LateralPlannerSolution>::set(_builder.getPointerField(
|
||||
::capnp::bounded<15>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline ::cereal::ModelDataV2::LateralPlannerSolution::Builder ModelDataV2::Builder::initLateralPlannerSolution() {
|
||||
return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::LateralPlannerSolution>::init(_builder.getPointerField(
|
||||
::capnp::bounded<15>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline void ModelDataV2::Builder::adoptLateralPlannerSolution(
|
||||
::capnp::Orphan< ::cereal::ModelDataV2::LateralPlannerSolution>&& value) {
|
||||
::capnp::_::PointerHelpers< ::cereal::ModelDataV2::LateralPlannerSolution>::adopt(_builder.getPointerField(
|
||||
::capnp::bounded<15>() * ::capnp::POINTERS), kj::mv(value));
|
||||
}
|
||||
inline ::capnp::Orphan< ::cereal::ModelDataV2::LateralPlannerSolution> ModelDataV2::Builder::disownLateralPlannerSolution() {
|
||||
return ::capnp::_::PointerHelpers< ::cereal::ModelDataV2::LateralPlannerSolution>::disown(_builder.getPointerField(
|
||||
::capnp::bounded<15>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline float ModelDataV2::LeadDataV2::Reader::getProb() const {
|
||||
return _reader.getDataField<float>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
@@ -31199,6 +31444,310 @@ inline ::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>> ModelDa
|
||||
::capnp::bounded<3>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline bool ModelDataV2::LateralPlannerSolution::Reader::hasX() const {
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline bool ModelDataV2::LateralPlannerSolution::Builder::hasX() {
|
||||
return !_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader ModelDataV2::LateralPlannerSolution::Reader::getX() const {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder ModelDataV2::LateralPlannerSolution::Builder::getX() {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline void ModelDataV2::LateralPlannerSolution::Builder::setX( ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline void ModelDataV2::LateralPlannerSolution::Builder::setX(::kj::ArrayPtr<const float> value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder ModelDataV2::LateralPlannerSolution::Builder::initX(unsigned int size) {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS), size);
|
||||
}
|
||||
inline void ModelDataV2::LateralPlannerSolution::Builder::adoptX(
|
||||
::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>&& value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS), kj::mv(value));
|
||||
}
|
||||
inline ::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>> ModelDataV2::LateralPlannerSolution::Builder::disownX() {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField(
|
||||
::capnp::bounded<0>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline bool ModelDataV2::LateralPlannerSolution::Reader::hasY() const {
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<1>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline bool ModelDataV2::LateralPlannerSolution::Builder::hasY() {
|
||||
return !_builder.getPointerField(
|
||||
::capnp::bounded<1>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader ModelDataV2::LateralPlannerSolution::Reader::getY() const {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField(
|
||||
::capnp::bounded<1>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder ModelDataV2::LateralPlannerSolution::Builder::getY() {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField(
|
||||
::capnp::bounded<1>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline void ModelDataV2::LateralPlannerSolution::Builder::setY( ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
|
||||
::capnp::bounded<1>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline void ModelDataV2::LateralPlannerSolution::Builder::setY(::kj::ArrayPtr<const float> value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
|
||||
::capnp::bounded<1>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder ModelDataV2::LateralPlannerSolution::Builder::initY(unsigned int size) {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField(
|
||||
::capnp::bounded<1>() * ::capnp::POINTERS), size);
|
||||
}
|
||||
inline void ModelDataV2::LateralPlannerSolution::Builder::adoptY(
|
||||
::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>&& value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField(
|
||||
::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value));
|
||||
}
|
||||
inline ::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>> ModelDataV2::LateralPlannerSolution::Builder::disownY() {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField(
|
||||
::capnp::bounded<1>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline bool ModelDataV2::LateralPlannerSolution::Reader::hasYaw() const {
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<2>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline bool ModelDataV2::LateralPlannerSolution::Builder::hasYaw() {
|
||||
return !_builder.getPointerField(
|
||||
::capnp::bounded<2>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader ModelDataV2::LateralPlannerSolution::Reader::getYaw() const {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField(
|
||||
::capnp::bounded<2>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder ModelDataV2::LateralPlannerSolution::Builder::getYaw() {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField(
|
||||
::capnp::bounded<2>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline void ModelDataV2::LateralPlannerSolution::Builder::setYaw( ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
|
||||
::capnp::bounded<2>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline void ModelDataV2::LateralPlannerSolution::Builder::setYaw(::kj::ArrayPtr<const float> value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
|
||||
::capnp::bounded<2>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder ModelDataV2::LateralPlannerSolution::Builder::initYaw(unsigned int size) {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField(
|
||||
::capnp::bounded<2>() * ::capnp::POINTERS), size);
|
||||
}
|
||||
inline void ModelDataV2::LateralPlannerSolution::Builder::adoptYaw(
|
||||
::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>&& value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField(
|
||||
::capnp::bounded<2>() * ::capnp::POINTERS), kj::mv(value));
|
||||
}
|
||||
inline ::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>> ModelDataV2::LateralPlannerSolution::Builder::disownYaw() {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField(
|
||||
::capnp::bounded<2>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline bool ModelDataV2::LateralPlannerSolution::Reader::hasYawRate() const {
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<3>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline bool ModelDataV2::LateralPlannerSolution::Builder::hasYawRate() {
|
||||
return !_builder.getPointerField(
|
||||
::capnp::bounded<3>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader ModelDataV2::LateralPlannerSolution::Reader::getYawRate() const {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField(
|
||||
::capnp::bounded<3>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder ModelDataV2::LateralPlannerSolution::Builder::getYawRate() {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField(
|
||||
::capnp::bounded<3>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline void ModelDataV2::LateralPlannerSolution::Builder::setYawRate( ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
|
||||
::capnp::bounded<3>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline void ModelDataV2::LateralPlannerSolution::Builder::setYawRate(::kj::ArrayPtr<const float> value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
|
||||
::capnp::bounded<3>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder ModelDataV2::LateralPlannerSolution::Builder::initYawRate(unsigned int size) {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField(
|
||||
::capnp::bounded<3>() * ::capnp::POINTERS), size);
|
||||
}
|
||||
inline void ModelDataV2::LateralPlannerSolution::Builder::adoptYawRate(
|
||||
::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>&& value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField(
|
||||
::capnp::bounded<3>() * ::capnp::POINTERS), kj::mv(value));
|
||||
}
|
||||
inline ::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>> ModelDataV2::LateralPlannerSolution::Builder::disownYawRate() {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField(
|
||||
::capnp::bounded<3>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline bool ModelDataV2::LateralPlannerSolution::Reader::hasXStd() const {
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<4>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline bool ModelDataV2::LateralPlannerSolution::Builder::hasXStd() {
|
||||
return !_builder.getPointerField(
|
||||
::capnp::bounded<4>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader ModelDataV2::LateralPlannerSolution::Reader::getXStd() const {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField(
|
||||
::capnp::bounded<4>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder ModelDataV2::LateralPlannerSolution::Builder::getXStd() {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField(
|
||||
::capnp::bounded<4>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline void ModelDataV2::LateralPlannerSolution::Builder::setXStd( ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
|
||||
::capnp::bounded<4>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline void ModelDataV2::LateralPlannerSolution::Builder::setXStd(::kj::ArrayPtr<const float> value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
|
||||
::capnp::bounded<4>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder ModelDataV2::LateralPlannerSolution::Builder::initXStd(unsigned int size) {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField(
|
||||
::capnp::bounded<4>() * ::capnp::POINTERS), size);
|
||||
}
|
||||
inline void ModelDataV2::LateralPlannerSolution::Builder::adoptXStd(
|
||||
::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>&& value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField(
|
||||
::capnp::bounded<4>() * ::capnp::POINTERS), kj::mv(value));
|
||||
}
|
||||
inline ::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>> ModelDataV2::LateralPlannerSolution::Builder::disownXStd() {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField(
|
||||
::capnp::bounded<4>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline bool ModelDataV2::LateralPlannerSolution::Reader::hasYStd() const {
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline bool ModelDataV2::LateralPlannerSolution::Builder::hasYStd() {
|
||||
return !_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader ModelDataV2::LateralPlannerSolution::Reader::getYStd() const {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder ModelDataV2::LateralPlannerSolution::Builder::getYStd() {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline void ModelDataV2::LateralPlannerSolution::Builder::setYStd( ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline void ModelDataV2::LateralPlannerSolution::Builder::setYStd(::kj::ArrayPtr<const float> value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder ModelDataV2::LateralPlannerSolution::Builder::initYStd(unsigned int size) {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS), size);
|
||||
}
|
||||
inline void ModelDataV2::LateralPlannerSolution::Builder::adoptYStd(
|
||||
::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>&& value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS), kj::mv(value));
|
||||
}
|
||||
inline ::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>> ModelDataV2::LateralPlannerSolution::Builder::disownYStd() {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField(
|
||||
::capnp::bounded<5>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline bool ModelDataV2::LateralPlannerSolution::Reader::hasYawStd() const {
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<6>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline bool ModelDataV2::LateralPlannerSolution::Builder::hasYawStd() {
|
||||
return !_builder.getPointerField(
|
||||
::capnp::bounded<6>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader ModelDataV2::LateralPlannerSolution::Reader::getYawStd() const {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField(
|
||||
::capnp::bounded<6>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder ModelDataV2::LateralPlannerSolution::Builder::getYawStd() {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField(
|
||||
::capnp::bounded<6>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline void ModelDataV2::LateralPlannerSolution::Builder::setYawStd( ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
|
||||
::capnp::bounded<6>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline void ModelDataV2::LateralPlannerSolution::Builder::setYawStd(::kj::ArrayPtr<const float> value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
|
||||
::capnp::bounded<6>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder ModelDataV2::LateralPlannerSolution::Builder::initYawStd(unsigned int size) {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField(
|
||||
::capnp::bounded<6>() * ::capnp::POINTERS), size);
|
||||
}
|
||||
inline void ModelDataV2::LateralPlannerSolution::Builder::adoptYawStd(
|
||||
::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>&& value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField(
|
||||
::capnp::bounded<6>() * ::capnp::POINTERS), kj::mv(value));
|
||||
}
|
||||
inline ::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>> ModelDataV2::LateralPlannerSolution::Builder::disownYawStd() {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField(
|
||||
::capnp::bounded<6>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline bool ModelDataV2::LateralPlannerSolution::Reader::hasYawRateStd() const {
|
||||
return !_reader.getPointerField(
|
||||
::capnp::bounded<7>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline bool ModelDataV2::LateralPlannerSolution::Builder::hasYawRateStd() {
|
||||
return !_builder.getPointerField(
|
||||
::capnp::bounded<7>() * ::capnp::POINTERS).isNull();
|
||||
}
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader ModelDataV2::LateralPlannerSolution::Reader::getYawRateStd() const {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::get(_reader.getPointerField(
|
||||
::capnp::bounded<7>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder ModelDataV2::LateralPlannerSolution::Builder::getYawRateStd() {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::get(_builder.getPointerField(
|
||||
::capnp::bounded<7>() * ::capnp::POINTERS));
|
||||
}
|
||||
inline void ModelDataV2::LateralPlannerSolution::Builder::setYawRateStd( ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
|
||||
::capnp::bounded<7>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline void ModelDataV2::LateralPlannerSolution::Builder::setYawRateStd(::kj::ArrayPtr<const float> value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::set(_builder.getPointerField(
|
||||
::capnp::bounded<7>() * ::capnp::POINTERS), value);
|
||||
}
|
||||
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Builder ModelDataV2::LateralPlannerSolution::Builder::initYawRateStd(unsigned int size) {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::init(_builder.getPointerField(
|
||||
::capnp::bounded<7>() * ::capnp::POINTERS), size);
|
||||
}
|
||||
inline void ModelDataV2::LateralPlannerSolution::Builder::adoptYawRateStd(
|
||||
::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>&& value) {
|
||||
::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::adopt(_builder.getPointerField(
|
||||
::capnp::bounded<7>() * ::capnp::POINTERS), kj::mv(value));
|
||||
}
|
||||
inline ::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>> ModelDataV2::LateralPlannerSolution::Builder::disownYawRateStd() {
|
||||
return ::capnp::_::PointerHelpers< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>::disown(_builder.getPointerField(
|
||||
::capnp::bounded<7>() * ::capnp::POINTERS));
|
||||
}
|
||||
|
||||
inline ::uint32_t EncodeIndex::Reader::getFrameId() const {
|
||||
return _reader.getDataField< ::uint32_t>(
|
||||
::capnp::bounded<0>() * ::capnp::ELEMENTS);
|
||||
|
||||
Binary file not shown.
@@ -46,6 +46,8 @@ struct InitData {
|
||||
|
||||
commands @19 :Map(Text, Data);
|
||||
|
||||
wallTimeNanos @20 :UInt64;
|
||||
|
||||
enum DeviceType {
|
||||
unknown @0;
|
||||
neo @1;
|
||||
@@ -872,6 +874,8 @@ struct ModelDataV2 {
|
||||
navEnabled @22 :Bool;
|
||||
locationMonoTime @24 :UInt64;
|
||||
|
||||
# e2e lateral planner
|
||||
lateralPlannerSolution @25: LateralPlannerSolution;
|
||||
|
||||
struct LeadDataV2 {
|
||||
prob @0 :Float32; # probability that car is your lead at time t
|
||||
@@ -938,6 +942,18 @@ struct ModelDataV2 {
|
||||
transStd @2 :List(Float32); # std m/s in device frame
|
||||
rotStd @3 :List(Float32); # std rad/s in device frame
|
||||
}
|
||||
|
||||
struct LateralPlannerSolution {
|
||||
x @0 :List(Float32);
|
||||
y @1 :List(Float32);
|
||||
yaw @2 :List(Float32);
|
||||
yawRate @3 :List(Float32);
|
||||
xStd @4 :List(Float32);
|
||||
yStd @5 :List(Float32);
|
||||
yawStd @6 :List(Float32);
|
||||
yawRateStd @7 :List(Float32);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
struct EncodeIndex {
|
||||
|
||||
Binary file not shown.
@@ -46,6 +46,7 @@ class ZMQPubSocket : public PubSocket {
|
||||
private:
|
||||
void * sock;
|
||||
std::string full_endpoint;
|
||||
int pid = -1;
|
||||
public:
|
||||
int connect(Context *context, std::string endpoint, bool check_endpoint=true);
|
||||
int sendMessage(Message *message);
|
||||
|
||||
@@ -10,7 +10,7 @@
|
||||
"language": "c++",
|
||||
"name": "cereal.messaging.messaging_pyx",
|
||||
"sources": [
|
||||
"/data/dp-private/cereal/messaging/messaging_pyx.pyx"
|
||||
"/data/openpilot/cereal/messaging/messaging_pyx.pyx"
|
||||
]
|
||||
},
|
||||
"module_name": "cereal.messaging.messaging_pyx"
|
||||
|
||||
Binary file not shown.
@@ -19,8 +19,6 @@ private:
|
||||
cl_device_id device_id = nullptr;
|
||||
cl_context ctx = nullptr;
|
||||
|
||||
void init_msgq(bool conflate);
|
||||
|
||||
public:
|
||||
bool connected = false;
|
||||
VisionStreamType type;
|
||||
|
||||
@@ -12,7 +12,7 @@
|
||||
"language": "c++",
|
||||
"name": "cereal.visionipc.visionipc_pyx",
|
||||
"sources": [
|
||||
"/data/dp-private/cereal/visionipc/visionipc_pyx.pyx"
|
||||
"/data/openpilot/cereal/visionipc/visionipc_pyx.pyx"
|
||||
]
|
||||
},
|
||||
"module_name": "cereal.visionipc.visionipc_pyx"
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -20,7 +20,7 @@
|
||||
"language": "c++",
|
||||
"name": "common.transformations.transformations",
|
||||
"sources": [
|
||||
"/data/dp-private/common/transformations/transformations.pyx"
|
||||
"/data/openpilot/common/transformations/transformations.pyx"
|
||||
]
|
||||
},
|
||||
"module_name": "common.transformations.transformations"
|
||||
|
||||
Binary file not shown.
