mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-06-19 21:12:04 +08:00
Compare commits
9 Commits
0.8.12
...
0.7.5-i18n
| Author | SHA1 | Date | |
|---|---|---|---|
 Rick Lan
|
ee55f21e68 | ||
|
Rick Lan
|
8e6d33b2f8 | ||
|
Rick Lan
|
704843bda9 | ||
|
Rick Lan
|
50ea09ae59 | ||
|
Rick Lan
|
c991f68bd7 | ||
|
Rick Lan
|
0286285ec9 | ||
|
Rick Lan
|
4b13bc6850 | ||
|
Rick Lan
|
8502b57831 | ||
|
Rick Lan
|
e81e6393e6 |
@@ -0,0 +1,436 @@
|
||||
dragonpilot 0.7.5.4
|
||||
========================
|
||||
* 加入 2018 skoda kodiaq 指紋v1。(感謝 @Gold 提供)
|
||||
* Added 2018 skoda kodiaq FPv1. (Thanks to @Gold)
|
||||
* 移除方向盤監控設定。(無法取消/關閉方向盤監控)
|
||||
* Removed Steering monitor timer adjustment in code (timer in settings will no longer work.)
|
||||
* Dynamic Follow 更新模型。(感謝 @ShaneSmiskol 提供代碼、 @cgw1968 測試)
|
||||
* Updated Dynamic Follow model. (Special Thanks to @ShaneSmiskol for the feature and @cgw1968 for testing)
|
||||
|
||||
dragonpilot 0.7.5.3
|
||||
========================
|
||||
* Dynamic Follow 更新至 ShaneSmiskol:stock_additions 0.7.5 版。(感謝 @ShaneSmiskol 提供代碼、 @Wei 測試)
|
||||
* Updated Dynamic Follow to ShaneSmiskol:stock_additions 0.7.5. (Special Thanks to @ShaneSmiskol for the feature and @Wei for testing)
|
||||
* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
|
||||
* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
|
||||
* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
|
||||
* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
|
||||
* 修正出現「pedalPressed」的錯誤。(感謝 @Wei 回報)
|
||||
* Fixed issue showing "pedalPressed" error. (Thanks to @Wei)
|
||||
* 將剎車狀熊顯示於 dp 資訊欄。
|
||||
* Added brake indicator to dp infobar.
|
||||
* 修正「溫度監控」燈示。
|
||||
* Fixed "Temp monitor" indicator.
|
||||
* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
|
||||
* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
|
||||
* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
|
||||
* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22)
|
||||
|
||||
dragonpilot 0.7.5.2
|
||||
========================
|
||||
* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
|
||||
* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
|
||||
* 修改成 3 小時後停止供電。(感謝 @Wei 建議)
|
||||
* Updated to stop charging after 3 hrs. (Thanks to @Wei)
|
||||
* 移除行車記錄下的「碰撞偵測」功能。
|
||||
* Removed Impact Detection in Dashcam.
|
||||
* 修正開啟「Noctua 風扇」模式導致的錯誤。(感謝 @阿濤 回報)
|
||||
* Fixed a bug caused by enabling "Noctua Mod". (Thanks to @阿濤)
|
||||
* 修正「位智模式」無法顯示警示的問題。(感謝 @axandres 回報)
|
||||
* Fixed alert issue in waze mode. (Thanks to @axandres)
|
||||
* 修正無法顯示更新中圖示的問題。
|
||||
* Fixed unable to display "UPDATING" icon issue.
|
||||
* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
|
||||
* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
|
||||
* 修正開機後設定頁面有時會錯誤的問題。(感謝 @salmankhan、@Wei 回報)
|
||||
* Fixed setting page crash issue. (Thanks to @salmankhan, @Wei)
|
||||
* 修正熄火後一直出現更新訊息的錯誤。(感謝 @Sky Chang 回報)
|
||||
* Fixed issue that keep showing update prompt. (Thanks to @Sky Chang)
|
||||
|
||||
dragonpilot 0.7.5.1
|
||||
========================
|
||||
* 修正因同時使用「社群功能」和「自定車型」造成的加減速問題。(特別感謝 @Wei、@Sky Chang、@Han9365、@鄧育林 的測試以及回報。)
|
||||
* Fixed acceleration issue caused by used of both "Community Maintain Feature" and "Custom Car Model". (Special Thanks to @Wei, @Sky Chang, @Han9365, @鄧育林)
|
||||
* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
|
||||
* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
|
||||
* 更新 appd 使用 cnpmjs 來下載 APKs。
|
||||
* Updated appd to use cnpmjs to download APKs.
|
||||
* 修正更新服務。(感謝 @Wei)
|
||||
* Fixed Update Service. (Thanks to @Wei)
|
||||
* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
|
||||
* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
|
||||
* 新增「通過移動網路上傳」開關
|
||||
* Added Upload Over Mobile Network toggle.
|
||||
* 新增「通過熱點上傳」開關
|
||||
* Added Upload Over Hotspot toggle.
|
||||
* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
|
||||
* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
|
||||
* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
|
||||
* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
|
||||
|
||||
dragonpilot 0.7.5.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.5 devel-staging.
|
||||
* Based on latest openpilot 0.7.5 devel-staging.
|
||||
* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
|
||||
* Updated dp logo, special thanks to @wabes for the design.
|
||||
* 簡/繁中文版和 i18n 整合成為單一版本。
|
||||
* Merged zhs/zht/i18n versions into one.
|
||||
* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
|
||||
* Added China Camery Hybrid FPv2. (Thanks to @杜子腾)
|
||||
* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
|
||||
* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
|
||||
* 新增行駛時關閉畫面功能。
|
||||
* Added Screen off while driving feature.
|
||||
* 新增倒車時關閉畫面功能。
|
||||
* Added Screen off while reversing feature.
|
||||
* 新增駕駛介面加入「加速模式」切換鈕。
|
||||
* Added acceleration profile toggle onto driving UI.
|
||||
* 新增自定車型功能，取代指紋暫存功能。
|
||||
* Replaced fingerprint cache with custom car model selector.
|
||||
* 新增可調亮度。
|
||||
* Added Brightness changer.
|
||||
* 新增部分德語支持。(特別感謝 @arne182 提供)
|
||||
* Added partial de_DE language support (Thanks to @arne182)
|
||||
* 新增停車碰撞偵測記錄功能。
|
||||
* Added off road impact detection to dashcam.
|
||||
|
||||
2020-05-06
|
||||
========================
|
||||
* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
|
||||
* 中文版整合進 i18n 版。
|
||||
* 刪除指紋暫存功能。
|
||||
* 新增 CAMERY HIBRID 指紋。(感謝 @杜子腾)
|
||||
* 新增行駛時關閉畫面功能。
|
||||
* 新增倒車時關閉畫面功能。
|
||||
* 新增駕駛介面加入「加速模式」切換鈕。
|
||||
* 新增自定義車型。
|
||||
|
||||
2020-04-16
|
||||
========================
|
||||
* [DEVEL] 加入台灣版 2016 Lexus IS200t 指紋。(感謝 Philip / Cody Dai)
|
||||
* [DEVEL] 加入台灣版 2016 Toyota Prius 4.5 代指紋。(感謝 Philip)
|
||||
* [DEVEL] 加入台灣版 201x Toyota RAV4 4WD 指紋。(感謝 Philip)
|
||||
* [DEVEL] 加入台灣版 2020 Toyota Auris w/ LTA 指紋。(感謝 Philip)
|
||||
* [DEVEL] 修正 commIssue 錯誤。(感謝 Kent 協助)
|
||||
|
||||
2020-04-13
|
||||
========================
|
||||
* [DEVEL] 加入可調整 Toyota Sng 起步反應值 (DragonToyotaSngResponse)。 (特別感謝 @Wei 提供 PR)
|
||||
* [DEVEL] 駕駛介面加入「動態調整車距」按鈕。(感謝 @cgw1968-5779 建議)
|
||||
* [DEVEL] 更新 update script。(感謝 深鯨希西 回報)
|
||||
|
||||
2020-04-10
|
||||
========================
|
||||
* [DEVEL] 更新 panda 至最新的 comma:master 分支。
|
||||
* [DEVEL] 移除所有的第三方應用改為自動下載。
|
||||
* [DEVEL] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。
|
||||
|
||||
2020-03-31
|
||||
========================
|
||||
* [DEVEL] 更新至 2020-03-31 testing 分支。
|
||||
|
||||
2020-03-27
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 testing 分支:
|
||||
* 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供)
|
||||
* 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle)
|
||||
* 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。
|
||||
* 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供)
|
||||
* 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供)
|
||||
* 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供)
|
||||
* 加入韓文支持。(感謝 crwusiz 提供)
|
||||
* 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。
|
||||
|
||||
2020-03-22
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 testing 分支。
|
||||
|
||||
2020-03-17
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 testing 分支 (commaai:devel-staging 0.7.4)。
|
||||
* [DEVEL] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR)
|
||||
|
||||
2020-03-14
|
||||
========================
|
||||
* [DEVEL] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供)
|
||||
* [DEVEL] 加入自動關機開關。(感謝 Rzxd 建議)
|
||||
* [DEVEL] 調高 Toyota 扭力容錯值。
|
||||
* [DEVEL] 優化讀取 dp 設定值。
|
||||
* [DEVEL] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供)
|
||||
* [DEVEL] dp 功能加入對 Subaru 車系的支援。
|
||||
|
||||
2020-03-06
|
||||
========================
|
||||
* [DEVEL] 加入葡萄牙語支持。(感謝 berno22 提供)
|
||||
* [DEVEL] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供)
|
||||
* [DEVEL] 建立 devel-i18n 取代 devel-en。
|
||||
* [DEVEL] devel-en is deprecated, please switch to devel-i18n instead.