+1
-1
@@ -1 +1 @@
|
||||
#define COMMA_VERSION "2023.10.17"
|
||||
#define COMMA_VERSION "2023.11.20"
|
||||
|
||||
+16
-14
@@ -4,7 +4,7 @@
|
||||
|
||||
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
|
||||
|
||||
# 265 Supported Cars
|
||||
# 267 Supported Cars
|
||||
|
||||
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br> |Video|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
|
||||
@@ -20,10 +20,11 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Buick|LaCrosse 2017-19[<sup>4</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
|
||||
|Cadillac|Escalade 2017[<sup>4</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
|
||||
|Cadillac|Escalade ESV 2016[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
|
||||
|Cadillac|Escalade ESV 2019[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2019">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
|
||||
|Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
|
||||
@@ -49,14 +50,14 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Genesis|GV70 (3.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
|
||||
|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
|
||||
|GMC|Acadia 2018[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma 3X<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
|
||||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
|
||||
|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|Civic Hatchback 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
|
||||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
|
||||
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-19">Buy Here</a></sub></details>||
|
||||
@@ -74,7 +75,8 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
|
||||
|Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Custin 2023">Buy Here</a></sub></details>||
|
||||
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
|
||||
|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
@@ -108,7 +110,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Hyundai|Tucson Hybrid 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
@@ -120,7 +122,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Kia|EV6 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
|
||||
|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
|
||||
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-22">Buy Here</a></sub></details>||
|
||||
|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-24">Buy Here</a></sub></details>||
|
||||
|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020-22">Buy Here</a></sub></details>||
|
||||
|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
@@ -139,7 +141,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento Hybrid 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento Hybrid 2021-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
|
||||
|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
|
||||
@@ -148,7 +150,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
|
||||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
|
||||
|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
|
||||
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-22">Buy Here</a></sub></details>||
|
||||
|Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>||
|
||||
|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
|
||||
|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
|
||||
@@ -243,7 +245,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">Buy Here</a></sub></details>||
|
||||
|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021">Buy Here</a></sub></details>||
|
||||
|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|
||||
@@ -62,7 +62,7 @@ cdef extern from "common_dbc.h":
|
||||
|
||||
|
||||
cdef extern from "common.h":
|
||||
cdef const DBC* dbc_lookup(const string)
|
||||
cdef const DBC* dbc_lookup(const string) except +
|
||||
|
||||
cdef cppclass CANParser:
|
||||
bool can_valid
|
||||
|
||||
Binary file not shown.
+34
-27
@@ -1993,11 +1993,6 @@ static void __Pyx_AddTraceback(const char *funcname, int c_line,
|
||||
/* None.proto */
|
||||
#include <new>
|
||||
|
||||
/* GCCDiagnostics.proto */
|
||||
#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6))
|
||||
#define __Pyx_HAS_GCC_DIAGNOSTIC
|
||||
#endif
|
||||
|
||||
/* CppExceptionConversion.proto */
|
||||
#ifndef __Pyx_CppExn2PyErr
|
||||
#include <new>
|
||||
@@ -2040,6 +2035,11 @@ static void __Pyx_CppExn2PyErr() {
|
||||
}
|
||||
#endif
|
||||
|
||||
/* GCCDiagnostics.proto */
|
||||
#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6))
|
||||
#define __Pyx_HAS_GCC_DIAGNOSTIC
|
||||
#endif
|
||||
|
||||
/* CIntFromPy.proto */
|
||||
static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *);
|
||||
|
||||
@@ -2673,13 +2673,14 @@ static int __pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker___init__(struct __pyx_
|
||||
int __pyx_r;
|
||||
__Pyx_RefNannyDeclarations
|
||||
std::string __pyx_t_1;
|
||||
int __pyx_t_2;
|
||||
PyObject *__pyx_t_3 = NULL;
|
||||
struct DBC const *__pyx_t_2;
|
||||
int __pyx_t_3;
|
||||
PyObject *__pyx_t_4 = NULL;
|
||||
std::vector<struct Msg> ::size_type __pyx_t_5;
|
||||
PyObject *__pyx_t_5 = NULL;
|
||||
std::vector<struct Msg> ::size_type __pyx_t_6;
|
||||
std::vector<struct Msg> ::size_type __pyx_t_7;
|
||||
uint32_t __pyx_t_8;
|
||||
std::vector<struct Msg> ::size_type __pyx_t_8;
|
||||
uint32_t __pyx_t_9;
|
||||
int __pyx_lineno = 0;
|
||||
const char *__pyx_filename = NULL;
|
||||
int __pyx_clineno = 0;
|
||||
@@ -2693,7 +2694,13 @@ static int __pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker___init__(struct __pyx_
|
||||
* raise RuntimeError(f"Can't lookup {dbc_name}")
|
||||
*/
|
||||
__pyx_t_1 = __pyx_convert_string_from_py_std__in_string(__pyx_v_dbc_name); if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 20, __pyx_L1_error)
|
||||
__pyx_v_self->dbc = dbc_lookup(__PYX_STD_MOVE_IF_SUPPORTED(__pyx_t_1));
|
||||
try {
|
||||
__pyx_t_2 = dbc_lookup(__PYX_STD_MOVE_IF_SUPPORTED(__pyx_t_1));
|
||||
} catch(...) {
|
||||
__Pyx_CppExn2PyErr();
|
||||
__PYX_ERR(0, 20, __pyx_L1_error)
|
||||
}
|
||||
__pyx_v_self->dbc = __pyx_t_2;
|
||||
|
||||
/* "opendbc/can/packer_pyx.pyx":21
|
||||
* def __init__(self, dbc_name):
|
||||
@@ -2702,8 +2709,8 @@ static int __pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker___init__(struct __pyx_
|
||||
* raise RuntimeError(f"Can't lookup {dbc_name}")
|
||||
*
|
||||
*/
|
||||
__pyx_t_2 = (!(__pyx_v_self->dbc != 0));
|
||||
if (unlikely(__pyx_t_2)) {
|
||||
__pyx_t_3 = (!(__pyx_v_self->dbc != 0));
|
||||
if (unlikely(__pyx_t_3)) {
|
||||
|
||||
/* "opendbc/can/packer_pyx.pyx":22
|
||||
* self.dbc = dbc_lookup(dbc_name)
|
||||
@@ -2712,16 +2719,16 @@ static int __pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker___init__(struct __pyx_
|
||||
*
|
||||
* self.packer = new cpp_CANPacker(dbc_name)
|
||||
*/
|
||||
__pyx_t_3 = __Pyx_PyObject_FormatSimple(__pyx_v_dbc_name, __pyx_empty_unicode); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 22, __pyx_L1_error)
|
||||
__Pyx_GOTREF(__pyx_t_3);
|
||||
__pyx_t_4 = __Pyx_PyUnicode_Concat(__pyx_kp_u_Can_t_lookup, __pyx_t_3); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 22, __pyx_L1_error)
|
||||
__pyx_t_4 = __Pyx_PyObject_FormatSimple(__pyx_v_dbc_name, __pyx_empty_unicode); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 22, __pyx_L1_error)
|
||||
__Pyx_GOTREF(__pyx_t_4);
|
||||
__Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0;
|
||||
__pyx_t_3 = __Pyx_PyObject_CallOneArg(__pyx_builtin_RuntimeError, __pyx_t_4); if (unlikely(!__pyx_t_3)) __PYX_ERR(0, 22, __pyx_L1_error)
|
||||
__Pyx_GOTREF(__pyx_t_3);
|
||||
__pyx_t_5 = __Pyx_PyUnicode_Concat(__pyx_kp_u_Can_t_lookup, __pyx_t_4); if (unlikely(!__pyx_t_5)) __PYX_ERR(0, 22, __pyx_L1_error)
|
||||
__Pyx_GOTREF(__pyx_t_5);
|
||||
__Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0;
|
||||
__pyx_t_4 = __Pyx_PyObject_CallOneArg(__pyx_builtin_RuntimeError, __pyx_t_5); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 22, __pyx_L1_error)
|
||||
__Pyx_GOTREF(__pyx_t_4);
|
||||
__Pyx_DECREF(__pyx_t_5); __pyx_t_5 = 0;
|
||||
__Pyx_Raise(__pyx_t_4, 0, 0, 0);
|
||||
__Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0;
|
||||
__Pyx_Raise(__pyx_t_3, 0, 0, 0);
|
||||
__Pyx_DECREF(__pyx_t_3); __pyx_t_3 = 0;
|
||||
__PYX_ERR(0, 22, __pyx_L1_error)
|
||||
|
||||
/* "opendbc/can/packer_pyx.pyx":21
|
||||
@@ -2750,10 +2757,10 @@ static int __pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker___init__(struct __pyx_
|
||||
* msg = self.dbc[0].msgs[i]
|
||||
* self.name_to_address[string(msg.name)] = msg.address
|
||||
*/
|
||||
__pyx_t_5 = (__pyx_v_self->dbc[0]).msgs.size();
|
||||
__pyx_t_6 = __pyx_t_5;
|
||||
for (__pyx_t_7 = 0; __pyx_t_7 < __pyx_t_6; __pyx_t_7+=1) {
|
||||
__pyx_v_i = __pyx_t_7;
|
||||
__pyx_t_6 = (__pyx_v_self->dbc[0]).msgs.size();
|
||||
__pyx_t_7 = __pyx_t_6;
|
||||
for (__pyx_t_8 = 0; __pyx_t_8 < __pyx_t_7; __pyx_t_8+=1) {
|
||||
__pyx_v_i = __pyx_t_8;
|
||||
|
||||
/* "opendbc/can/packer_pyx.pyx":26
|
||||
* self.packer = new cpp_CANPacker(dbc_name)
|
||||
@@ -2771,14 +2778,14 @@ static int __pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker___init__(struct __pyx_
|
||||
*
|
||||
* cdef vector[uint8_t] pack(self, addr, values):
|
||||
*/
|
||||
__pyx_t_8 = __pyx_v_msg.address;
|
||||
__pyx_t_9 = __pyx_v_msg.address;
|
||||
try {
|
||||
__pyx_t_1 = std::string(__pyx_v_msg.name);
|
||||
} catch(...) {
|
||||
__Pyx_CppExn2PyErr();
|
||||
__PYX_ERR(0, 27, __pyx_L1_error)
|
||||
}
|
||||
(__pyx_v_self->name_to_address[__pyx_t_1]) = __pyx_t_8;
|
||||
(__pyx_v_self->name_to_address[__pyx_t_1]) = __pyx_t_9;
|
||||
}
|
||||
|
||||
/* "opendbc/can/packer_pyx.pyx":19
|
||||
@@ -2793,8 +2800,8 @@ static int __pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker___init__(struct __pyx_
|
||||
__pyx_r = 0;
|
||||
goto __pyx_L0;
|
||||
__pyx_L1_error:;
|
||||
__Pyx_XDECREF(__pyx_t_3);
|
||||
__Pyx_XDECREF(__pyx_t_4);
|
||||
__Pyx_XDECREF(__pyx_t_5);
|
||||
__Pyx_AddTraceback("opendbc.can.packer_pyx.CANPacker.__init__", __pyx_clineno, __pyx_lineno, __pyx_filename);
|
||||
__pyx_r = -1;
|
||||
__pyx_L0:;
|
||||
|
||||
Binary file not shown.
+396
-382
File diff suppressed because it is too large
Load Diff
Binary file not shown.
@@ -22,3 +22,9 @@ nosetests.xml
|
||||
|
||||
# CTU info files generated by Cppcheck
|
||||
*.*.ctu-info
|
||||
|
||||
# safety coverage-related files
|
||||
*.gcda
|
||||
*.gcno
|
||||
tests/safety/coverage-out
|
||||
tests/safety/coverage.info
|
||||
|
||||
@@ -83,11 +83,10 @@ class PandaJungle(Panda):
|
||||
return McuType.H7
|
||||
raise ValueError(f"unknown HW type: {hw_type}")
|
||||
|
||||
def up_to_date(self) -> bool:
|
||||
current = self.get_signature()
|
||||
fn = os.path.join(FW_PATH, self.get_mcu_type().config.app_fn.replace("panda", "panda_jungle"))
|
||||
expected = Panda.get_signature_from_firmware(fn)
|
||||
return (current == expected)
|
||||
def up_to_date(self, fn=None) -> bool:
|
||||
if fn is None:
|
||||
fn = os.path.join(FW_PATH, self.get_mcu_type().config.app_fn.replace("panda", "panda_jungle"))
|
||||
return super().up_to_date(fn=fn)
|
||||
|
||||
# ******************* health *******************
|
||||
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1 +1 @@
|
||||
const uint8_t gitversion[] = "DEV-0ca26c43-DEBUG";
|
||||
const uint8_t gitversion[] = "DEV-bcce255c-DEBUG";
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1 +1 @@
|
||||
DEV-0ca26c43-DEBUG
|
||||
DEV-bcce255c-DEBUG
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -493,6 +493,10 @@ class Panda:
|
||||
pass
|
||||
|
||||
def flash(self, fn=None, code=None, reconnect=True):
|
||||
if self.up_to_date(fn=fn):
|
||||
logging.debug("flash: already up to date")
|
||||
return
|
||||
|
||||
if not fn:
|
||||
fn = os.path.join(FW_PATH, self._mcu_type.config.app_fn)
|
||||
assert os.path.isfile(fn)
|
||||
@@ -557,9 +561,10 @@ class Panda:
|
||||
serials = Panda.list()
|
||||
return True
|
||||
|
||||
def up_to_date(self) -> bool:
|
||||
def up_to_date(self, fn=None) -> bool:
|
||||
current = self.get_signature()
|
||||
fn = os.path.join(FW_PATH, self.get_mcu_type().config.app_fn)
|
||||
if fn is None:
|
||||
fn = os.path.join(FW_PATH, self.get_mcu_type().config.app_fn)
|
||||
expected = Panda.get_signature_from_firmware(fn)
|
||||
return (current == expected)
|
||||
|
||||
@@ -987,3 +992,7 @@ class Panda:
|
||||
|
||||
def force_relay_drive(self, intercept_relay_drive, ignition_relay_drive):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xc5, (int(intercept_relay_drive) | int(ignition_relay_drive) << 1), 0, b'')
|
||||
|
||||
def read_som_gpio(self) -> bool:
|
||||
r = self._handle.controlRead(Panda.REQUEST_IN, 0xc6, 0, 0, 1)
|
||||
return r[0] == 1
|
||||
|
||||
Binary file not shown.
@@ -20,7 +20,7 @@ from dataclasses import asdict, dataclass, replace
|
||||
from datetime import datetime
|
||||
from functools import partial
|
||||
from queue import Queue
|
||||
from typing import BinaryIO, Callable, Dict, List, Optional, Set, Union, cast
|
||||
from typing import Callable, Dict, List, Optional, Set, Union, cast
|
||||
|
||||
import requests
|
||||
from jsonrpc import JSONRPCResponseManager, dispatcher
|
||||
@@ -290,19 +290,15 @@ def _do_upload(upload_item: UploadItem, callback: Optional[Callable] = None) ->
|
||||
compress = True
|
||||
|
||||
with open(path, "rb") as f:
|
||||
data: BinaryIO
|
||||
content = f.read()
|
||||
if compress:
|
||||
cloudlog.event("athena.upload_handler.compress", fn=path, fn_orig=upload_item.path)
|
||||
compressed = bz2.compress(f.read())
|
||||
size = len(compressed)
|
||||
data = io.BytesIO(compressed)
|
||||
else:
|
||||
size = os.fstat(f.fileno()).st_size
|
||||
data = f
|
||||
content = bz2.compress(content)
|
||||
|
||||
with io.BytesIO(content) as data:
|
||||
return requests.put(upload_item.url,
|
||||
data=CallbackReader(data, callback, size) if callback else data,
|
||||
headers={**upload_item.headers, 'Content-Length': str(size)},
|
||||
data=CallbackReader(data, callback, len(content)) if callback else data,
|
||||
headers={**upload_item.headers, 'Content-Length': str(len(content))},
|
||||
timeout=30)
|
||||
|
||||
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -64,7 +64,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.mass = 2493.
|
||||
ret.minSteerSpeed = 14.5
|
||||
# Older EPS FW allow steer to zero
|
||||
if any(fw.ecu == 'eps' and fw.fwVersion[:4] <= b"6831" for fw in car_fw):
|
||||
if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw):
|
||||
ret.minSteerSpeed = 0.
|
||||
|
||||
elif candidate == CAR.RAM_HD:
|
||||
|
||||
@@ -272,6 +272,7 @@ FW_VERSIONS = {
|
||||
],
|
||||
(Ecu.eps, 0x75A, None): [
|
||||
b'21590101AA',
|
||||
b'21590101AB',
|
||||
b'68273275AF',
|
||||
b'68273275AG',
|
||||
b'68273275AH',
|
||||
|
||||
@@ -114,7 +114,7 @@ class CarHarness(EnumBase):
|
||||
hyundai_r = BaseCarHarness("Hyundai R connector")
|
||||
custom = BaseCarHarness("Developer connector")
|
||||
obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.long_obdc_cable], has_connector=False)
|
||||
gm = BaseCarHarness("GM connector")
|
||||
gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box])
|
||||
nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
mazda = BaseCarHarness("Mazda connector")
|
||||
|
||||
@@ -198,17 +198,22 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.centerToFront = ret.wheelbase * 0.5
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.ESCALADE_ESV:
|
||||
elif candidate in (CAR.ESCALADE_ESV, CAR.ESCALADE_ESV_2019):
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
ret.mass = 2739.
|
||||
ret.wheelbase = 3.302
|
||||
ret.steerRatio = 17.3
|
||||
ret.centerToFront = ret.wheelbase * 0.5
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
|
||||
ret.lateralTuning.pid.kf = 0.000045
|
||||
ret.tireStiffnessFactor = 1.0
|
||||
|
||||
if candidate == CAR.ESCALADE_ESV:
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
|
||||
ret.lateralTuning.pid.kf = 0.000045
|
||||
else:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.BOLT_EUV:
|
||||
ret.mass = 1669.