|
||||
|
||||
2020-03-04
|
||||
========================
|
||||
* [DEVEL] 加入顯示駕駛監控畫面。
|
||||
* [DEVEL] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR)
|
||||
* [DEVEL] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報)
|
||||
|
||||
2020-02-25
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
|
||||
|
||||
2020-02-21
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.3)。
|
||||
|
||||
2020-02-14
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
|
||||
* [DEVEL] 修正錯誤。
|
||||
|
||||
2020-02-08
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.2)。
|
||||
* [DEVEL] dp 功能加入對現代 (Hyundai) 車系的支援。
|
||||
* [DEVEL] 加入神盾測速照相自動啟動的開關。
|
||||
* [DEVEL] 更新高德地圖至 v4.5.0.600053。
|
||||
* [DEVEL] 使用 0.6.6 版的更新系統。
|
||||
* [DEVEL] 修正急剎問題。(感謝 kumar 提供)
|
||||
|
||||
2020-01-31
|
||||
========================
|
||||
* [DEVEL] 移除行車介面電量、溫度顯示，(修正畫面當機、黑屏問題)
|
||||
|
||||
2020-01-29
|
||||
========================
|
||||
* [DEVEL] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應)
|
||||
|
||||
2020-01-23
|
||||
========================
|
||||
* [DEVEL] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議)
|
||||
* [DEVEL] 行車介面加入電量、溫度。(感謝 eisenheim 建議)
|
||||
* [DEVEL] 優化 appd。
|
||||
|
||||
2020-01-19
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.1)。
|
||||
* [DEVEL] 調整 appd 和 ALC 邏輯。
|
||||
|
||||
2020-01-14
|
||||
========================
|
||||
* [DEVEL] 加入開機啟動個人熱點。(感謝 eisenheim 建議)
|
||||
|
||||
2020-01-08
|
||||
========================
|
||||
* [DEVEL] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供)
|
||||
* [DEVEL] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供)
|
||||
|
||||
2019-12-31
|
||||
========================
|
||||
* [DEVEL-ZHS] 加回第三方應用。
|
||||
|
||||
2019-12-29
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
|
||||
* [DEVEL] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay)
|
||||
* [DEVEL-ZHS] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應)
|
||||
|
||||
2019-12-18
|
||||
========================
|
||||
* [DEVEL] 修正自動換道邏輯。
|
||||
* [DEVEL] 更新 offroad 翻譯。
|
||||
* [DEVEL] 錯誤修正。
|
||||
* [DEVEL] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突)
|
||||
|
||||
2019-12-17
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
|
||||
* [DEVEL] 加入輔助換道開關。（24mph / 40kph 以上)
|
||||
* [DEVEL] 加入自動換道開關。（40mph / 65kph 以上)
|
||||
* [DEVEL] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供)
|
||||
* [DEVEL] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供)
|
||||
* [DEVEL] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供)
|
||||
|
||||
2019-12-10
|
||||
========================
|
||||
* [DEVEL] 加入位智車機模式。 (Waze Mode)
|
||||
|
||||
2019-11-21
|
||||
========================
|
||||
* [DEVEL] 修正 offroad 翻譯。(感謝 鄧育林 回報)
|
||||
* [DEVEL] 調整前車靜止移動偵測參數。
|
||||
* [DEVEL] 前車靜止移動偵測可在未啟用 dp 時運作。
|
||||
|
||||
2019-11-18
|
||||
========================
|
||||
* [DEVEL] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報)
|
||||
|
||||
2019-11-18
|
||||
========================
|
||||
* [DEVEL] 修正 frame 翻譯。
|
||||
|
||||
2019-11-15
|
||||
========================
|
||||
* [DEVEL] 修正不會充電的錯誤。 (感謝 袁昊 反應)
|
||||
|
||||
2019-11-15
|
||||
========================
|
||||
* [DEVEL] 修正充電控制。 (感謝 KT 反應)
|
||||
* [DEVEL] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應)
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
|
||||
|
||||
2019-11-12
|
||||
========================
|
||||
* [DEVEL] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線)
|
||||
* [DEVEL] 自動偵測並鎖定硬體 (EON / UNO)。
|
||||
|
||||
2019-11-12
|
||||
========================
|
||||
* [DEVEL] 加入鎖定硬體 (EON / UNO) 的程式碼。
|
||||
|
||||
2019-11-11
|
||||
========================
|
||||
* [DEVEL] 更新高德地圖至 v4.3.0.600310 R2098NSLAE
|
||||
* [DEVEL] 更新 MiXplorer 至 v6.40.3
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
|
||||
* [DEVEL] 前車靜止移動偵測加入偵測警示。
|
||||
|
||||
2019-11-07
|
||||
========================
|
||||
* [DEVEL] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報)
|
||||
* [DEVEL] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供)
|
||||
|
||||
2019-11-06
|
||||
========================
|
||||
* [DEVEL] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報)
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.6)。
|
||||
|
||||
2019-11-05
|
||||
========================
|
||||
* [DEVEL] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋)
|
||||
|
||||
2019-11-01
|
||||
========================
|
||||
* [DEVEL] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen)
|
||||
* [DEVEL] 修正 offroad 翻譯。 (感謝 Leo Hsieh)
|
||||
|
||||
2019-11-01
|
||||
========================
|
||||
* [DEVEL] 移除 Miui 字型，縮小 dp 使用空間。
|
||||
* [DEVEL] 更新 offroad 為多語言版
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
|
||||
2019-10-29
|
||||
========================
|
||||
* [DEVEL] 加入 SnG 補丁。（感謝 楊雅智)
|
||||
|
||||
2019-10-28