|
||||
ret.wheelbase = 2.63779
|
||||
|
||||
@@ -71,6 +71,7 @@ class CAR(StrEnum):
|
||||
BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
|
||||
ESCALADE = "CADILLAC ESCALADE 2017"
|
||||
ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
|
||||
ESCALADE_ESV_2019 = "CADILLAC ESCALADE ESV 2019"
|
||||
BOLT_EUV = "CHEVROLET BOLT EUV 2022"
|
||||
SILVERADO = "CHEVROLET SILVERADO 1500 2020"
|
||||
EQUINOX = "CHEVROLET EQUINOX 2019"
|
||||
@@ -106,6 +107,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
|
||||
CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
|
||||
CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
|
||||
CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
|
||||
CAR.ESCALADE_ESV_2019: GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"),
|
||||
CAR.BOLT_EUV: [
|
||||
GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
|
||||
GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
|
||||
@@ -198,6 +200,10 @@ FINGERPRINTS = {
|
||||
{
|
||||
309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8
|
||||
}],
|
||||
CAR.ESCALADE_ESV_2019: [
|
||||
{
|
||||
715: 8, 840: 5, 717: 5, 869: 4, 880: 6, 289: 8, 454: 8, 842: 5, 460: 5, 463: 3, 801: 8, 170: 8, 190: 6, 241: 6, 201: 8, 417: 7, 211: 2, 419: 1, 398: 8, 426: 7, 487: 8, 442: 8, 451: 8, 452: 8, 453: 6, 479: 3, 311: 8, 500: 6, 647: 6, 193: 8, 707: 8, 197: 8, 209: 7, 199: 4, 455: 7, 313: 8, 481: 7, 485: 8, 489: 8, 249: 8, 393: 7, 407: 7, 413: 8, 422: 4, 431: 8, 501: 8, 499: 3, 810: 8, 508: 8, 381: 8, 462: 4, 532: 6, 562: 8, 386: 8, 761: 7, 573: 1, 554: 3, 719: 5, 560: 8, 1279: 4, 388: 8, 288: 5, 1005: 6, 497: 8, 844: 8, 961: 8, 967: 4, 977: 8, 979: 8, 985: 5, 1001: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 510: 8, 866: 4, 304: 1, 969: 8, 384: 4, 1033: 7, 1009: 8, 1034: 7, 1296: 4, 1930: 7, 1105: 5, 1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7
|
||||
}],
|
||||
CAR.BOLT_EUV: [
|
||||
{
|
||||
189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
|
||||
|
||||
@@ -129,8 +129,8 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
|
||||
],
|
||||
CAR.CIVIC_BOSCH_DIESEL: None, # same platform
|
||||
CAR.CIVIC_2022: [
|
||||
HondaCarInfo("Honda Civic 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
|
||||
HondaCarInfo("Honda Civic Hatchback 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
|
||||
HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
|
||||
HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
|
||||
],
|
||||
CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
|
||||
CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
|
||||
@@ -1519,6 +1519,7 @@ FW_VERSIONS = {
|
||||
b'77959-T47-A940\x00\x00',
|
||||
b'77959-T47-A950\x00\x00',
|
||||
b'77959-T20-M820\x00\x00',
|
||||
b'77959-T20-A980\x00\x00',
|
||||
],
|
||||
(Ecu.combinationMeter, 0x18DA60F1, None): [
|
||||
b'78108-T21-A220\x00\x00',
|
||||
@@ -1527,6 +1528,7 @@ FW_VERSIONS = {
|
||||
b'78108-T21-A230\x00\x00',
|
||||
b'78108-T22-A020\x00\x00',
|
||||
b'78108-T21-MB10\x00\x00',
|
||||
b'78108-T21-A740\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36161-T20-A070\x00\x00',
|
||||
@@ -1554,6 +1556,7 @@ FW_VERSIONS = {
|
||||
b'37805-64A-A540\x00\x00',
|
||||
b'37805-64A-A620\x00\x00',
|
||||
b'37805-64D-P510\x00\x00',
|
||||
b'37805-64S-AA10\x00\x00',
|
||||
],
|
||||
},
|
||||
}
|
||||
|
||||
@@ -3,8 +3,8 @@ from panda import Panda
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
|
||||
from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
|
||||
EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, \
|
||||
Buttons
|
||||
CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
|
||||
UNSUPPORTED_LONGITUDINAL_CAR, Buttons
|
||||
from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
|
||||
from openpilot.selfdrive.car import create_button_events, get_safety_config
|
||||
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
|
||||
@@ -88,7 +88,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.wheelbase = 2.90
|
||||
ret.steerRatio = 15.6 * 1.15
|
||||
ret.tireStiffnessFactor = 0.63
|
||||
elif candidate == CAR.ELANTRA:
|
||||
elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
|
||||
ret.mass = 1275.
|
||||
ret.wheelbase = 2.7
|
||||
ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
|
||||
@@ -260,7 +260,8 @@ class CarInterface(CarInterfaceBase):
|
||||
if candidate in CANFD_CAR:
|
||||
ret.longitudinalTuning.kpV = [0.1]
|
||||
ret.longitudinalTuning.kiV = [0.0]
|
||||
ret.experimentalLongitudinalAvailable = candidate in (HYBRID_CAR | EV_CAR) and candidate not in CANFD_RADAR_SCC_CAR
|
||||
ret.experimentalLongitudinalAvailable = (candidate in (HYBRID_CAR | EV_CAR) and candidate not in
|
||||
(CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR))
|
||||
else:
|
||||
ret.longitudinalTuning.kpV = [0.5]
|
||||
ret.longitudinalTuning.kiV = [0.0]
|
||||
|
||||
@@ -8,6 +8,7 @@ from openpilot.selfdrive.car.hyundai.values import DBC
|
||||
RADAR_START_ADDR = 0x500
|
||||
RADAR_MSG_COUNT = 32
|
||||
|
||||
# POC for parsing corner radars: https://github.com/commaai/openpilot/pull/24221/
|
||||
|
||||
def get_radar_can_parser(CP):
|
||||
if DBC[CP.carFingerprint]['radar'] is None:
|
||||
|
||||
@@ -10,10 +10,10 @@ from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.selfdrive.car import dbc_dict
|
||||
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
|
||||
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
|
||||
from openpilot.common.params import Params
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
|
||||
class CarControllerParams:
|
||||
ACCEL_MIN = -3.5 # m/s
|
||||
ACCEL_MAX = 2.0 # m/s
|
||||
@@ -28,24 +28,23 @@ class CarControllerParams:
|
||||
self.STEER_STEP = 1 # 100 Hz
|
||||
|
||||
if CP.carFingerprint in CANFD_CAR:
|
||||
if Params().get_bool("dp_hkg_tacobell_lat"):
|
||||
self.STEER_MAX = 384 if vEgoRaw < 11. else 330
|
||||
self.STEER_DRIVER_ALLOWANCE = 350
|
||||
self.STEER_DRIVER_MULTIPLIER = 2
|
||||
self.STEER_THRESHOLD = 350
|
||||
self.STEER_DELTA_UP = 10 if vEgoRaw < 11. else 2
|
||||
self.STEER_DELTA_DOWN = 10 if vEgoRaw < 11. else 3
|
||||
else:
|
||||
self.STEER_MAX = 270
|
||||
self.STEER_DRIVER_ALLOWANCE = 250
|
||||
self.STEER_DRIVER_MULTIPLIER = 2
|
||||
self.STEER_THRESHOLD = 250
|
||||
self.STEER_DELTA_UP = 2
|
||||
self.STEER_DELTA_DOWN = 3
|
||||
# self.STEER_MAX = 270
|
||||
# self.STEER_DRIVER_ALLOWANCE = 250
|
||||
# self.STEER_DRIVER_MULTIPLIER = 2
|
||||
# self.STEER_THRESHOLD = 250
|
||||
# self.STEER_DELTA_UP = 2
|
||||
# self.STEER_DELTA_DOWN = 3
|
||||
# rick - taco tune
|
||||
self.STEER_MAX = 384 if vEgoRaw < 11. else 330
|
||||
self.STEER_DRIVER_ALLOWANCE = 350
|
||||
self.STEER_DRIVER_MULTIPLIER = 2
|
||||
self.STEER_THRESHOLD = 350
|
||||
self.STEER_DELTA_UP = 10 if vEgoRaw < 11. else 2
|
||||
self.STEER_DELTA_DOWN = 10 if vEgoRaw < 11. else 3
|
||||
|
||||
# To determine the limit for your car, find the maximum value that the stock LKAS will request.
|
||||
# If the max stock LKAS request is <384, add your car to this list.
|
||||
elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.IONIQ,
|
||||
elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.IONIQ,
|
||||
CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
|
||||
CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_SORENTO):
|
||||
self.STEER_MAX = 255
|
||||
@@ -80,6 +79,7 @@ class CAR(StrEnum):
|
||||
AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN"
|
||||
AZERA_HEV_6TH_GEN = "HYUNDAI AZERA HYBRID 6TH GEN"
|
||||
ELANTRA = "HYUNDAI ELANTRA 2017"
|
||||
ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT"
|
||||
ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
|
||||
ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021"
|
||||
HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016"
|
||||
@@ -168,7 +168,11 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
|
||||
CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
CAR.AZERA_HEV_6TH_GEN: HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
CAR.ELANTRA: [
|
||||
HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
|
||||
# TODO: 2017-18 could be Hyundai G
|
||||
HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
|
||||
HyundaiCarInfo("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
|
||||
],
|
||||
CAR.ELANTRA_GT_I30: [
|
||||
HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
],
|
||||
@@ -224,7 +228,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
|
||||
HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
||||
HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
||||
],
|
||||
CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
||||
CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
||||
CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
||||
CAR.CUSTIN_1ST_GEN: HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
|
||||
@@ -233,7 +237,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
|
||||
HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
|
||||
HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
],
|
||||
CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_K8_HEV_1ST_GEN: HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
|
||||
CAR.KIA_NIRO_EV: [
|
||||
@@ -265,7 +269,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
|
||||
HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
|
||||
],
|
||||
CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
|
||||
CAR.KIA_SORENTO_HEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Hybrid 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_SORENTO_HEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
|
||||
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
|
||||
CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
|
||||
@@ -306,9 +310,6 @@ class Buttons:
|
||||
CANCEL = 4 # on newer models, this is a pause/resume button
|
||||
|
||||
FINGERPRINTS = {
|
||||
CAR.ELANTRA: [{
|
||||
66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 832: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
|
||||
}],
|
||||
CAR.HYUNDAI_GENESIS: [{
|
||||
67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4
|
||||
},
|
||||
@@ -408,7 +409,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
|
||||
# to distinguish between hybrid and ICE. All EVs so far are either exclusively
|
||||
# electric or specify electric in the platform code.
|
||||
# TODO: whitelist platforms that we've seen hybrid and ICE versions of that have these specifiers
|
||||
fuzzy_platform_blacklist = {str(car) for car in set(CANFD_CAR - EV_CAR)}
|
||||
fuzzy_platform_blacklist = {str(c) for c in set(CANFD_CAR - EV_CAR)}
|
||||
candidates: Set[str] = set()
|
||||
|
||||
for candidate, fws in FW_VERSIONS.items():
|
||||
@@ -1415,6 +1416,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8799110L2100\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2100 ',
|
||||
b'\xf1\x00DL3_ SCC F-CUP 1.00 1.03 99110-L2100 ',
|
||||
b'\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2100 ',
|
||||
b'\xf1\x00DL3_ SCC FHCUP 1.00 1.04 99110-L2100 ',
|
||||
],
|
||||
(Ecu.eps, 0x7D4, None): [
|
||||
b'\xf1\x8756310-L3110\xf1\000DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101',
|
||||
@@ -1422,11 +1424,13 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8757700-L3000\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102',
|
||||
b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
|
||||
b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L2220 4DLDC102',
|
||||
b'\xf1\x00DL3 MDPS C 1.00 1.02 56310L3220\x00 4DLAC102',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x7C4, None): [
|
||||
b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.03 99210-L3000 200915',
|
||||
b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.04 99210-L3000 210208',
|
||||
b'\xf1\x00DL3 MFC AT KOR LHD 1.00 1.04 99210-L2000 210527',
|
||||
b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.05 99210-L3000 211222',
|
||||
],
|
||||
(Ecu.abs, 0x7D1, None): [
|
||||
b'\xf1\000DL ESC \006 101 \004\002 58910-L3200',
|
||||
@@ -1435,12 +1439,14 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8758910-L3600\xf1\x00DL ESC \x03 100 \x08\x02 58910-L3600',
|
||||
b'\xf1\x00DL ESC \t 100 \x06\x02 58910-L3800',
|
||||
b'\xf1\x00DL ESC \x01 104 \x07\x12 58910-L2200',
|
||||
b'\xf1\x00DL ESC \x06 103"\x08\x06 58910-L3200',
|
||||
],
|
||||
(Ecu.engine, 0x7E0, None): [
|
||||
b'\xf1\x87391212MKT0',
|
||||
b'\xf1\x87391212MKV0',
|
||||
b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DLDWN5TMDCXXXJ1B',
|
||||
b'\xf1\x81HM6M2_0a0_DQ0',
|
||||
b'\xf1\x87391212MKT3',
|
||||
],
|
||||
(Ecu.transmission, 0x7E1, None): [
|
||||
b'\xf1\000bcsh8p54 U913\000\000\000\000\000\000TDL2T16NB1ia\v\xb8',
|
||||
@@ -1450,6 +1456,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x87954A02N300\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 WDL3T25XXX730NS2b\x1f\xb8%',
|
||||
b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
|
||||
b'\xf1\x00HT6TA261BLHT6TAB00A1SDL0C20KS0\x00\x00\x00\x00\x00\x00\\\x9f\xa5\x15',
|
||||
b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB2.\x13\xf6\xed',
|
||||
],
|
||||
},
|
||||
CAR.KIA_K5_HEV_2020: {
|
||||
@@ -1506,6 +1513,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010',
|
||||
b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010',
|
||||
b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010',
|
||||
b'\xf1\x00OS IEB \x03 102"\x05\x16 58520-K4010',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x7C4, None): [
|
||||
b'\xf1\x00OSP LKA AT CND LHD 1.00 1.02 99211-J9110 802',
|
||||
@@ -1519,6 +1527,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102',
|
||||
b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102',
|
||||
b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102',
|
||||
b'\xf1\x00OSP MDPS C 1.00 1.02 56310-K4271 4OEPC102',
|
||||
b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4971\x00 4OEPC102',
|
||||
b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4261\x00 4OEPC102',
|
||||
],
|
||||
@@ -1702,6 +1711,33 @@ FW_VERSIONS = {
|
||||
],
|
||||
},
|
||||
CAR.ELANTRA: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00ADP LKAS AT USA LHD 1.00 1.03 99211-F2000 X31',
|
||||
b'\xf1\x00AD LKAS AT USA LHD 1.01 1.01 95895-F2000 251',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD(\xfcA\x9d',
|
||||
b'\xf1\x006T6K0_C2\x00\x006T6S2051\x00\x00TAD0N20NSD\x00\x00\x00\x00',
|
||||
b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\x00\x00\x00\x00',
|
||||
b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20NS2\xc5\x92\x9e\x8a',
|
||||
b'\xf1\x006T6J0_C2\x00\x006T6F0051\x00\x00TAD0N20SS2.~\x90\x87',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xf1\x8161698051\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'\xf1\x8161657051\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'\xf1\x816165D051\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'\xf1\x816165E051\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.abs, 0x7d1, None): [
|
||||
b'\xf1\x00AD ESC \x11 11 \x18\x05\x06 58910-F2840',
|
||||
b'\xf1\x00AD ESC \x11 12 \x15\t\t 58920-F2810',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00AD__ SCC H-CUP 1.00 1.00 99110-F2100 ',
|
||||
b'\xf1\x00AD__ SCC H-CUP 1.00 1.01 96400-F2100 ',
|
||||
],
|
||||
},
|
||||
CAR.ELANTRA_GT_I30: {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00PD LKAS AT USA LHD 1.01 1.01 95740-G3100 A54',
|
||||
b'\xf1\x00PD LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51',
|
||||
@@ -1934,6 +1970,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A',
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9250 14W',
|
||||
b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E',
|
||||
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9260 14Y',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ',
|
||||
@@ -2039,9 +2076,11 @@ FW_VERSIONS = {
|
||||
(Ecu.fwdCamera, 0x7c4, None): [
|
||||
b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.12 99210-P2000 230331',
|
||||
b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.11 99210-P2000 211217',
|
||||
b'\xf1\x00MQ4HMFC AT KOR LHD 1.00 1.04 99210-P2000 200330',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x7d0, None): [