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
* [DEVEL] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體)
|
||||
|
||||
2019-10-18
|
||||
========================
|
||||
* [DEVEL] 加入前車靜止移動偵測。(測試版，感謝 ucolchen)
|
||||
* [DEVEL] 移除強迫網路連線提示。(感謝 Shell)
|
||||
* [DEVEL] 修正 allow_gas 功能。
|
||||
|
||||
2019-10-18
|
||||
========================
|
||||
* [DEVEL] 加入彎道減速功能開關。
|
||||
* [DEVEL] 強迫使用 dp 版 Panda 韌體。
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
|
||||
2019-10-17
|
||||
========================
|
||||
* [DEVEL] 加入「車型」顯示於 dp 設定畫面。
|
||||
* [DEVEL] 修正充電控制讀取預設值的錯誤。
|
||||
* [DEVEL] 修正無法顯示更新記錄的錯誤。
|
||||
|
||||
2019-10-16
|
||||
========================
|
||||
* [DEVEL] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議)
|
||||
* [DEVEL] 下載更新記錄時使用 "no-cache" 標頭。
|
||||
* [DEVEL] 更新高德地圖至 v4.3.0
|
||||
* [DEVEL] 刪除 bs (Branch Switcher)
|
||||
|
||||
2019-10-14
|
||||
========================
|
||||
* [DEVEL] 啟用自動更新功能。(感謝 鄧育林 提供)
|
||||
* [DEVEL] 清除不再使用的 dp params。
|
||||
* [DEVEL] 加入數字電量指示。(感謝 鄧育林 建議)
|
||||
* [DEVEL] 加入刷新 Panda 韌體按鈕。
|
||||
|
||||
2019-10-11
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.5)。
|
||||
* [DEVEL] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供)
|
||||
|
||||
2019-10-09
|
||||
========================
|
||||
* [DEVEL] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。
|
||||
|
||||
2019-10-08
|
||||
========================
|
||||
* [DEVEL] 加回駕駛監控開關。
|
||||
* [DEVEL] 加入 bs (branch switcher) 程式。
|
||||
|
||||
2019-10-07
|
||||
========================
|
||||
* [DEVEL] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供)
|
||||
|
||||
2019-10-05
|
||||
========================
|
||||
* [DEVEL] 移除 curvature learner: 轉角明顯比原廠小。
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.6.4)。
|
||||
|
||||
2019-09-30
|
||||
========================
|
||||
* [DEVEL] 更新 curvature learner 版本至 v4。
|
||||
* [DEVEL] Lexus ISH 使用更精確的 EPS Steering Angle Sensor
|
||||
|
||||
2019-09-27
|
||||
========================
|
||||
* [DEVEL] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot)
|
||||
* [DEVEL] 加入可開關駕駛監控的程式碼。
|
||||
* [DEVEL] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。
|
||||
* [DEVEL] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。
|
||||
|
||||
2019-09-26
|
||||
========================
|
||||
* [DEVEL] 修正當「啟用記錄服務」關閉時，make 會有問題的錯誤。 (感謝 shaoching885 和 afa 回報)
|
||||
|
||||
2019-09-24
|
||||
========================
|
||||
* [DEVEL] 行車介面加入可開關的「前車」、「路線」、「車道」設定。
|
||||
* [DEVEL] 行車介面加入可開關的「方向燈號」提示。 (感謝 CloudJ 建議，程式碼來源: https://github.com/kegman/openpilot)
|
||||
|
||||
2019-09-23
|
||||
========================
|
||||
* [DEVEL] 優化讀取 params 的次數。
|
||||
* [DEVEL] 加入可開關的車道偏移警示。
|
||||
* [DEVEL] 修正充電控制邏輯。
|
||||
* [DEVEL] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供)
|
||||
|
||||
2019-09-20
|
||||
========================
|
||||
* [DEVEL] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議)
|
||||
|
||||
2019-09-16
|
||||
========================
|
||||
* [DEVEL] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供)
|
||||
* [DEVEL] 加入美版 CT200h 移植。 (感謝 thomaspich 提供)
|
||||
|
||||
2019-09-13
|
||||
========================
|
||||
* [DEVEL] 行車介面加入可開關的「速度顯示」設定。
|
||||
|
||||
2019-09-09
|
||||
========================
|
||||
* [DEVEL] 加入 GreyPanda 模式。
|
||||
|
||||
2019-08-28
|
||||
========================
|
||||
* [DEVEL] 加入可調警示音量。
|
||||
|
||||
2019-08-27
|
||||
========================
|
||||
* [DEVEL] 自動關機改為可調時長。
|
||||
@@ -0,0 +1,195 @@
|
||||
dragonpilot 0.7.5
|
||||
========================
|
||||
* 移除方向盤監控設定。(無法取消/關閉方向盤監控)
|
||||
* Removed Steering monitor timer adjustment in code (timer in settings will no longer work.)
|
||||
* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
|
||||
* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
|
||||
* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
|
||||
* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
|
||||
* 將剎車狀熊顯示於 dp 資訊欄。
|
||||
* Added brake indicator to dp infobar.
|
||||
* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
|
||||
* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
|
||||
* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
|
||||
* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22)
|
||||
* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
|
||||
* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
|
||||
* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
|
||||
* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
|
||||
* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
|
||||
* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
|
||||
* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
|
||||
* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
|
||||
* 新增「通過移動網路上傳」開關
|
||||
* Added Upload Over Mobile Network toggle.
|
||||
* 新增「通過熱點上傳」開關
|
||||
* Added Upload Over Hotspot toggle.
|
||||
* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
|
||||
* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
|
||||
* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
|
||||
* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
|
||||
* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
|
||||
* Updated dp logo, special thanks to @wabes for the design.
|
||||
* 簡/繁中文版和 i18n 整合成為單一版本。
|
||||
* Merged zhs/zht/i18n versions into one.
|
||||
* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
|
||||
* Added China Camery Hybrid FPv2. (Thanks to @杜子腾)
|
||||
* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
|
||||
* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
|
||||
* 新增行駛時關閉畫面功能。
|
||||
* Added Screen off while driving feature.
|
||||
* 新增倒車時關閉畫面功能。
|
||||
* Added Screen off while reversing feature.
|
||||
* 新增駕駛介面加入「加速模式」切換鈕。
|
||||
* Added acceleration profile toggle onto driving UI.
|
||||
* 新增自定車型功能，取代指紋暫存功能。
|
||||
* Replaced fingerprint cache with custom car model selector.
|
||||
* 新增可調亮度。
|
||||
* Added Brightness changer.
|
||||
* 新增部分德語支持。(特別感謝 @arne182 提供)
|
||||
* Added partial de_DE language support (Thanks to @arne182)
|
||||
|
||||
dragonpilot 0.7.4
|
||||
========================
|
||||
* [2020-04-10] 移除所有的第三方應用改為自動下載。
|
||||
* [2020-04-10] 移除「啟用原廠 DSU 模式」、「安全帶檢查」、「車門檢查」開關。
|
||||
* [2020-03-31] 還原部分修改代碼以達到 comma ai 安全準則。 (Reverted changes to panda safety code to comply with comma ai safety guideline.)
|
||||
* [2020-03-31] 調整「啟用原廠 DSU 模式」為踩剎車時會暫時斷開控制 。(Enable Stock DSU Mode will temporary disable controls when brake is pressed.)
|
||||
* [2020-03-27] 加入波蘭版 2015 Lexus NX200T 支援。(感謝 wabes 提供)
|
||||
* [2020-03-27] 調整「啟用原廠 DSU 模式」為不再需要 AHB 。(Enable Stock DSU Mode no longer requires "AHB" toggle)
|
||||
* [2020-03-27] 加入「安全帶檢查」、「車門檢查」、「檔位檢查」、「溫度檢查」開關。
|
||||
* [2020-03-27] 加入曲率學習功能 - Curvature Learner 。(感謝 zorrobyte 提供)
|
||||
* [2020-03-27] 加入大陸版 2018 Toyota Highlander 支援。(感謝 toyboxZ 提供)
|
||||
* [2020-03-27] 加入大陸版 2018 Toyota Camry 2.0 支援。(感謝 Rming 提供)
|
||||
* [2020-03-27] 加入韓文支持。(感謝 crwusiz 提供)
|
||||
* [2020-03-27] 調整 OFFROAD 主頁翻譯將 "dragonpilot" 改回 "openpilot"。
|
||||
|
||||
dragonpilot 0.7.3
|
||||
========================
|
||||
* [2020-03-17] 加入動態調整車距功能。(特別感謝 @ShaneSmiskol 提供 PR)
|
||||
* [2020-03-14] 更新 pt-Br (葡萄牙語) 翻譯。(感謝 berno22 提供)
|
||||
* [2020-03-14] 加入自動關機開關。(感謝 Rzxd 建議)
|
||||
* [2020-03-14] 調高 Toyota 扭力容錯值。
|
||||
* [2020-03-14] 優化讀取 dp 設定值。
|
||||
* [2020-03-14] 加入 2019 手動 Civic 指紋。感謝 (AlexNoop 提供)
|
||||
* [2020-03-14] dp 功能加入對 Subaru 車系的支援。
|
||||
* [2020-03-06] 加入葡萄牙語支持。(感謝 berno22 提供)
|
||||
* [2020-03-06] 加入大陸 2018 Camry、2020 RAV4 指紋。(感謝 笨木匠 提供)
|
||||
* [2020-03-04] 加入顯示駕駛監控畫面。