|
||||
b'\xf1\x00MQhe SCC FHCUP 1.00 1.07 99110-P4000 ',
|
||||
b'\xf1\x00MQhe SCC FHCUP 1.00 1.04 99110-P4000 ',
|
||||
],
|
||||
},
|
||||
CAR.KIA_K8_HEV_1ST_GEN: {
|
||||
@@ -2063,7 +2102,7 @@ CHECKSUM = {
|
||||
|
||||
CAN_GEARS = {
|
||||
# which message has the gear. hybrid and EV use ELECT_GEAR
|
||||
"use_cluster_gears": {CAR.ELANTRA, CAR.KONA},
|
||||
"use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
|
||||
"use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
|
||||
}
|
||||
|
||||
@@ -2074,7 +2113,11 @@ CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCS
|
||||
|
||||
# The radar does SCC on these cars when HDA I, rather than the camera
|
||||
CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80,
|
||||
CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.IONIQ_6}
|
||||
CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
|
||||
|
||||
# These CAN FD cars do not accept communication control to disable the ADAS ECU,
|
||||
# responds with 0x7F2822 - 'conditions not correct'
|
||||
CANFD_UNSUPPORTED_LONGITUDINAL_CAR = {CAR.IONIQ_6, CAR.KONA_EV_2ND_GEN}
|
||||
|
||||
# The camera does SCC on these cars, rather than the radar
|
||||
CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
|
||||
@@ -2092,7 +2135,7 @@ EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR
|
||||
# these cars require a special panda safety mode due to missing counters and checksums in the messages
|
||||
LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KIA_OPTIMA_G4,
|
||||
CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022,
|
||||
CAR.KIA_OPTIMA_H}
|
||||
CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}
|
||||
|
||||
# these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc.
|
||||
UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL,
|
||||
@@ -2104,6 +2147,7 @@ DBC = {
|
||||
CAR.AZERA_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.AZERA_HEV_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None),
|
||||
CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None),
|
||||
|
||||
@@ -2,7 +2,8 @@ from openpilot.common.numpy_fast import clip, interp
|
||||
from opendbc.can.packer import CANPacker
|
||||
from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
|
||||
from openpilot.selfdrive.car.subaru import subarucan
|
||||
from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, STEER_RATE_LIMITED, CanBus, CarControllerParams, SubaruFlags
|
||||
from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_ES_ADDR, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, STEER_RATE_LIMITED, \
|
||||
CanBus, CarControllerParams, SubaruFlags
|
||||
|
||||
# FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and
|
||||
# involves the total steering angle change rather than rate, but these limits work well for now
|
||||
@@ -119,6 +120,21 @@ class CarController:
|
||||
bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main
|
||||
can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg["COUNTER"] + 1, CS.es_distance_msg, bus, pcm_cancel_cmd))
|
||||
|
||||
if self.CP.flags & SubaruFlags.DISABLE_EYESIGHT:
|
||||
# Tester present (keeps eyesight disabled)
|
||||
if self.frame % 100 == 0:
|
||||
can_sends.append([GLOBAL_ES_ADDR, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", CanBus.camera])
|
||||
|
||||
# Create all of the other eyesight messages to keep the rest of the car happy when eyesight is disabled
|
||||
if self.frame % 5 == 0:
|
||||
can_sends.append(subarucan.create_es_highbeamassist(self.packer))
|
||||
|
||||
if self.frame % 10 == 0:
|
||||
can_sends.append(subarucan.create_es_static_1(self.packer))
|
||||
|
||||
if self.frame % 2 == 0:
|
||||
can_sends.append(subarucan.create_es_static_2(self.packer))
|
||||
|
||||
new_actuators = actuators.copy()
|
||||
new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
|
||||
new_actuators.steerOutputCan = self.apply_steer_last
|
||||
|
||||
@@ -1,8 +1,9 @@
|
||||
from cereal import car
|
||||
from panda import Panda
|
||||
from openpilot.selfdrive.car import get_safety_config
|
||||
from openpilot.selfdrive.car.disable_ecu import disable_ecu
|
||||
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
|
||||
from openpilot.selfdrive.car.subaru.values import CAR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, SubaruFlags
|
||||
from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, SubaruFlags
|
||||
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
@@ -120,6 +121,9 @@ class CarInterface(CarInterfaceBase):
|
||||
#ret.experimentalLongitudinalAvailable = candidate not in (GLOBAL_GEN2 | PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS)
|
||||
ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
|
||||
|
||||
if candidate in GLOBAL_GEN2 and ret.openpilotLongitudinalControl:
|
||||
ret.flags |= SubaruFlags.DISABLE_EYESIGHT
|
||||
|
||||
if ret.openpilotLongitudinalControl:
|
||||
ret.longitudinalTuning.kpBP = [0., 5., 35.]
|
||||
ret.longitudinalTuning.kpV = [0.8, 1.0, 1.5]
|
||||
@@ -140,5 +144,10 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
return ret
|
||||
|
||||
@staticmethod
|
||||
def init(CP, logcan, sendcan):
|
||||
if CP.flags & SubaruFlags.DISABLE_EYESIGHT:
|
||||
disable_ecu(logcan, sendcan, bus=2, addr=GLOBAL_ES_ADDR, com_cont_req=b'\x28\x03\x01')
|
||||
|
||||
def apply(self, c, now_nanos):
|
||||
return self.CC.update(c, self.CS, now_nanos)
|
||||
|
||||
@@ -243,6 +243,30 @@ def create_es_infotainment(packer, frame, es_infotainment_msg, visual_alert):
|
||||
return packer.make_can_msg("ES_Infotainment", CanBus.main, values)
|
||||
|
||||
|
||||
def create_es_highbeamassist(packer):
|
||||
values = {
|
||||
"HBA_Available": False,
|
||||
}
|
||||
|
||||
return packer.make_can_msg("ES_HighBeamAssist", CanBus.main, values)
|
||||
|
||||
|
||||
def create_es_static_1(packer):
|
||||
values = {
|
||||
"SET_3": 3,
|
||||
}
|
||||
|
||||
return packer.make_can_msg("ES_STATIC_1", CanBus.main, values)
|
||||
|
||||
|
||||
def create_es_static_2(packer):
|
||||
values = {
|
||||
"SET_3": 3,
|
||||
}
|
||||
|
||||
return packer.make_can_msg("ES_STATIC_2", CanBus.main, values)
|
||||
|
||||
|
||||
# *** Subaru Pre-global ***
|
||||
|
||||
def subaru_preglobal_checksum(packer, values, addr, checksum_byte=7):
|
||||
|
||||
@@ -43,18 +43,23 @@ class CarControllerParams:
|
||||
|
||||
RPM_INACTIVE = 600 # a good base rpm for zero acceleration
|
||||
|
||||
THROTTLE_LOOKUP_BP = [0, 1]
|
||||
THROTTLE_LOOKUP_BP = [0, 2]
|
||||
THROTTLE_LOOKUP_V = [THROTTLE_INACTIVE, THROTTLE_MAX]
|
||||
|
||||
RPM_LOOKUP_BP = [0, 1]
|
||||
RPM_LOOKUP_BP = [0, 2]
|
||||
RPM_LOOKUP_V = [RPM_INACTIVE, RPM_MAX]
|
||||
|
||||
BRAKE_LOOKUP_BP = [-1, 0]
|
||||
BRAKE_LOOKUP_BP = [-3.5, 0]
|
||||
BRAKE_LOOKUP_V = [BRAKE_MAX, BRAKE_MIN]
|
||||
|
||||
|
||||
class SubaruFlags(IntFlag):
|
||||
SEND_INFOTAINMENT = 1
|
||||
DISABLE_EYESIGHT = 2
|
||||
|
||||
|
||||
GLOBAL_ES_ADDR = 0x787
|
||||
GEN2_ES_BUTTONS_DID = b'\x11\x30'
|
||||
|
||||
|
||||
class CanBus:
|
||||
@@ -324,6 +329,7 @@ FW_VERSIONS = {
|
||||
b'\x00\x00eq\x1f@ "',
|
||||
b'\x00\x00eq\x00\x00\x00\x00',
|
||||
b'\x00\x00e\x8f\x00\x00\x00\x00',
|
||||
b'\x00\x00e\x92\x00\x00\x00\x00',
|
||||
b'\x00\x00e\xa4\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
@@ -332,6 +338,7 @@ FW_VERSIONS = {
|
||||
b'\xca!`0\a',
|
||||
b'\xcc\"f0\a',
|
||||
b'\xcc!fp\a',
|
||||
b'\xcc!`p\x07',
|
||||
b'\xca!f@\x07',
|
||||
b'\xca!fp\x07',
|
||||
b'\xf3"f@\x07',
|
||||
@@ -344,6 +351,7 @@ FW_VERSIONS = {
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xe6\xf5\004\000\000',
|
||||
b'\xe6\xf5$\000\000',
|
||||
b'\xe7\xf5\x04\x00\x00',
|
||||
b'\xe7\xf6B0\000',
|
||||
b'\xe7\xf5D0\000',
|
||||
b'\xf1\x00\xd7\x10@',
|
||||
@@ -436,6 +444,7 @@ FW_VERSIONS = {
|
||||
(Ecu.abs, 0x7b0, None): [
|
||||
b'\x7d\x97\x14\x40',
|
||||
b'\xf1\x00\xbb\x0c\x04',
|
||||
b'm\x97\x14@',
|
||||
],
|
||||
(Ecu.eps, 0x746, None): [
|
||||
b'}\xc0\x10\x00',
|
||||
@@ -444,13 +453,15 @@ FW_VERSIONS = {
|
||||
(Ecu.fwdCamera, 0x787, None): [
|
||||
b'\x00\x00\x64\x35\x1f\x40\x20\x09',
|
||||
b'\x00\x00c\xe9\x1f@ \x03',
|
||||
b'\x00\x00d\xd3\x1f@ \t'
|
||||
b'\x00\x00d\xd3\x1f@ \t',
|
||||
b'\x00\x00c\xe9\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xba"@p\a',
|
||||
b'\xa7)\xa0q\a',
|
||||
b'\xf1\x82\xa7)\xa0q\a',
|
||||
b'\xba"@@\a',
|
||||
b'\xa7"@p\x07',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xdc\xf2\x60\x60\x00',
|
||||
@@ -459,6 +470,7 @@ FW_VERSIONS = {
|
||||
b'\xdc\xf2`\x81\000',
|
||||
b'\xdc\xf2`\x80\x00',
|
||||
b'\x1a\xf6F`\x00',
|
||||
b'\xda\xf2`\x80\x00',
|
||||
],
|
||||
},
|
||||
CAR.LEGACY_PREGLOBAL: {
|
||||
@@ -467,6 +479,7 @@ FW_VERSIONS = {
|
||||
b'[\xba\xc4\x03',
|
||||
b'{\x97D\x00',
|
||||
b'[\x97D\000',
|
||||
b'k\x9aD\x00',
|
||||
],
|
||||
(Ecu.eps, 0x746, None): [
|
||||
b'[\xb0\x00\x01',
|
||||
@@ -483,12 +496,14 @@ FW_VERSIONS = {
|
||||
b'\xa0+@p\x07',
|
||||
b'\xb4"@0\x07',
|
||||
b'\xa0"@q\a',
|
||||
b'\xab+@p\x07',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xbe\xf2\x00p\x00',
|
||||
b'\xbf\xfb\xc0\x80\x00',
|
||||
b'\xbd\xf2\x00`\x00',
|
||||
b'\xbf\xf2\000\x80\000',
|
||||
b'\xbe\xfb\xc0p\x00',
|
||||
],
|
||||
},
|
||||
CAR.OUTBACK_PREGLOBAL: {
|
||||
@@ -532,6 +547,7 @@ FW_VERSIONS = {
|
||||
b'\xb4"@r\a',
|
||||
b'\xa0+@@\x07',
|
||||
b'\xa0\"@\x80\a',
|
||||
b'\xa0*@u\x07',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xbd\xfb\xe0\x80\x00',
|
||||
@@ -625,6 +641,7 @@ FW_VERSIONS = {
|
||||
b'\xbc"`q\x07',
|
||||
b'\xe3,\xa0@\x07',
|
||||
b'\xbc,\xa0u\x07',
|
||||
b'\xde,\xa0@\x07',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xa5\xfe\xf7@\x00',
|
||||
@@ -668,19 +685,23 @@ FW_VERSIONS = {
|
||||
},
|
||||
CAR.OUTBACK_2023: {
|
||||
(Ecu.abs, 0x7b0, None): [
|
||||
b'\xa1 #\x14\x00',
|
||||
b'\xa1 #\x17\x00',
|
||||
],
|
||||
(Ecu.eps, 0x746, None): [
|
||||
b'+\xc0\x10\x11\x00',
|
||||
b'+\xc0\x12\x11\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x787, None): [
|
||||
b'\t!\x08\x046\x05!\x08\x01/',
|
||||
],
|
||||
(Ecu.engine, 0x7a2, None): [
|
||||
b'\xed,\xa0q\x07',
|
||||
b'\xed,\xa2q\x07',
|
||||
],
|
||||
(Ecu.transmission, 0x7a3, None): [
|
||||
b'\xa8\x8e\xf41\x00',
|
||||
b'\xa8\xfe\xf41\x00',
|
||||
]