|
||||
* [2020-03-04] 加入加速模式選項。(特別感謝 @arne182, @cgw1968-5779 提供 PR)
|
||||
* [2020-03-04] 修正 shutdownd 在 comma two 可能會不正常關機的錯誤。(感謝 @Wei, @Rzxd 回報)
|
||||
|
||||
dragonpilot 0.7.2
|
||||
========================
|
||||
* [2020-02-08] dp 功能加入對現代 (Hyundai) 車系的支援。
|
||||
* [2020-02-08] 加入神盾測速照相自動啟動的開關。
|
||||
* [2020-02-08] 更新高德地圖至 v4.5.0.600053。
|
||||
* [2020-02-08] 使用 0.6.6 版的更新系統。
|
||||
* [2020-02-08] 修正急剎問題。(感謝 kumar 提供)
|
||||
* [2020-01-31] 移除行車介面電量、溫度顯示，(修正畫面當機、黑屏問題)
|
||||
* [2020-01-29] 修正行車介面錯誤。(感謝 深鲸希西 測試；eisenheim、HeatNation 反應)
|
||||
* [2020-01-23] 加入 Steer Ratio Learner 關閉。(感謝 eisenheim 建議)
|
||||
* [2020-01-23] 行車介面加入電量、溫度。(感謝 eisenheim 建議)
|
||||
* [2020-01-23] 優化 appd。
|
||||
|
||||
dragonpilot 0.7.1
|
||||
========================
|
||||
* [2020-01-19] 調整 appd 和 ALC 邏輯。
|
||||
* [2020-01-14] 加入開機啟動個人熱點。(感謝 eisenheim 建議)
|
||||
* [2020-01-18] 加入大陸版 2018 Lexus RX300 支援。(感謝 cafe 提供)
|
||||
* [2020-01-18] 加入 DragonBTG 設定。(感謝 CloudJ、低調哥、歐姓Altis車主 提供)
|
||||
|
||||
dragonpilot 0.7.0
|
||||
========================
|
||||
* [DEVEL] 更新至最新的 commaai:devel (0.7.0)。
|
||||
* [2019-12-29] 輔助/自動變道改為可調整參數 (進階用戶)。(DragonAssistedLCMinMPH、DragonAutoLCMinMPH、DragonAutoLCDelay)
|
||||
* [2019-12-29] 修正無法運行第三方應用錯誤。(感謝 深鲸希西 反應)
|
||||
* [2019-12-18] 修正自動換道邏輯。
|
||||
* [2019-12-18] 更新 offroad 翻譯。
|
||||
* [2019-12-18] 錯誤修正。
|
||||
* [2019-12-18] 移除美版 2017 Civic Hatchback 指紋。(與其它車型衝突)
|
||||
* [2019-12-17] 加入輔助換道開關。（24mph / 40kph 以上)
|
||||
* [2019-12-17] 加入自動換道開關。（40mph / 65kph 以上)
|
||||
* [2019-12-17] 加入大陸版 2019 雷凌汽油版指紋。 (感謝 Shell 提供)
|
||||
* [2019-12-17] 加入大陸版 2019 卡羅拉汽油版指紋。 (感謝 Shell 提供)
|
||||
* [2019-12-17] 加入美版 2017 Civic Hatchback 指紋。(感謝 CFranHonda 提供)
|
||||
* [2019-12-10] 加入位智車機模式。 (Waze Mode)
|
||||
* [2019-11-21] 修正 offroad 翻譯。(感謝 鄧育林 回報)
|
||||
* [2019-11-21] 調整前車靜止移動偵測參數。
|
||||
* [2019-11-21] 前車靜止移動偵測可在未啟用 dp 時運作。
|
||||
* [2019-11-18] 修正 offroad 翻譯。(感謝 Cody、鄧育林 回報)
|
||||
* [2019-11-18] 修正 frame 翻譯。
|
||||
|
||||
dragonpilot 0.6.6
|
||||
========================
|
||||
* [2019-11-15] 修正不會充電的錯誤。 (感謝 袁昊 反應)
|
||||
* [2019-11-15] 修正充電控制。 (感謝 KT 反應)
|
||||
* [2019-11-15] 更新 frame 翻譯，改為多語言版。 (感謝 深鲸希西、shaoching885、鄧育林 反應)
|
||||
* [2019-11-12] 只顯示電量文字 (注意：有時不會更新，需要拔插 USB 線)
|
||||
* [2019-11-12] 自動偵測並鎖定硬體 (EON / UNO)。
|
||||
* [2019-11-12] 加入鎖定硬體 (EON / UNO) 的程式碼。
|
||||
* [2019-11-11] 更新高德地圖至 v4.3.0.600310 R2098NSLAE
|
||||
* [2019-11-11] 更新 MiXplorer 至 v6.40.3
|
||||
* [2019-11-11] 前車靜止移動偵測加入偵測警示。
|
||||
* [2019-11-07] 讓 Bosch 系統顯示三角。 (感謝 ching885 回報)
|
||||
* [2019-11-07] 更新 offroad 多語言版簡體中文翻譯 (感謝 Rming 提供)
|
||||
* [2019-11-06] 修正 0.6.6 appd 和 dashcamd 錯誤。 (感謝 鄧育林 回報)
|
||||
|
||||
dragonpilot 0.6.5
|
||||
========================
|
||||
* [2019-11-05] 加入台灣 Lexus 2017 GS450h 支援。 (感謝 簡銘佑 提供指紋)