|
||||
}
|
||||
}
|
||||
@@ -709,5 +730,5 @@ PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREG
|
||||
HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}
|
||||
|
||||
# Cars that temporarily fault when steering angle rate is greater than some threshold.
|
||||
# Appears to be all cars that started production after 2020
|
||||
STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020}
|
||||
# Appears to be all torque-based cars produced around 2019 - present
|
||||
STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020, CAR.FORESTER}
|
||||
|
||||
@@ -133,7 +133,7 @@ class TestCarInterfaces(unittest.TestCase):
|
||||
|
||||
# Make sure we can combine dicts
|
||||
ret = get_interface_attr('DBC', combine_brands=True)
|
||||
self.assertGreaterEqual(len(ret), 170)
|
||||
self.assertGreaterEqual(len(ret), 160)
|
||||
|
||||
# We don't support combining non-dicts
|
||||
ret = get_interface_attr('CAR', combine_brands=True)
|
||||
|
||||
@@ -14,7 +14,6 @@ SUBARU ASCENT 2023: [.nan, 3.0, .nan]
|
||||
|
||||
# Toyota LTA also has torque
|
||||
TOYOTA RAV4 2023: [.nan, 3.0, .nan]
|
||||
TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan]
|
||||
|
||||
# Tesla has high torque
|
||||
TESLA AP1 MODEL S: [.nan, 2.5, .nan]
|
||||
@@ -37,6 +36,7 @@ RAM 1500 5TH GEN: [2.0, 2.0, 0.05]
|
||||
RAM HD 5TH GEN: [1.4, 1.4, 0.05]
|
||||
SUBARU OUTBACK 6TH GEN: [2.0, 2.0, 0.2]
|
||||
CADILLAC ESCALADE 2017: [1.899999976158142, 1.842270016670227, 0.1120000034570694]
|
||||
CADILLAC ESCALADE ESV 2019: [1.15, 1.3, 0.2]
|
||||
CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
|
||||
CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
|
||||
CHEVROLET TRAILBLAZER 2021: [1.33, 1.9, 0.16]
|
||||
|
||||
@@ -45,15 +45,12 @@ KIA K5 2021: [2.405339728085138, 1.460032270828705, 0.11650989850813716]
|
||||
KIA NIRO EV 2020: [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
|
||||
KIA SORENTO GT LINE 2018: [2.464854685101844, 1.5335274218367956, 0.12056170567599558]
|
||||
KIA STINGER GT2 2018: [2.7499043387418967, 1.849652021986449, 0.12048334239559202]
|
||||
LEXUS ES 2019: [1.935835, 2.134803912579666, 0.093439]
|
||||
LEXUS ES HYBRID 2019: [2.135678, 1.863360677810788, 0.109627]
|
||||
LEXUS NX 2018: [2.302625600642627, 2.1382378491466625, 0.14986840878892838]
|
||||
LEXUS ES 2019: [2.0357564999999997, 1.999082295195227, 0.101533]
|
||||
LEXUS NX 2018: [2.3525924753753613, 1.9731412277641067, 0.15168101064205927]
|
||||
LEXUS NX 2020: [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
|
||||
LEXUS NX HYBRID 2018: [2.4025593501080955, 1.8080446063815507, 0.15349361249519017]
|
||||
LEXUS RX 2016: [1.5876816543130423, 1.0427699298523752, 0.21334066732397142]
|
||||
LEXUS RX 2020: [1.5228812994274734, 1.431102486563665, 0.164117]
|
||||
LEXUS RX 2020: [1.5375561442049257, 1.343166476215164, 0.1931062001527557]
|
||||
LEXUS RX HYBRID 2017: [1.6984261557042386, 1.3211501880159107, 0.1820354534928893]
|
||||
LEXUS RX HYBRID 2020: [1.5522309889823778, 1.255230465866663, 0.2220954003055114]
|
||||
MAZDA CX-9 2021: [1.7601682915983443, 1.0889677335154337, 0.17713792194297195]
|
||||
SKODA SUPERB 3RD GEN: [1.166437404652981, 1.1686163012668165, 0.12194533036948708]
|
||||
SUBARU FORESTER 2019: [3.6617001649776793, 2.342197172531713, 0.11075960785398745]
|
||||
@@ -64,30 +61,23 @@ TOYOTA AVALON 2019: [1.7036141952825095, 1.239619084240008, 0.08459830394899492]
|
||||
TOYOTA AVALON 2022: [2.3154403649717357, 2.7777922854327124, 0.11453999639164605]
|
||||
TOYOTA C-HR 2018: [1.5591084333664578, 1.271271459066948, 0.20259087058453193]
|
||||
TOYOTA C-HR 2021: [1.7678810166088303, 1.3742176337919942, 0.2319674583741509]
|
||||
TOYOTA CAMRY 2018: [2.1172995371905015, 1.7156177222420887, 0.105192506]
|
||||
TOYOTA CAMRY 2021: [2.446083, 2.3476510120007434, 0.121615]
|
||||
TOYOTA CAMRY HYBRID 2018: [1.996333, 1.7996193116697359, 0.112565]
|
||||
TOYOTA CAMRY HYBRID 2021: [2.263582, 2.3901492458927986, 0.115257]
|
||||
TOYOTA CAMRY 2018: [2.0568162685952505, 1.7576185169559122, 0.108878753]
|
||||
TOYOTA CAMRY 2021: [2.3548324999999997, 2.368900128946771, 0.118436]
|
||||
TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
|
||||
TOYOTA COROLLA HYBRID TSS2 2019: [1.9079729107361805, 1.8118712531729109, 0.22251440891543514]
|
||||
TOYOTA COROLLA TSS2 2019: [2.0742917676766712, 1.9258612322678952, 0.16888685704519352]
|
||||
TOYOTA COROLLA TSS2 2019: [1.991132339206426, 1.868866242720403, 0.19570063298031432]
|
||||
TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796]
|
||||
TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054457]
|
||||
TOYOTA HIGHLANDER 2020: [1.9617570834136164, 1.8611643317268927, 0.14519673256119725]
|
||||
TOYOTA HIGHLANDER HYBRID 2018: [1.752033, 1.6433903296845025, 0.144600]
|
||||
TOYOTA HIGHLANDER HYBRID 2020: [1.901174, 2.104015182965606, 0.14447040132184993]
|
||||
TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
|
||||
TOYOTA PRIUS 2017: [1.60, 1.5023147650693636, 0.151515]
|
||||
TOYOTA PRIUS TSS2 2021: [1.972600, 1.9104337425537743, 0.170968]
|
||||
TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
|
||||
TOYOTA RAV4 2019: [2.331293, 2.0993589721530252, 0.129822]
|
||||
TOYOTA RAV4 2019 8965: [2.5084506298290377, 2.4216520504763475, 0.11992835265067918]
|
||||
TOYOTA RAV4 2019 x02: [2.7209621987605024, 2.2148637653781593, 0.10862567142268198]
|
||||
TOYOTA RAV4 2019: [2.279239424615458, 2.087101966779332, 0.13682208413446817]
|
||||
TOYOTA RAV4 2019 8965: [2.3080951748210854, 2.1189367835820603, 0.12942102328134028]
|
||||
TOYOTA RAV4 2019 x02: [2.762293266024922, 2.243615865975329, 0.11113568178327986]
|
||||
TOYOTA RAV4 HYBRID 2017: [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
|
||||
TOYOTA RAV4 HYBRID 2019: [2.2271858492309153, 2.074844961405639, 0.14382216826893632]
|
||||
TOYOTA RAV4 HYBRID 2019 8965: [2.1077397198131336, 1.8162215166877735, 0.13891369391200137]
|
||||
TOYOTA RAV4 HYBRID 2019 x02: [2.803624333289342, 2.272367966572498, 0.11364569214387774]
|
||||
TOYOTA RAV4 HYBRID 2022: [2.241883248393209, 1.9304407208090029, 0.112174]
|
||||
TOYOTA RAV4 HYBRID 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736]
|
||||
TOYOTA RAV4 2022: [2.241883248393209, 1.9304407208090029, 0.112174]
|
||||
TOYOTA RAV4 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736]
|
||||
TOYOTA SIENNA 2018: [1.689726, 1.3208264576110418, 0.140456]
|
||||
VOLKSWAGEN ARTEON 1ST GEN: [1.45136518053819, 1.3639364049316804, 0.23806361745695032]
|
||||
VOLKSWAGEN ATLAS 1ST GEN: [1.4677006726964945, 1.6733266634075656, 0.12959584092073367]
|
||||
|
||||
@@ -4,20 +4,13 @@ MAZDA CX-5: MAZDA CX-9 2021
|
||||
MAZDA CX-5 2022: MAZDA CX-9 2021
|
||||
MAZDA CX-9: MAZDA CX-9 2021
|
||||
|
||||
TOYOTA ALPHARD HYBRID 2021 : TOYOTA SIENNA 2018
|
||||
TOYOTA ALPHARD 2020: TOYOTA SIENNA 2018
|
||||
TOYOTA PRIUS v 2017 : TOYOTA PRIUS 2017
|
||||
TOYOTA RAV4 2022: TOYOTA RAV4 HYBRID 2022
|
||||
TOYOTA C-HR HYBRID 2018: TOYOTA C-HR 2018
|
||||
TOYOTA C-HR HYBRID 2022: TOYOTA C-HR 2021
|
||||
LEXUS IS 2018: LEXUS NX 2018
|
||||
LEXUS CT HYBRID 2018 : LEXUS NX 2018
|
||||
LEXUS ES 2018: TOYOTA CAMRY HYBRID 2018
|
||||
LEXUS ES HYBRID 2018: TOYOTA CAMRY HYBRID 2018
|
||||
LEXUS NX HYBRID 2020: LEXUS NX 2020
|
||||
LEXUS ES 2018: TOYOTA CAMRY 2018
|
||||
LEXUS ES HYBRID 2018: TOYOTA CAMRY 2018
|
||||
LEXUS RC 2020: LEXUS NX 2020
|
||||
TOYOTA AVALON HYBRID 2019: TOYOTA AVALON 2019
|
||||
TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022
|
||||
|
||||
KIA OPTIMA 4TH GEN: HYUNDAI SONATA 2020
|
||||
KIA OPTIMA 4TH GEN FACELIFT: HYUNDAI SONATA 2020
|
||||
@@ -36,6 +29,7 @@ HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
|
||||
HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
|
||||
HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019
|
||||
HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019
|
||||
HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019
|
||||
HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020
|
||||
HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019
|
||||
HYUNDAI TUCSON 4TH GEN: HYUNDAI TUCSON HYBRID 4TH GEN
|
||||
|
||||
@@ -87,9 +87,7 @@ class CarState(CarStateBase):
|
||||
ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) // 2
|
||||
ret.gasPressed = ret.gas > 805
|
||||
else:
|
||||
# TODO: find a new, common signal
|
||||
msg = "GAS_PEDAL_HYBRID" if (self.CP.flags & ToyotaFlags.HYBRID) else "GAS_PEDAL"
|
||||
ret.gas = cp.vl[msg]["GAS_PEDAL"]
|
||||
# TODO: find a common gas pedal percentage signal
|
||||
ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0
|
||||
|
||||
ret.wheelSpeeds = self.get_wheel_speeds(
|
||||
@@ -105,6 +103,7 @@ class CarState(CarStateBase):
|
||||
ret.standstill = ret.vEgoRaw == 0
|
||||
|
||||
ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"]
|
||||
ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"]
|
||||
torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
|
||||
|
||||
# On some cars, the angle measurement is non-zero while initializing
|
||||
@@ -112,8 +111,8 @@ class CarState(CarStateBase):
|
||||
self.accurate_steer_angle_seen = True
|
||||
|
||||
if self.accurate_steer_angle_seen:
|
||||
# Offset seems to be invalid for large steering angles
|
||||
if abs(ret.steeringAngleDeg) < 90 and cp.can_valid:
|
||||
# Offset seems to be invalid for large steering angles and high angle rates
|
||||
if abs(ret.steeringAngleDeg) < 90 and abs(ret.steeringRateDeg) < 100 and cp.can_valid:
|
||||
self.angle_offset.update(torque_sensor_angle_deg - ret.steeringAngleDeg)
|
||||
|
||||
if self.angle_offset.initialized:
|
||||
@@ -141,16 +140,13 @@ class CarState(CarStateBase):
|
||||
self._dp_zss_compute = False
|
||||
self._dp_zss_angle_offset = zorro_steer - ret.steeringAngleDeg
|
||||
|
||||
# error check
|
||||
# error check
|
||||
new_steering_angle_deg = zorro_steer - self._dp_zss_angle_offset
|
||||
if abs(ret.steeringAngleDeg - new_steering_angle_deg) > ZSS_THRESHOLD:
|
||||
self._dp_zss_threshold_count += 1
|
||||
else:
|
||||
ret.steeringAngleDeg = new_steering_angle_deg
|
||||
|
||||
|
||||
ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"]
|
||||
|
||||
can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"])
|
||||
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
|
||||
ret.leftBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1
|
||||
@@ -219,6 +215,9 @@ class CarState(CarStateBase):
|
||||
ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
|
||||
ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1)
|
||||
|
||||
if self.CP.carFingerprint != CAR.PRIUS_V:
|
||||
self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
|
||||
|
||||
# Enable blindspot debug mode once (@arne182)
|
||||
# let's keep all the commented out code for easy debug purpose for future.
|
||||
if self.dp_toyota_enhanced_bsm and self.frame > 199: #self.CP.carFingerprint == CAR.PRIUS_TSS2: #not (self.CP.carFingerprint in TSS2_CAR or self.CP.carFingerprint == CAR.CAMRY or self.CP.carFingerprint == CAR.CAMRYH):
|
||||
@@ -263,9 +262,6 @@ class CarState(CarStateBase):
|
||||
ret.leftBlindspot = self._left_blindspot
|
||||
ret.rightBlindspot = self._right_blindspot
|
||||
|
||||
if self.CP.carFingerprint != CAR.PRIUS_V:
|
||||
self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
|
||||
|
||||
self.frame += 1
|
||||
return ret
|
||||
|
||||
@@ -288,11 +284,6 @@ class CarState(CarStateBase):
|
||||
("ENGINE_RPM", 100),
|
||||
]
|
||||
|
||||
if CP.flags & ToyotaFlags.HYBRID:
|
||||
messages.append(("GAS_PEDAL_HYBRID", 33))
|
||||
else:
|
||||
messages.append(("GAS_PEDAL", 33))
|
||||
|
||||
if CP.carFingerprint in UNSUPPORTED_DSU_CAR:
|
||||
messages.append(("DSU_CRUISE", 5))
|
||||
messages.append(("PCM_CRUISE_ALT", 1))
|
||||
@@ -303,17 +294,9 @@ class CarState(CarStateBase):
|
||||
if CP.enableGasInterceptor:
|
||||
messages.append(("GAS_SENSOR", 50))
|
||||
|
||||
if Params().get_bool('dp_toyota_zss'):
|
||||
messages.append(("SECONDARY_STEER_ANGLE", 0))
|
||||
|
||||
dp_toyota_enhanced_bsm = Params().get_bool('dp_toyota_enhanced_bsm')
|
||||
|
||||
if CP.enableBsm:
|
||||
messages.append(("BSM", 1))
|
||||
|
||||
if dp_toyota_enhanced_bsm:
|
||||
messages.append(("DEBUG", 65))
|
||||
|
||||
if CP.carFingerprint in RADAR_ACC_CAR and not CP.flags & ToyotaFlags.DISABLE_RADAR.value:
|
||||
if not CP.flags & ToyotaFlags.SMART_DSU.value:
|
||||
messages += [
|
||||
@@ -328,6 +311,13 @@ class CarState(CarStateBase):
|
||||
("PRE_COLLISION", 33),
|
||||
]
|
||||
|
||||
params = Params()
|
||||
if params.get_bool('dp_toyota_zss'):
|
||||
messages.append(("SECONDARY_STEER_ANGLE", 0))
|
||||
|
||||
if params.get_bool('dp_toyota_enhanced_bsm'):
|
||||
messages.append(("DEBUG", 65))
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
|
||||
|
||||
@staticmethod
|
||||
|
||||
@@ -3,7 +3,7 @@ from openpilot.common.conversions import Conversions as CV
|
||||
from panda import Panda
|
||||
from panda.python import uds
|
||||
from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
|
||||
MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
|
||||
MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
|
||||
from openpilot.selfdrive.car import get_safety_config
|
||||
from openpilot.selfdrive.car.disable_ecu import disable_ecu
|
||||
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
|
||||
@@ -78,7 +78,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.tireStiffnessFactor = 0.444 # not optimized yet
|
||||
ret.mass = 2860. * CV.LB_TO_KG # mean between normal and hybrid
|
||||
|
||||
elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2):
|
||||
elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2):
|
||||
stop_and_go = True
|
||||
ret.wheelbase = 2.79
|
||||
ret.steerRatio = 16. # 14.8 is spec end-to-end
|
||||
@@ -86,28 +86,28 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.tireStiffnessFactor = 0.5533
|
||||
ret.mass = 4481. * CV.LB_TO_KG # mean between min and max
|
||||
|
||||
elif candidate in (CAR.CHR, CAR.CHRH, CAR.CHR_TSS2, CAR.CHRH_TSS2):
|
||||
elif candidate in (CAR.CHR, CAR.CHR_TSS2):
|
||||
stop_and_go = True
|
||||
ret.wheelbase = 2.63906
|
||||
ret.steerRatio = 13.6
|
||||
ret.tireStiffnessFactor = 0.7933
|
||||
ret.mass = 3300. * CV.LB_TO_KG
|
||||
|
||||
elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
|
||||
elif candidate in (CAR.CAMRY, CAR.CAMRY_TSS2):
|
||||
stop_and_go = True
|
||||
ret.wheelbase = 2.82448
|
||||
ret.steerRatio = 13.7
|
||||
ret.tireStiffnessFactor = 0.7933
|
||||
ret.mass = 3400. * CV.LB_TO_KG # mean between normal and hybrid
|
||||
|
||||
elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
|
||||
elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2):
|
||||
stop_and_go = True
|
||||
ret.wheelbase = 2.8194 # average of 109.8 and 112.2 in
|
||||
ret.steerRatio = 16.0
|
||||
ret.tireStiffnessFactor = 0.8
|
||||
ret.mass = 4516. * CV.LB_TO_KG # mean between normal and hybrid
|
||||
|
||||
elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):
|
||||
elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALON_TSS2):
|
||||
# starting from 2019, all Avalon variants have stop and go
|
||||
# https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
|
||||
stop_and_go = candidate != CAR.AVALON
|
||||
@@ -116,8 +116,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.tireStiffnessFactor = 0.7983
|
||||
ret.mass = 3505. * CV.LB_TO_KG # mean between normal and hybrid
|
||||
|
||||
elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
|
||||
CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023):
|
||||
elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023):
|
||||
ret.wheelbase = 2.68986
|
||||
ret.steerRatio = 14.3
|
||||
ret.tireStiffnessFactor = 0.7933
|
||||
@@ -138,13 +137,13 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.lateralTuning.pid.kf = 0.00004
|
||||
break
|
||||
|
||||
elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
|
||||
elif candidate == CAR.COROLLA_TSS2:
|
||||
ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback
|
||||
ret.steerRatio = 13.9
|
||||
ret.tireStiffnessFactor = 0.444 # not optimized yet
|
||||
ret.mass = 3060. * CV.LB_TO_KG
|
||||
|
||||
elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2):
|
||||
elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2):
|
||||
if candidate not in (CAR.LEXUS_ES,): # TODO: LEXUS_ES may have sng
|
||||
stop_and_go = True
|
||||
ret.wheelbase = 2.8702
|
||||
@@ -172,7 +171,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.tireStiffnessFactor = 0.517
|
||||
ret.mass = 3108 * CV.LB_TO_KG # mean between min and max
|
||||
|
||||
elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NXH, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2):
|
||||
elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2):
|
||||
stop_and_go = True
|
||||
ret.wheelbase = 2.66
|
||||
ret.steerRatio = 14.7
|
||||
@@ -192,7 +191,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.tireStiffnessFactor = 0.8
|
||||
ret.mass = 4300. * CV.LB_TO_KG
|
||||
|
||||
elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
|
||||
elif candidate == CAR.ALPHARD_TSS2:
|
||||
ret.wheelbase = 3.00
|
||||
ret.steerRatio = 14.2
|
||||
ret.tireStiffnessFactor = 0.444
|
||||
@@ -249,11 +248,6 @@ class CarInterface(CarInterfaceBase):
|
||||
if not ret.openpilotLongitudinalControl:
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
|
||||
|
||||
# we can't use the fingerprint to detect this reliably, since
|
||||
# the EV gas pedal signal can take a couple seconds to appear
|
||||
if candidate in EV_HYBRID_CAR:
|
||||
ret.flags |= ToyotaFlags.HYBRID.value
|
||||
|
||||
# min speed to enable ACC. if car can do stop and go, then set enabling speed
|
||||
# to a negative value, so it won't matter.
|
||||
ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
|
||||
@@ -275,7 +269,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.vEgoStopping = 0.1 if dp_toyota_enhanced_long_tune else 0.25 # car is near 0.1 to 0.2 when car starts requesting stopping accel
|
||||
ret.vEgoStarting = 0.1 if dp_toyota_enhanced_long_tune else 0.25 # needs to be > or == vEgoStopping
|
||||
ret.stopAccel = -0.40 if dp_toyota_enhanced_long_tune else -2.0 # Toyota requests -0.4 when stopped
|
||||
ret.stoppingDecelRate = 0.05 if dp_toyota_enhanced_long_tune else 0.3 # reach stopping target smoothly - seems to take 0.5 seconds to go from 0 to -0.4
|
||||
ret.stoppingDecelRate = 0.4 if dp_toyota_enhanced_long_tune else 0.3 # reach stopping target smoothly - seems to take 0.5 seconds to go from 0 to -0.4
|
||||
#ret.longitudinalActuatorDelayLowerBound = 1.5 if dp_toyota_enhanced_long_tune else 1.5
|
||||
#ret.longitudinalActuatorDelayUpperBound = 1.5 if dp_toyota_enhanced_long_tune else 1.5
|
||||
else:
|
||||
|
||||
+354
-666
File diff suppressed because it is too large
Load Diff
@@ -245,7 +245,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
|
||||
CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2016-23"),
|
||||
CAR.TRANSPORTER_T61: [
|
||||
VWCarInfo("Volkswagen Caravelle 2020"),
|
||||
VWCarInfo("Volkswagen California 2021"),
|
||||
VWCarInfo("Volkswagen California 2021-23"),
|
||||
],
|
||||
CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_MQB_A0]),
|
||||
CAR.AUDI_A3_MK3: [
|
||||
@@ -717,12 +717,14 @@ FW_VERSIONS = {
|
||||
CAR.PASSAT_NMS: {
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\xf1\x8706K906016C \xf1\x899609',
|
||||
b'\xf1\x8706K906016E \xf1\x899830',
|
||||
b'\xf1\x8706K906016G \xf1\x891124',
|
||||
b'\xf1\x8706K906071BJ\xf1\x894891',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x8709G927158AB\xf1\x893318',
|
||||
b'\xf1\x8709G927158BD\xf1\x893121',
|
||||
b'\xf1\x8709G927158DK\xf1\x893594',
|
||||
b'\xf1\x8709G927158FQ\xf1\x893745',
|
||||
],
|
||||
(Ecu.srs, 0x715, None): [
|
||||
@@ -830,6 +832,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8783A907115F \xf1\x890002',
|
||||
b'\xf1\x8783A907115G \xf1\x890001',
|
||||
b'\xf1\x8783A907115K \xf1\x890001',
|
||||
b'\xf1\x8783A907115K \xf1\x890002',
|
||||
b'\xf1\x8704E906024AP\xf1\x891461',
|
||||
b'\xf1\x8783A907115 \xf1\x890007',
|
||||
],
|
||||
@@ -839,6 +842,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8709G927158GC\xf1\x893821',
|
||||
b'\xf1\x8709G927158GD\xf1\x893820',
|
||||
b'\xf1\x8709G927158GM\xf1\x893936',
|
||||
b'\xf1\x8709G927158GN\xf1\x893938',
|
||||
b'\xf1\x870D9300043 \xf1\x895202',
|
||||
b'\xf1\x870DL300011N \xf1\x892001',
|
||||
b'\xf1\x870DL300011N \xf1\x892012',
|
||||
@@ -877,6 +881,7 @@ FW_VERSIONS = {
|
||||
b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60604A1',
|
||||
b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1',
|
||||
b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A60804A1',
|
||||
b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002RA60A2ROM',
|
||||
b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM',
|
||||
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00',
|
||||
b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60804A1',
|
||||
@@ -919,12 +924,14 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8704L906057AP\xf1\x891186',
|
||||
b'\xf1\x8704L906057N \xf1\x890413',
|
||||
b'\xf1\x8705L906023E \xf1\x891352',
|
||||
b'\xf1\x8705L906023MR\xf1\x892582',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x870BT300012G \xf1\x893102',
|
||||
b'\xf1\x870BT300012E \xf1\x893105',
|
||||
b'\xf1\x870BT300046R \xf1\x893102',
|
||||
b'\xf1\x870DV300012B \xf1\x893701',
|
||||
b'\xf1\x870DV300012B \xf1\x893702',
|
||||
],
|
||||
(Ecu.srs, 0x715, None): [
|
||||
b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704161611152S1411',
|
||||
@@ -1066,10 +1073,14 @@ FW_VERSIONS = {
|
||||
b'\xf1\x8705L906022M \xf1\x890901',
|
||||
b'\xf1\x8783A906259 \xf1\x890001',
|
||||
b'\xf1\x8783A906259 \xf1\x890005',
|
||||
b'\xf1\x8783A906259C \xf1\x890002',
|
||||
b'\xf1\x8783A906259D \xf1\x890001',
|
||||
b'\xf1\x8783A906259F \xf1\x890001',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'\xf1\x8709G927158CN\xf1\x893608',
|
||||
b'\xf1\x8709G927158FL\xf1\x893758',
|
||||
b'\xf1\x8709G927158GG\xf1\x893825',
|
||||
b'\xf1\x8709G927158GP\xf1\x893937',
|
||||
b'\xf1\x870GC300045D \xf1\x892802',
|
||||
b'\xf1\x870GC300046F \xf1\x892701',
|
||||
@@ -1079,11 +1090,13 @@ FW_VERSIONS = {
|
||||
b'\xf1\x875Q0959655BQ\xf1\x890421\xf1\x82\x132121111121120031112124218C219321532111',
|
||||
b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111224118A119321532111',
|
||||
b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111237116A119321532111',
|
||||
b'\xf1\x875Q0959655BQ\xf1\x890421\xf1\x82\x132121111121120031112124218A219321532111',
|
||||
],
|
||||
(Ecu.eps, 0x712, None): [
|
||||
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000300',
|
||||
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000800',
|
||||
b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60533A1',
|
||||
b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60733A1',
|
||||
b'\xf1\x875TA907145D \xf1\x891051\xf1\x82\x001PG60A1P7N',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x757, None): [
|
||||
|
||||
@@ -62,17 +62,15 @@ ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES)
|
||||
|
||||
|
||||
class Controls:
|
||||
def __init__(self, sm=None, pm=None, can_sock=None, CI=None):
|
||||
def __init__(self, CI=None):
|
||||
config_realtime_process(4, Priority.CTRL_HIGH)
|
||||
|
||||
# Ensure the current branch is cached, otherwise the first iteration of controlsd lags
|
||||
self.branch = get_short_branch("")
|
||||
|
||||
# Setup sockets
|
||||
self.pm = pm
|
||||
if self.pm is None:
|
||||
self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
|
||||
'carControl', 'carEvents', 'carParams', 'controlsStateExt'])
|
||||
self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
|
||||
'carControl', 'carEvents', 'carParams', 'controlsStateExt'])
|
||||
|
||||
self.sensor_packets = ["accelerometer", "gyroscope"]
|
||||
self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
|
||||
@@ -81,10 +79,8 @@ class Controls:
|
||||
self.dp_device_dm_unavailable_once = True
|
||||
self.camera_packets.remove("driverCameraState")
|
||||
|
||||
self.can_sock = can_sock
|
||||
if can_sock is None:
|
||||
can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 20
|
||||
self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
|
||||
can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 20
|
||||
self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
|
||||
|
||||
self.log_sock = messaging.sub_sock('androidLog')
|
||||
|
||||
@@ -97,16 +93,14 @@ class Controls:
|
||||
self._dp_long_missing_lead_count = 0
|
||||
self._dp_long_missing_lead_prev = False
|
||||
self.dp_device_disable_temp_check = self.params.get_bool("dp_device_disable_temp_check")
|
||||
self.sm = sm
|
||||
if self.sm is None:
|
||||
ignore = self.sensor_packets + ['testJoystick']
|
||||
if SIMULATION:
|
||||
ignore += ['driverCameraState', 'managerState']
|
||||
self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
|
||||
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
|
||||
'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
|
||||
'testJoystick', 'longitudinalPlanExt'] + self.camera_packets + self.sensor_packets,
|
||||
ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'])
|
||||
ignore = self.sensor_packets + ['testJoystick']
|
||||
if SIMULATION:
|
||||
ignore += ['driverCameraState', 'managerState']
|
||||
self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
|
||||
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
|
||||
'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
|
||||
'testJoystick', 'longitudinalPlanExt'] + self.camera_packets + self.sensor_packets,
|
||||
ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'])
|
||||
|
||||
if CI is None:
|
||||
# wait for one pandaState and one CAN packet
|
||||
@@ -690,11 +684,18 @@ class Controls:
|
||||
else:
|
||||
lac_log = log.ControlsState.LateralDebugState.new_message()
|
||||
if self.sm.rcv_frame['testJoystick'] > 0:
|
||||
# reset joystick if it hasn't been received in a while
|
||||
should_reset_joystick = (self.sm.frame - self.sm.rcv_frame['testJoystick'])*DT_CTRL > 0.2
|
||||
if not should_reset_joystick:
|
||||
joystick_axes = self.sm['testJoystick'].axes
|
||||
else:
|
||||
joystick_axes = [0.0, 0.0]
|
||||
|
||||
if CC.longActive:
|
||||
actuators.accel = 4.0*clip(self.sm['testJoystick'].axes[0], -1, 1)
|
||||
actuators.accel = 4.0*clip(joystick_axes[0], -1, 1)
|
||||
|
||||
if CC.latActive:
|
||||
steer = clip(self.sm['testJoystick'].axes[1], -1, 1)
|
||||
steer = clip(joystick_axes[1], -1, 1)
|
||||
# max angle is 45 for angle-based cars, max curvature is 0.02
|
||||
actuators.steer, actuators.steeringAngleDeg, actuators.curvature = steer, steer * 45., steer * -0.02
|
||||
|
||||
@@ -957,8 +958,8 @@ class Controls:
|
||||
self.prof.display()
|
||||
|
||||
|
||||
def main(sm=None, pm=None, logcan=None):
|
||||
controls = Controls(sm, pm, logcan)
|
||||
def main():
|
||||
controls = Controls()
|
||||
controls.controlsd_thread()
|
||||
|
||||
|
||||
|
||||
@@ -4,7 +4,7 @@ from cereal import car, log
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.common.numpy_fast import clip, interp
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.selfdrive.modeld.constants import T_IDXS
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
|
||||
# WARNING: this value was determined based on the model's training distribution,
|
||||
# model predictions above this speed can be unpredictable
|
||||
@@ -185,7 +185,7 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
|
||||
# in high delay cases some corrections never even get commanded. So just use
|
||||
# psi to calculate a simple linearization of desired curvature
|
||||
current_curvature_desired = curvatures[0]
|
||||
psi = interp(delay, T_IDXS[:CONTROL_N], psis)
|
||||
psi = interp(delay, ModelConstants.T_IDXS[:CONTROL_N], psis)
|
||||
average_curvature_desired = psi / (v_ego * delay)
|
||||
desired_curvature = 2 * average_curvature_desired - current_curvature_desired
|
||||
|
||||
|
||||
@@ -975,10 +975,10 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
|
||||
if __name__ == '__main__':
|
||||
# print all alerts by type and priority
|
||||
from cereal.services import SERVICE_LIST
|
||||
from collections import defaultdict, OrderedDict
|
||||
from collections import defaultdict
|
||||
|
||||
event_names = {v: k for k, v in EventName.schema.enumerants.items()}
|
||||
alerts_by_type: Dict[str, Dict[int, List[str]]] = defaultdict(lambda: defaultdict(list))
|
||||
alerts_by_type: Dict[str, Dict[Priority, List[str]]] = defaultdict(lambda: defaultdict(list))
|
||||
|
||||
CP = car.CarParams.new_message()
|
||||
CS = car.CarState.new_message()
|
||||
@@ -988,18 +988,14 @@ if __name__ == '__main__':
|
||||
for et, alert in alerts.items():
|
||||
if callable(alert):
|
||||
alert = alert(CP, CS, sm, False, 1)
|
||||
priority = alert.priority
|
||||
alerts_by_type[et][priority].append(event_names[i])
|
||||
alerts_by_type[et][alert.priority].append(event_names[i])
|
||||
|
||||
all_alerts = {}
|
||||
all_alerts: Dict[str, List[tuple[Priority, List[str]]]] = {}
|
||||
for et, priority_alerts in alerts_by_type.items():
|
||||
all_alerts[et] = OrderedDict([
|
||||
(str(priority), l)
|
||||
for priority, l in sorted(priority_alerts.items(), key=lambda x: -int(x[0]))
|
||||
])
|
||||
all_alerts[et] = sorted(priority_alerts.items(), key=lambda x: x[0], reverse=True)
|
||||
|
||||
for status, evs in sorted(all_alerts.items(), key=lambda x: x[0]):
|
||||
print(f"**** {status} ****")
|
||||
for p, alert_list in evs.items():
|
||||
print(f" {p}:")
|
||||
for p, alert_list in evs:
|
||||
print(f" {repr(p)}:")
|
||||
print(" ", ', '.join(alert_list), "\n")
|
||||
|
||||
@@ -1,121 +0,0 @@
|
||||
import numpy as np
|
||||
from cereal import log
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.common.numpy_fast import interp
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.system.hardware import TICI
|
||||
from openpilot.system.swaglog import cloudlog
|
||||
|
||||
|
||||
TRAJECTORY_SIZE = 33
|
||||
# camera offset is meters from center car to camera
|
||||
# model path is in the frame of EON's camera. TICI is 0.1 m away,
|
||||
# however the average measured path difference is 0.04 m
|
||||
if TICI:
|
||||
CAMERA_OFFSET = 0.04
|
||||
PATH_OFFSET = 0.04
|
||||
# PC
|
||||
else:
|
||||
CAMERA_OFFSET = 0.0
|
||||
PATH_OFFSET = 0.0
|
||||
|
||||
|
||||
class LanePlanner:
|
||||
def __init__(self):
|
||||
self.ll_t = np.zeros((TRAJECTORY_SIZE,))
|
||||
self.ll_x = np.zeros((TRAJECTORY_SIZE,))
|
||||
self.lll_y = np.zeros((TRAJECTORY_SIZE,))
|
||||
self.rll_y = np.zeros((TRAJECTORY_SIZE,))
|
||||
self.lane_width_estimate = FirstOrderFilter(3.7, 9.95, DT_MDL)
|
||||
self.lane_width_certainty = FirstOrderFilter(1.0, 0.95, DT_MDL)
|
||||
self.lane_width = 3.7
|
||||
|
||||
self.lll_prob = 0.
|
||||
self.rll_prob = 0.
|
||||
self.d_prob = 0.
|
||||
|
||||
self.lll_std = 0.
|
||||
self.rll_std = 0.
|
||||
|
||||
self.l_lane_change_prob = 0.
|
||||
self.r_lane_change_prob = 0.
|
||||
|
||||
self.camera_offset = CAMERA_OFFSET
|
||||
self.path_offset = PATH_OFFSET
|
||||
|
||||
# self.dp_camera_offset = None
|
||||
# self.dp_path_offset = None
|
||||
|
||||
# def update_dp_camera_offsets(self, camera_offset, path_offset):
|
||||
# if self.dp_camera_offset != camera_offset:
|
||||
# self.dp_camera_offset = camera_offset
|
||||
# camera_offset = -camera_offset
|
||||
# # from 0.04 to -0.04, difference is -0.08
|
||||
# # so we can assume the distance between C3's 2 cameras is 8 cm
|
||||
# self.camera_offset = camera_offset * 0.01
|
||||
# if self.dp_path_offset != path_offset:
|
||||
# self.dp_path_offset = path_offset
|
||||
# path_offset = -path_offset
|
||||
# # from 0.04 to -0.04, difference is -0.08
|
||||
# # so we can assume the distance between C3's 2 cameras is 8 cm
|
||||
# self.path_offset = path_offset * 0.01
|
||||
|
||||
def parse_model(self, md):
|
||||
lane_lines = md.laneLines
|
||||
if len(lane_lines) == 4 and len(lane_lines[0].t) == TRAJECTORY_SIZE:
|
||||
self.ll_t = (np.array(lane_lines[1].t) + np.array(lane_lines[2].t))/2
|
||||
# left and right ll x is the same
|
||||
self.ll_x = lane_lines[1].x
|
||||
self.lll_y = np.array(lane_lines[1].y) + self.camera_offset
|
||||
self.rll_y = np.array(lane_lines[2].y) + self.camera_offset
|
||||
self.lll_prob = md.laneLineProbs[1]
|
||||
self.rll_prob = md.laneLineProbs[2]
|
||||
self.lll_std = md.laneLineStds[1]
|
||||
self.rll_std = md.laneLineStds[2]
|
||||
|
||||
desire_state = md.meta.desireState
|
||||
if len(desire_state):
|
||||
self.l_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeLeft]
|
||||
self.r_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeRight]
|
||||
|
||||
def get_d_path(self, v_ego, path_t, path_xyz):
|
||||
# Reduce reliance on lanelines that are too far apart or
|
||||
# will be in a few seconds
|
||||
path_xyz[:, 1] += self.path_offset
|
||||
l_prob, r_prob = self.lll_prob, self.rll_prob
|
||||
width_pts = self.rll_y - self.lll_y
|
||||
prob_mods = []
|
||||
for t_check in (0.0, 1.5, 3.0):
|
||||
width_at_t = interp(t_check * (v_ego + 7), self.ll_x, width_pts)
|
||||
prob_mods.append(interp(width_at_t, [4.0, 5.0], [1.0, 0.0]))
|
||||
mod = min(prob_mods)
|
||||
l_prob *= mod
|
||||
r_prob *= mod
|
||||
|
||||
# Reduce reliance on uncertain lanelines
|
||||
l_std_mod = interp(self.lll_std, [.15, .3], [1.0, 0.0])
|
||||
r_std_mod = interp(self.rll_std, [.15, .3], [1.0, 0.0])
|
||||
l_prob *= l_std_mod
|
||||
r_prob *= r_std_mod
|
||||
|
||||
# Find current lanewidth
|
||||
self.lane_width_certainty.update(l_prob * r_prob)
|
||||
current_lane_width = abs(self.rll_y[0] - self.lll_y[0])
|
||||
self.lane_width_estimate.update(current_lane_width)
|
||||
speed_lane_width = interp(v_ego, [0., 31.], [2.8, 3.5])
|
||||
self.lane_width = self.lane_width_certainty.x * self.lane_width_estimate.x + \
|
||||
(1 - self.lane_width_certainty.x) * speed_lane_width
|
||||
|
||||
clipped_lane_width = min(4.0, self.lane_width)
|
||||
path_from_left_lane = self.lll_y + clipped_lane_width / 2.0
|
||||
path_from_right_lane = self.rll_y - clipped_lane_width / 2.0
|
||||
|
||||
self.d_prob = l_prob + r_prob - l_prob * r_prob
|
||||
lane_path_y = (l_prob * path_from_left_lane + r_prob * path_from_right_lane) / (l_prob + r_prob + 0.0001)
|
||||
safe_idxs = np.isfinite(self.ll_t)
|
||||
if safe_idxs[0]:
|
||||
lane_path_y_interp = np.interp(path_t, self.ll_t[safe_idxs], lane_path_y[safe_idxs])
|
||||
path_xyz[:,1] = self.d_prob * lane_path_y_interp + (1.0 - self.d_prob) * path_xyz[:,1]
|
||||
else:
|
||||
cloudlog.warning("Lateral mpc - NaNs in laneline times, ignoring")
|
||||
return path_xyz
|
||||
@@ -1,7 +1,7 @@
|
||||
{
|
||||
"acados_include_path": "/data/dp-private/third_party/acados/include",
|
||||
"acados_lib_path": "/data/dp-private/third_party/acados/lib",
|
||||
"code_export_directory": "/data/dp-private/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code",
|
||||
"acados_include_path": "/data/openpilot/third_party/acados/include",
|
||||
"acados_lib_path": "/data/openpilot/third_party/acados/lib",
|
||||
"code_export_directory": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code",
|
||||
"constraints": {
|
||||
"C": [],
|
||||
"C_e": [],
|
||||
@@ -261,7 +261,7 @@
|
||||
"ny_e": 3,
|
||||
"nz": 0
|
||||
},
|
||||
"json_file": "/data/dp-private/selfdrive/controls/lib/lateral_mpc_lib/acados_ocp_lat.json",
|
||||
"json_file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/acados_ocp_lat.json",
|
||||
"model": {
|
||||
"con_h_expr": null,
|
||||
"con_h_expr_e": null,
|
||||
|
||||
@@ -5,7 +5,7 @@ import numpy as np
|
||||
|
||||
from casadi import SX, vertcat, sin, cos
|
||||
# WARNING: imports outside of constants will not trigger a rebuild
|
||||
from openpilot.selfdrive.modeld.constants import T_IDXS
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
|
||||
if __name__ == '__main__': # generating code
|
||||
from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
|
||||
@@ -66,7 +66,7 @@ def gen_lat_ocp():
|
||||
ocp = AcadosOcp()
|
||||
ocp.model = gen_lat_model()
|
||||
|
||||
Tf = np.array(T_IDXS)[N]
|
||||
Tf = np.array(ModelConstants.T_IDXS)[N]
|
||||
|
||||
# set dimensions
|
||||
ocp.dims.N = N
|
||||
@@ -122,7 +122,7 @@ def gen_lat_ocp():
|
||||
|
||||
# set prediction horizon
|
||||
ocp.solver_options.tf = Tf
|
||||
ocp.solver_options.shooting_nodes = np.array(T_IDXS)[:N+1]
|
||||
ocp.solver_options.shooting_nodes = np.array(ModelConstants.T_IDXS)[:N+1]
|
||||
|
||||
ocp.code_export_directory = EXPORT_DIR
|
||||
return ocp
|
||||
|
||||
@@ -1,33 +1,14 @@
|
||||
import time
|
||||
import numpy as np
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.common.numpy_fast import interp
|
||||
from openpilot.system.swaglog import cloudlog
|
||||
from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
|
||||
from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, get_speed_error
|
||||
from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
|
||||
import cereal.messaging as messaging
|
||||
from cereal import log
|
||||
from openpilot.selfdrive.controls.lib.lane_planner import LanePlanner
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.controls.lib.road_edge_detector import RoadEdgeDetector
|
||||
|
||||
TRAJECTORY_SIZE = 33
|
||||
CAMERA_OFFSET = 0.04
|
||||
|
||||
|
||||
PATH_COST = 1.0
|
||||
LATERAL_MOTION_COST = 0.11
|
||||
LATERAL_ACCEL_COST = 0.0
|
||||
LATERAL_JERK_COST = 0.04
|
||||
# Extreme steering rate is unpleasant, even
|
||||
# when it does not cause bad jerk.
|
||||
# TODO this cost should be lowered when low
|
||||
# speed lateral control is stable on all cars
|
||||
STEERING_RATE_COST = 700.0
|
||||
|
||||
|
||||
class LateralPlanner:
|
||||
def __init__(self, CP, debug=False):
|
||||
self.DH = DesireHelper()
|
||||
@@ -36,11 +17,7 @@ class LateralPlanner:
|
||||
|
||||
# dp - lanefull
|
||||
params = Params()
|
||||
self._dp_lat_lane_priority_mode = params.get_bool("dp_lat_lane_priority_mode")
|
||||
self.RED.set_enabled(params.get_bool("dp_lateral_road_edge_detection"))
|
||||
self._dp_lat_lane_priority_mode_active = False
|
||||
self._dp_lat_lane_priority_mode_active_prev = False
|
||||
self.LP = LanePlanner()
|
||||
# dp // mapd - for vision turn controller
|
||||
self._d_path_w_lines_xyz = np.zeros((TRAJECTORY_SIZE, 3))
|
||||
|
||||
@@ -52,42 +29,26 @@ class LateralPlanner:
|
||||
|
||||
self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3))
|
||||
self.velocity_xyz = np.zeros((TRAJECTORY_SIZE, 3))
|
||||
self.plan_yaw = np.zeros((TRAJECTORY_SIZE,))
|
||||
self.plan_yaw_rate = np.zeros((TRAJECTORY_SIZE,))
|
||||
self.t_idxs = np.arange(TRAJECTORY_SIZE)
|
||||
self.y_pts = np.zeros((TRAJECTORY_SIZE,))
|
||||
self.v_plan = np.zeros((TRAJECTORY_SIZE,))
|
||||
self.v_ego = 0.0
|
||||
self.x_sol = np.zeros((TRAJECTORY_SIZE, 4), dtype=np.float32)
|
||||
self.v_ego = MIN_SPEED
|
||||
self.l_lane_change_prob = 0.0
|
||||
self.r_lane_change_prob = 0.0
|
||||
|
||||
self.debug_mode = debug
|
||||
|
||||
self.lat_mpc = LateralMpc()
|
||||
self.reset_mpc(np.zeros(4))
|
||||
|
||||
def reset_mpc(self, x0=None):
|
||||
if x0 is None:
|
||||
x0 = np.zeros(4)
|
||||
self.x0 = x0
|
||||
self.lat_mpc.reset(x0=self.x0)
|
||||
|
||||
def update(self, sm):
|
||||
# clip speed , lateral planning is not possible at 0 speed
|
||||
measured_curvature = sm['controlsState'].curvature
|
||||
v_ego_car = sm['carState'].vEgo
|
||||
|
||||
# Parse model predictions
|
||||
md = sm['modelV2']
|
||||
if len(md.position.x) == TRAJECTORY_SIZE and len(md.orientation.x) == TRAJECTORY_SIZE:
|
||||
if len(md.position.x) == TRAJECTORY_SIZE and len(md.velocity.x) == TRAJECTORY_SIZE and len(md.lateralPlannerSolution.x) == TRAJECTORY_SIZE:
|
||||
self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z])
|
||||
self.t_idxs = np.array(md.position.t)
|
||||
self.plan_yaw = np.array(md.orientation.z)
|
||||
self.plan_yaw_rate = np.array(md.orientationRate.z)
|
||||
self.velocity_xyz = np.column_stack([md.velocity.x, md.velocity.y, md.velocity.z])
|
||||
car_speed = np.linalg.norm(self.velocity_xyz, axis=1) - get_speed_error(md, v_ego_car)
|
||||
self.v_plan = np.clip(car_speed, MIN_SPEED, np.inf)
|
||||
self.v_ego = self.v_plan[0]
|
||||
self.x_sol = np.column_stack([md.lateralPlannerSolution.x, md.lateralPlannerSolution.y, md.lateralPlannerSolution.yaw, md.lateralPlannerSolution.yawRate])
|
||||
|
||||
# Lane change logic
|
||||
desire_state = md.meta.desireState
|
||||
@@ -95,81 +56,33 @@ class LateralPlanner:
|
||||
self.l_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeLeft]
|
||||
self.r_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeRight]
|
||||
|
||||
if self._dp_lat_lane_priority_mode:
|
||||
self.LP.parse_model(md)
|
||||
lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob
|
||||
else:
|
||||
lane_change_prob = self.l_lane_change_prob + self.r_lane_change_prob
|
||||
lane_change_prob = self.l_lane_change_prob + self.r_lane_change_prob
|
||||
|
||||
edge_detected_left, edge_detected_right = self.RED.get_road_edge_detected(md.roadEdgeStds, md.laneLineProbs, sm['carState'].leftBlinker, sm['carState'].rightBlinker)
|
||||
self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, edge_detected_left, edge_detected_right)
|
||||
|
||||
path_xyz = self._get_laneless_laneline_d_path_xyz() if self._dp_lat_lane_priority_mode else self.path_xyz
|
||||
self._d_path_w_lines_xyz = path_xyz
|
||||
|
||||
self.lat_mpc.set_weights(PATH_COST, LATERAL_MOTION_COST,
|
||||
LATERAL_ACCEL_COST, LATERAL_JERK_COST,
|
||||
STEERING_RATE_COST)
|
||||
|
||||
y_pts = path_xyz[:LAT_MPC_N+1, 1]
|
||||
heading_pts = self.plan_yaw[:LAT_MPC_N+1]
|
||||
yaw_rate_pts = self.plan_yaw_rate[:LAT_MPC_N+1]
|
||||
self.y_pts = y_pts
|
||||
|
||||
assert len(y_pts) == LAT_MPC_N + 1
|
||||
assert len(heading_pts) == LAT_MPC_N + 1
|
||||
assert len(yaw_rate_pts) == LAT_MPC_N + 1
|
||||
lateral_factor = np.clip(self.factor1 - (self.factor2 * self.v_plan**2), 0.0, np.inf)
|
||||
p = np.column_stack([self.v_plan, lateral_factor])
|
||||
self.lat_mpc.run(self.x0,
|
||||
p,
|
||||
y_pts,
|
||||
heading_pts,
|
||||
yaw_rate_pts)
|
||||
# init state for next iteration
|
||||
# mpc.u_sol is the desired second derivative of psi given x0 curv state.
|
||||
# with x0[3] = measured_yaw_rate, this would be the actual desired yaw rate.
|
||||
# instead, interpolate x_sol so that x0[3] is the desired yaw rate for lat_control.
|
||||
self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:, 3])
|
||||
|
||||
# Check for infeasible MPC solution
|
||||
mpc_nans = np.isnan(self.lat_mpc.x_sol[:, 3]).any()
|
||||
t = time.monotonic()
|
||||
if mpc_nans or self.lat_mpc.solution_status != 0:
|
||||
self.reset_mpc()
|
||||
self.x0[3] = measured_curvature * self.v_ego
|
||||
if t > self.last_cloudlog_t + 5.0:
|
||||
self.last_cloudlog_t = t
|
||||
cloudlog.warning("Lateral mpc - nan: True")
|
||||
|
||||
if self.lat_mpc.cost > 1e6 or mpc_nans:
|
||||
self.solution_invalid_cnt += 1
|
||||
else:
|
||||
self.solution_invalid_cnt = 0
|
||||
self._d_path_w_lines_xyz = self.path_xyz
|
||||
|
||||
def publish(self, sm, pm):
|
||||
plan_solution_valid = self.solution_invalid_cnt < 2
|
||||
plan_send = messaging.new_message('lateralPlan')
|
||||
plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
|
||||
|
||||
lateralPlan = plan_send.lateralPlan
|
||||
lateralPlan.modelMonoTime = sm.logMonoTime['modelV2']
|
||||
lateralPlan.dPathPoints = self.y_pts.tolist()
|
||||
lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist()
|
||||
lateralPlan.dPathPoints = self.path_xyz[:,1].tolist()
|
||||
lateralPlan.psis = self.x_sol[0:CONTROL_N, 2].tolist()
|
||||
|
||||
lateralPlan.curvatures = (self.lat_mpc.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist()
|
||||
lateralPlan.curvatureRates = [float(x.item() / self.v_ego) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0]
|
||||
lateralPlan.curvatures = (self.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist()
|
||||
lateralPlan.curvatureRates = [float(0) for _ in range(CONTROL_N-1)] # TODO: unused
|
||||
|
||||
lateralPlan.mpcSolutionValid = bool(plan_solution_valid)
|
||||
lateralPlan.solverExecutionTime = self.lat_mpc.solve_time
|
||||
lateralPlan.mpcSolutionValid = bool(1)
|
||||
lateralPlan.solverExecutionTime = 0.0
|
||||
if self.debug_mode:
|
||||
lateralPlan.solverCost = self.lat_mpc.cost
|
||||
lateralPlan.solverState = log.LateralPlan.SolverState.new_message()
|
||||
lateralPlan.solverState.x = self.lat_mpc.x_sol.tolist()
|
||||
lateralPlan.solverState.u = self.lat_mpc.u_sol.flatten().tolist()
|
||||
lateralPlan.solverState.x = self.x_sol.tolist()
|
||||
|
||||
lateralPlan.desire = self.DH.desire
|
||||
lateralPlan.useLaneLines = self._dp_lat_lane_priority_mode and self._dp_lat_lane_priority_mode_active
|
||||
lateralPlan.useLaneLines = False
|
||||
lateralPlan.laneChangeState = self.DH.lane_change_state
|
||||
lateralPlan.laneChangeDirection = self.DH.lane_change_direction
|
||||
|
||||
@@ -183,30 +96,3 @@ class LateralPlanner:
|
||||
lateralPlanExt.dPathWLinesY = [float(y) for y in self._d_path_w_lines_xyz[:, 1]]
|
||||
|
||||
pm.send('lateralPlanExt', plan_ext_send)
|
||||
|
||||
def _get_laneless_laneline_d_path_xyz(self):
|
||||
if self._dp_lat_lane_priority_mode and self.LP is not None:
|
||||
# Turn off lanes during lane change
|
||||
if self.DH.desire == log.LateralPlan.Desire.laneChangeRight or self.DH.desire == log.LateralPlan.Desire.laneChangeLeft:
|
||||
self.LP.lll_prob *= self.DH.lane_change_ll_prob
|
||||
self.LP.rll_prob *= self.DH.lane_change_ll_prob
|
||||
|
||||
# decide what mode should we use
|
||||
if (self.LP.lll_prob + self.LP.rll_prob)/2 < 0.3:
|
||||
self._dp_lat_lane_priority_mode_active = False
|
||||
if (self.LP.lll_prob + self.LP.rll_prob)/2 > 0.5:
|
||||
self._dp_lat_lane_priority_mode_active = True
|
||||
|
||||
# perform reset mpc
|
||||
if self._dp_lat_lane_priority_mode_active != self._dp_lat_lane_priority_mode_active_prev:
|
||||
self.reset_mpc()
|
||||
self._dp_lat_lane_priority_mode_active_prev = self._dp_lat_lane_priority_mode_active
|
||||
|
||||
# use default path if not active
|
||||
if not self._dp_lat_lane_priority_mode_active:
|
||||
return self.path_xyz
|
||||
|
||||
# use lane planner path
|
||||
return self.LP.get_d_path(self.v_ego, self.t_idxs, self.path_xyz)
|
||||
else:
|
||||
return self.path_xyz
|
||||
|
||||
@@ -3,7 +3,7 @@ from openpilot.common.numpy_fast import clip, interp
|
||||
from openpilot.common.realtime import DT_CTRL
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone
|
||||
from openpilot.selfdrive.controls.lib.pid import PIDController
|
||||
from openpilot.selfdrive.modeld.constants import T_IDXS
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
|
||||
LongCtrlState = car.CarControl.Actuators.LongControlState
|
||||
|
||||
@@ -70,19 +70,19 @@ class LongControl:
|
||||
# Interp control trajectory
|
||||
speeds = long_plan.speeds
|
||||
if len(speeds) == CONTROL_N:
|
||||
v_target_now = interp(t_since_plan, T_IDXS[:CONTROL_N], speeds)
|
||||
a_target_now = interp(t_since_plan, T_IDXS[:CONTROL_N], long_plan.accels)
|
||||
v_target_now = interp(t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds)
|
||||
a_target_now = interp(t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], long_plan.accels)
|
||||
|
||||
v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, T_IDXS[:CONTROL_N], speeds)
|
||||
v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds)
|
||||
a_target_lower = 2 * (v_target_lower - v_target_now) / self.CP.longitudinalActuatorDelayLowerBound - a_target_now
|
||||
|
||||
v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, T_IDXS[:CONTROL_N], speeds)
|
||||
v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds)
|
||||
a_target_upper = 2 * (v_target_upper - v_target_now) / self.CP.longitudinalActuatorDelayUpperBound - a_target_now
|
||||
|
||||
v_target = min(v_target_lower, v_target_upper)
|
||||
a_target = min(a_target_lower, a_target_upper)
|
||||
|
||||
v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, T_IDXS[:CONTROL_N], speeds)
|
||||
v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, ModelConstants.T_IDXS[:CONTROL_N], speeds)
|
||||
else:
|
||||
v_target = 0.0
|
||||
v_target_now = 0.0
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
{
|
||||
"acados_include_path": "/data/dp-private/third_party/acados/include",
|
||||
"acados_lib_path": "/data/dp-private/third_party/acados/lib",
|
||||
"code_export_directory": "/data/dp-private/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code",
|
||||
"acados_include_path": "/data/openpilot/third_party/acados/include",
|
||||
"acados_lib_path": "/data/openpilot/third_party/acados/lib",
|
||||
"code_export_directory": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code",
|
||||
"constraints": {
|
||||
"C": [],
|
||||
"C_e": [],
|
||||
@@ -343,7 +343,7 @@
|
||||
"ny_e": 5,
|
||||
"nz": 0
|
||||
},
|
||||
"json_file": "/data/dp-private/selfdrive/controls/lib/longitudinal_mpc_lib/acados_ocp_long.json",
|
||||
"json_file": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/acados_ocp_long.json",
|
||||
"model": {
|
||||
"con_h_expr": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegiaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaghpffghgpgegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaabgpffghgpgegpcaaaaaaaaaaaaaafaaaaaaabgpfngjgogegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaabgpfngbgihchcaaaaaaaaaaaaaaaegeaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaakaaaaaaaihpfpgcgdhehbgdgmgfgegpcaaaaaaaaaaaaaafaaaaaaaihpffghgpgegdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaacbaaaaaamgfgbgegpfegbgoghgfgchpfggbgdgehpgchegbaaaaaaaaaaaaaaaegbaaaaaaaaaaaaaaaegeaaaaaaaaaaaaaaaeglaaaaaaaaaaaaaaachbaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaajgfaaaaaaaegdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaanaaaaaaamgfgbgegpfehpfggpgmgmgpghhchbaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaajggaaaaaaaegbaaaaaaaaaaaaaaachbaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaajgkaaaaaaa",
|
||||
"con_h_expr_e": null,
|
||||
|
||||
@@ -102,17 +102,6 @@ def desired_follow_distance(v_ego, v_lead, t_follow=None):
|
||||
t_follow = get_T_FOLLOW()
|
||||
return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead)
|
||||
|
||||
def get_stopped_equivalence_factor_krkeegen(v_lead, v_ego):