|
||||
* [2019-11-01] 新增神盾測速照相。 (感謝 Sky Chang 和 Wei Yi Chen)
|
||||
* [2019-11-01] 修正 offroad 翻譯。 (感謝 Leo Hsieh)
|
||||
* [2019-11-01] 移除 Miui 字型，縮小 dp 使用空間。
|
||||
* [2019-11-01] 更新 offroad 為多語言版
|
||||
* [2019-10-29] 加入 SnG 補丁。（感謝 楊雅智)
|
||||
* [2019-10-28] 調整 dragon_allow_gas 邏輯 (請回報任何問題，需更新 Panda 韌體)
|
||||
* [2019-10-22] 移除強迫網路連線提示。(感謝 Shell)
|
||||
* [2019-10-18] 加入前車靜止移動偵測。(測試版，感謝 ucolchen)
|
||||
* [2019-10-18] 移除強迫網路連線提示。(感謝 Shell)
|
||||
* [2019-10-18] 修正 allow_gas 功能。
|
||||
* [2019-10-18] 加入彎道減速功能開關。
|
||||
* [2019-10-18] 強迫使用 dp 版 Panda 韌體。
|
||||
* [2019-10-17] 加入「車型」顯示於 dp 設定畫面。
|
||||
* [2019-10-17] 修正充電控制讀取預設值的錯誤。
|
||||
* [2019-10-17] 修正無法顯示更新記錄的錯誤。
|
||||
* [2019-10-17] 刷新 Panda 韌體按鈕將會自動重啟 EON。(感謝 鄧育林 建議)
|
||||
* [2019-10-17] 下載更新記錄時使用 "no-cache" 標頭。
|
||||
* [2019-10-17] 更新高德地圖至 v4.3.0
|
||||
* [2019-10-14] 啟用自動更新功能。(感謝 鄧育林 提供)
|
||||
* [2019-10-14] 清除不再使用的 dp params。
|
||||
* [2019-10-14] 加入數字電量指示。(感謝 鄧育林 建議)
|
||||
* [2019-10-14] 加入刷新 Panda 韌體按鈕。
|
||||
* [2019-10-11] 加入台灣 2019 RAV4 汽油版指紋。 (感謝 Max Duan / CloudJ 提供)
|
||||
* [2019-10-11] 加入當 LatCtrl 關閉時，畫面顯示提示訊息。
|
||||
|
||||
dragonpilot 0.6.4
|
||||
========================
|
||||
* [2019-10-11] 加入台灣版 2019 RAV4H 油電版指紋。
|
||||
* [2019-10-08] 加回駕駛監控開關。
|
||||
* [2019-10-07] 加入台灣版 2019 RAV4H 油電版指紋。(感謝 Max Duan 提供)
|
||||
* [2019-10-05] 移除 curvature learner: 轉角明顯比原廠小。
|
||||
* [2019-09-30] 更新 curvature learner 版本至 v4。
|
||||
* [2019-09-30] Lexus ISH 使用更精確的 EPS Steering Angle Sensor
|
||||
* [2019-09-27] 加入 Zorrobyte 的 curvature learner (https://github.com/zorrobyte/openpilot)
|
||||
* [2019-09-27] 加入可開關駕駛監控的程式碼。
|
||||
* [2019-09-27] 取消當 steering 出現錯誤時，自動切斷方向控制 2 秒的機制。
|
||||
* [2019-09-27] 讓行車介面的「方向盤」/「轉彎」圖示半透明化。
|
||||
* [2019-09-26] 修正當「啟用記錄服務」關閉時，make 會有問題的錯誤。 (感謝 shaoching885 和 afa 回報)
|
||||
* [2019-09-24] 行車介面加入可開關的「前車」、「路線」、「車道」設定。
|
||||
* [2019-09-24] 行車介面加入可開關的「方向燈號」提示。 (感謝 CloudJ 建議，程式碼來源: https://github.com/kegman/openpilot)
|
||||
* [2019-09-23] 優化讀取 params 的次數。
|
||||
* [2019-09-23] 加入可開關的車道偏移警示。
|
||||
* [2019-09-23] 修正充電控制邏輯。
|
||||
* [2019-09-23] 加入台灣 Prius 4.5 指紋。 (感謝 Lin Hsin Hung 提供)
|
||||
* [2019-09-20] 加入充電控制功能。 (感謝 loveloveses 和 KT 建議)
|
||||
* [2019-09-16] 加入台灣 CT200h 指紋。 (感謝 CloudJ 提供)
|
||||
* [2019-09-16] 加入美版 CT200h 移植。 (感謝 thomaspich 提供)
|
||||
* [2019-09-13] 行車介面加入可開關的「速度顯示」設定。
|
||||
* [2019-09-09] 加入 GreyPanda 模式。
|
||||
* [2019-08-28] 加入可調警示音量。
|
||||
* [2019-08-27] 自動關機改為可調時長。
|
||||
|
||||
dragonpilot 0.6.3
|
||||
========================
|
||||
* [2019-10-11] 加入台灣版 2019 RAV4H 油電版指紋。
|
||||
+120
@@ -0,0 +1,120 @@
|
||||
2020-06-22 (0.7.5)
|
||||
========================
|
||||
* 移除方向盤監控設定。(無法取消/關閉方向盤監控)
|
||||
* Removed Steering monitor timer adjustment in code (timer in settings will no longer work.)