|
||||
# KRKeegan this offset rapidly decreases the following distance when the lead pulls
|
||||
# away, resulting in an early demand for acceleration.
|
||||
v_diff_offset = 0
|
||||
if np.all(v_lead - v_ego > 0):
|
||||
v_diff_offset = ((v_lead - v_ego) * 1.)
|
||||
v_diff_offset = np.clip(v_diff_offset, 0, STOP_DISTANCE / 2)
|
||||
v_diff_offset = np.maximum(v_diff_offset * ((10 - v_ego)/10), 0)
|
||||
distance = (v_lead**2) / (2 * COMFORT_BRAKE) + v_diff_offset
|
||||
return distance
|
||||
|
||||
def gen_long_model():
|
||||
model = AcadosModel()
|
||||
model.name = MODEL_NAME
|
||||
@@ -355,7 +344,7 @@ class LongitudinalMpc:
|
||||
self.max_a = max_a
|
||||
|
||||
# def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard):
|
||||
def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard, use_df_tune=False, use_krkeegen_tune=False):
|
||||
def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard, use_df_tune=False, aggressive_acceleration=False, smoother_braking=False):
|
||||
# t_follow = get_T_FOLLOW(personality)
|
||||
v_ego = self.x0[1]
|
||||
t_follow = get_T_FOLLOW(personality) if not use_df_tune else get_dynamic_follow(v_ego, personality)
|
||||
@@ -364,15 +353,23 @@ class LongitudinalMpc:
|
||||
lead_xv_0 = self.process_lead(radarstate.leadOne)
|
||||
lead_xv_1 = self.process_lead(radarstate.leadTwo)
|
||||
|
||||
# Offset by FrogAi for FrogPilot for a more aggressive takeoff with a lead
|
||||
if aggressive_acceleration:
|
||||
speed_factor = np.maximum(1, lead_xv_0[:,1] - v_ego)
|
||||
t_follow_offset = np.clip(10 - v_ego, 1, speed_factor**2)
|
||||
t_follow = t_follow / t_follow_offset
|
||||
|
||||
# Offset by FrogAi for FrogPilot for a more natural approach to a slower lead
|
||||
if smoother_braking:
|
||||
distance_factor = np.maximum(1, lead_xv_0[:,0] - (lead_xv_0[:,1] * t_follow))
|
||||
t_follow_offset = np.clip((v_ego - lead_xv_0[:,1]) - COMFORT_BRAKE, 1, distance_factor)
|
||||
t_follow = t_follow / t_follow_offset
|
||||
|
||||
# To estimate a safe distance from a moving lead, we calculate how much stopping
|
||||
# distance that lead needs as a minimum. We can add that to the current distance
|
||||
# and then treat that as a stopped car/obstacle at this new distance.
|
||||
if use_krkeegen_tune:
|
||||
lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor_krkeegen(lead_xv_0[:,1], v_ego)
|
||||
lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor_krkeegen(lead_xv_1[:,1], v_ego)
|
||||
else:
|
||||
lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
|
||||
lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
|
||||
lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
|
||||
lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
|
||||
|
||||
self.params[:,0] = ACCEL_MIN
|
||||
self.params[:,1] = self.max_a
|
||||
|
||||
@@ -9,7 +9,7 @@ import cereal.messaging as messaging
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
from openpilot.common.realtime import DT_MDL
|
||||
from openpilot.selfdrive.modeld.constants import T_IDXS
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX
|
||||
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
|
||||
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
|
||||
@@ -79,7 +79,8 @@ class LongitudinalPlanner:
|
||||
self.personality = log.LongitudinalPersonality.standard
|
||||
self.dp_long_use_df_tune = False
|
||||
self.dp_long_taco = self.params.get_bool('dp_long_taco')
|
||||
self.dp_long_use_krkeegen_tune = False
|
||||
self.dp_long_frogai_aggre_accel_tune = False
|
||||
self.dp_long_frogai_smooth_braking_tune = False
|
||||
|
||||
def read_param(self):
|
||||
try:
|
||||
@@ -88,16 +89,17 @@ class LongitudinalPlanner:
|
||||
self.personality = log.LongitudinalPersonality.standard
|
||||
|
||||
self.dp_long_use_df_tune = self.params.get_bool('dp_long_use_df_tune')
|
||||
self.dp_long_use_krkeegen_tune = self.params.get_bool('dp_long_use_krkeegen_tune')
|
||||
self.dp_long_frogai_aggre_accel_tune = self.params.get_bool('dp_long_frogai_aggre_accel_tune')
|
||||
self.dp_long_frogai_smooth_braking_tune = self.params.get_bool('dp_long_frogai_smooth_braking_tune')
|
||||
|
||||
@staticmethod
|
||||
def parse_model(model_msg, model_error, v_ego, taco=False):
|
||||
if (len(model_msg.position.x) == 33 and
|
||||
len(model_msg.velocity.x) == 33 and
|
||||
len(model_msg.acceleration.x) == 33):
|
||||
x = np.interp(T_IDXS_MPC, T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC
|
||||
v = np.interp(T_IDXS_MPC, T_IDXS, model_msg.velocity.x) - model_error
|
||||
a = np.interp(T_IDXS_MPC, T_IDXS, model_msg.acceleration.x)
|
||||
x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC
|
||||
v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error
|
||||
a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x)
|
||||
j = np.zeros(len(T_IDXS_MPC))
|
||||
else:
|
||||
x = np.zeros(len(T_IDXS_MPC))
|
||||
@@ -108,7 +110,7 @@ class LongitudinalPlanner:
|
||||
# rick - taco tune
|
||||
if taco:
|
||||
max_lat_accel = interp(v_ego, [5, 10, 20], [1.5, 2.0, 3.0])
|
||||
curvatures = np.interp(T_IDXS_MPC, T_IDXS, model_msg.orientationRate.z) / np.clip(v, 0.3, 100.0)
|
||||
curvatures = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.orientationRate.z) / np.clip(v, 0.3, 100.0)
|
||||
max_v = np.sqrt(max_lat_accel / (np.abs(curvatures) + 1e-3)) - 2.0
|
||||
v = np.minimum(max_v, v)
|
||||
return x, v, a, j
|
||||
@@ -187,13 +189,13 @@ class LongitudinalPlanner:
|
||||
self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
|
||||
self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
|
||||
x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error, v_ego, taco=self.dp_long_taco)
|
||||
self.mpc.update(sm['radarState'], v_cruise_sol, x, v, a, j, personality=self.personality, use_df_tune=self.dp_long_use_df_tune, use_krkeegen_tune=self.dp_long_use_krkeegen_tune)
|
||||
self.mpc.update(sm['radarState'], v_cruise_sol, x, v, a, j, personality=self.personality, use_df_tune=self.dp_long_use_df_tune, aggressive_acceleration=self.dp_long_frogai_aggre_accel_tune, smoother_braking=self.dp_long_frogai_smooth_braking_tune)
|
||||
|
||||
self.v_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
|
||||
self.a_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
|
||||
self.v_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
|
||||
self.a_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
|
||||
self.v_desired_trajectory = self.v_desired_trajectory_full[:CONTROL_N]
|
||||
self.a_desired_trajectory = self.a_desired_trajectory_full[:CONTROL_N]
|
||||
self.j_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution)
|
||||
self.j_desired_trajectory = np.interp(ModelConstants.T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution)
|
||||
|
||||
# TODO counter is only needed because radar is glitchy, remove once radar is gone
|
||||
self.fcw = self.mpc.crash_cnt > 2 and not sm['carState'].standstill
|
||||
@@ -202,7 +204,7 @@ class LongitudinalPlanner:
|
||||
|
||||
# Interpolate 0.05 seconds and save as starting point for next iteration
|
||||
a_prev = self.a_desired
|
||||
self.a_desired = float(interp(DT_MDL, T_IDXS[:CONTROL_N], self.a_desired_trajectory))
|
||||
self.a_desired = float(interp(DT_MDL, ModelConstants.T_IDXS[:CONTROL_N], self.a_desired_trajectory))
|
||||
self.v_desired_filter.x = self.v_desired_filter.x + DT_MDL * (self.a_desired + a_prev) / 2.0
|
||||
|
||||
def publish(self, sm, pm):
|
||||
|
||||
@@ -8,7 +8,7 @@ from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import LIMIT_ADAPT_ACC, LIMIT_MIN_ACC, LIMIT_MAX_ACC, LIMIT_SPEED_OFFSET_TH, \
|
||||
LIMIT_MAX_MAP_DATA_AGE, CONTROL_N
|
||||
# from selfdrive.controls.lib.events import Events
|
||||
from openpilot.selfdrive.modeld.constants import T_IDXS
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
import cereal.messaging as messaging
|
||||
|
||||
|
||||
@@ -344,11 +344,11 @@ class SpeedLimitController():
|
||||
if self.distance > 0:
|
||||
a_target = (self.speed_limit_offseted**2 - self._v_ego**2) / (2. * self.distance)
|
||||
else:
|
||||
a_target = self._v_offset / T_IDXS[CONTROL_N]
|
||||
a_target = self._v_offset / ModelConstants.T_IDXS[CONTROL_N]
|
||||
# active
|
||||
elif self.state == SpeedLimitControlState.active:
|
||||
# When active we are trying to keep the speed constant around the control time horizon.
|
||||
a_target = self._v_offset / T_IDXS[CONTROL_N]
|
||||
a_target = self._v_offset / ModelConstants.T_IDXS[CONTROL_N]
|
||||
|
||||
# Keep solution limited.
|
||||
self._a_target = np.clip(a_target, LIMIT_MIN_ACC, LIMIT_MAX_ACC)
|
||||
|
||||
@@ -5,7 +5,7 @@ from cereal import custom
|
||||
# from common.realtime import sec_since_boot
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import LIMIT_ADAPT_ACC, LIMIT_MIN_SPEED, LIMIT_MAX_MAP_DATA_AGE, \
|
||||
LIMIT_SPEED_OFFSET_TH, CONTROL_N, LIMIT_MIN_ACC, LIMIT_MAX_ACC
|
||||
from openpilot.selfdrive.modeld.constants import T_IDXS
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
import cereal.messaging as messaging
|
||||
|
||||
|
||||
@@ -228,7 +228,7 @@ class TurnSpeedController():
|
||||
elif self.state == TurnSpeedControlState.active:
|
||||
# When active we are trying to keep the speed constant around the control time horizon.
|
||||
# but under constrained acceleration limits since we are in a turn.
|
||||
a_target = self._v_offset / T_IDXS[CONTROL_N]
|
||||
a_target = self._v_offset / ModelConstants.T_IDXS[CONTROL_N]
|
||||
a_target = np.clip(a_target, _ACTIVE_LIMIT_MIN_ACC, _ACTIVE_LIMIT_MAX_ACC)
|
||||
|
||||
# update solution values.
|
||||
|
||||
@@ -5,7 +5,7 @@ from cereal import car
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import Priority, config_realtime_process
|
||||
from openpilot.system.swaglog import cloudlog
|
||||
from openpilot.selfdrive.modeld.constants import T_IDXS
|
||||
from openpilot.selfdrive.modeld.constants import ModelConstants
|
||||
from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
|
||||
from openpilot.selfdrive.controls.lib.lateral_planner import LateralPlanner
|
||||
import cereal.messaging as messaging
|
||||
@@ -14,20 +14,20 @@ def cumtrapz(x, t):
|
||||
return np.concatenate([[0], np.cumsum(((x[0:-1] + x[1:])/2) * np.diff(t))])
|
||||
|
||||
def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner):
|
||||
plan_odo = cumtrapz(longitudinal_planner.v_desired_trajectory_full, T_IDXS)
|
||||
model_odo = cumtrapz(lateral_planner.v_plan, T_IDXS)
|
||||
plan_odo = cumtrapz(longitudinal_planner.v_desired_trajectory_full, ModelConstants.T_IDXS)
|
||||
model_odo = cumtrapz(lateral_planner.v_plan, ModelConstants.T_IDXS)
|
||||
|
||||
ui_send = messaging.new_message('uiPlan')
|
||||
ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
|
||||
uiPlan = ui_send.uiPlan
|
||||
uiPlan.frameId = sm['modelV2'].frameId
|
||||
uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist()
|
||||
uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist()
|
||||
uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.x_sol[:,0]).tolist()
|
||||
uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.x_sol[:,1]).tolist()
|
||||
uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist()
|
||||
uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist()
|
||||
pm.send('uiPlan', ui_send)
|
||||
|
||||
def plannerd_thread(sm=None, pm=None):
|
||||
def plannerd_thread():
|
||||
config_realtime_process(5, Priority.CTRL_LOW)
|
||||
|
||||
cloudlog.info("plannerd is waiting for CarParams")
|
||||
@@ -41,12 +41,9 @@ def plannerd_thread(sm=None, pm=None):
|
||||
longitudinal_planner = LongitudinalPlanner(CP)
|
||||
lateral_planner = LateralPlanner(CP, debug=debug_mode)
|
||||
|
||||
if sm is None:
|
||||
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
|
||||
poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
|
||||
|
||||
if pm is None:
|
||||
pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan', 'uiPlan', 'longitudinalPlanExt', 'lateralPlanExt'])
|
||||
pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan', 'uiPlan', 'longitudinalPlanExt', 'lateralPlanExt'])
|
||||
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
|
||||
poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
|
||||
|
||||
while True:
|
||||
sm.update()
|
||||
@@ -58,8 +55,8 @@ def plannerd_thread(sm=None, pm=None):
|
||||
longitudinal_planner.publish(sm, pm)
|
||||
publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner)
|
||||
|
||||
def main(sm=None, pm=None):
|
||||
plannerd_thread(sm, pm)
|
||||
def main():
|
||||
plannerd_thread()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user