|
||||
|
||||
2020-06-18 (0.7.5)
|
||||
========================
|
||||
* Dynamic Follow 更新模型。(感謝 @ShaneSmiskol 提供代碼、 @cgw1968 測試)
|
||||
* Updated Dynamic Follow model. (Special Thanks to @ShaneSmiskol for the feature and @cgw1968 for testing)
|
||||
|
||||
2020-05-30 (0.7.5)
|
||||
========================
|
||||
* Dynamic Follow 更新至 ShaneSmiskol:stock_additions 0.7.5 版。(感謝 @ShaneSmiskol 提供代碼、 @Wei 測試)
|
||||
* Updated Dynamic Follow to ShaneSmiskol:stock_additions 0.7.5. (Special Thanks to @ShaneSmiskol for the feature and @Wei for testing)
|
||||
|
||||
2020-05-28 (0.7.5)
|
||||
========================
|
||||
* 優化 Lexus GSH 轉向。(感謝 @簡銘佑 測試)
|
||||
* Optimize Lexus GSH steering. (Thanks to @簡銘佑)
|
||||
* C2 支援自動關機「DragonAutoShutdownAt」參數。(感謝 @cgw1968 建議)
|
||||
* C2 to support auto shutdown "DragonAutoShutDownAt" param. (Thanks to @cgw1968)
|
||||
* 修正出現「pedalPressed」的錯誤。(感謝 @Wei 回報)
|
||||
* Fixed issue showing "pedalPressed" error. (Thanks to @Wei)
|
||||
|
||||
2020-05-26 (0.7.5)
|
||||
========================
|
||||
* 將剎車狀熊顯示於 dp 資訊欄。
|
||||
* Added brake indicator to dp infobar.
|
||||
* 修正「溫度監控」燈示。
|
||||
* Fixed "Temp monitor" indicator.
|
||||
* 加入「方向燈取消控制」延遲控制設。(感謝 @wabes 建議)
|
||||
* Added delay config to "Disable Lat Control on Blinker". (Thanks to @wabes)
|
||||
* 加入巴西版 2020 Corolla Hybrid 指紋v2。(感謝 @berno22 提供)
|
||||
* Added Brazil 2020 Corolla Hybrid FPv2. (Thanks to @berno22)
|
||||
|
||||
2020-05-25 (0.7.5)
|
||||
========================
|
||||
* 加入對 VW MQB/PQ 的支援。(感謝 @dingliangxue 移植)
|
||||
* Added support to VW MQB/PQ platform. (Thanks to @dingliangxue)
|
||||
|
||||
2020-05-21 (0.7.5)
|
||||
========================
|
||||
* 修改成 3 小時後停止供電。(感謝 @Wei 建議)
|
||||
* Updated to stop charging after 3 hrs. (Thanks to @Wei)
|
||||
* 移除行車記錄下的「碰撞偵測」功能。
|
||||
* Removed Impact Detection in Dashcam.
|
||||
* 修正開啟「Noctua 風扇」模式導致的錯誤。(感謝 @阿濤 回報)
|
||||
* Fixed a bug caused by enabling "Noctua Mod". (Thanks to @阿濤)
|
||||
* 修正「位智模式」無法顯示警示的問題。(感謝 @axandres 回報)
|
||||
* Fixed alert issue in waze mode. (Thanks to @axandres)
|
||||
* 修正無法顯示更新中圖示的問題。
|
||||
* Fixed unable to display "UPDATING" icon issue.
|
||||
|
||||
2020-05-20 (0.7.5)
|
||||
========================
|
||||
* 加入「允許多次自動換道」功能。(感謝 @阿濤 建議)
|
||||
* Added "Allow Continuous Auto Lane Change" Toggle. (Thanks to @阿濤)
|
||||
* 修正開機後設定頁面有時會錯誤的問題。(感謝 @salmankhan、@Wei 回報)
|
||||
* Fixed setting page crash issue. (Thanks to @salmankhan, @Wei)
|
||||
* 修正熄火後一直出現更新訊息的錯誤。(感謝 @Sky Chang 回報)
|
||||
* Fixed issue that keep showing update prompt. (Thanks to @Sky Chang)
|
||||
|
||||
2020-05-19 (0.7.5)
|
||||
========================
|
||||
* 加入 DragonEnableAutoUpdate 預設值。
|
||||
* Added DragonEnableAutoUpdate default value.
|
||||
|
||||
2020-05-18 (0.7.5)
|
||||
========================
|
||||
* 修正因同時使用「社群功能」和「自定車型」造成的加減速問題。(特別感謝 @Wei、@Sky Chang、@Han9365、@鄧育林 的測試以及回報。)
|
||||
* Fixed acceleration issue caused by used of both "Community Maintain Feature" and "Custom Car Model"
|
||||
|
||||
2020-05-16 (0.7.5)
|
||||
========================
|
||||
* 新增 DragonMaxSpeedLimit 設定值 (mph)，當如果車速高於此值 op 將會停止操控。(感謝 @Anthony 建議)
|
||||
* Added DragonMaxSpeedLimit parameter (mph), op will stop controlling when car speed is high than the value. (Thanks to @Anthony)
|
||||
* 更新 appd 使用 cnpmjs 來下載 APKs。
|
||||
* Updated appd to use cnpmjs to download APKs.
|
||||
* 修正更新服務。(感謝 @Wei)
|
||||
* Fixed Update Service. (Thanks to @Wei)
|
||||
* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v2)。(感謝 明峰 提供)
|
||||
* Added Canada 2018 Toyota Sienna LTD fingerprint (v2). (Thanks to 明峰)
|
||||
|
||||
2020-05-15 (0.7.5)
|
||||
========================
|
||||
* 新增「通過移動網路上傳」開關
|
||||
* Added Upload Over Mobile Network toggle.
|
||||
* 新增「通過熱點上傳」開關
|
||||
* Added Upload Over Hotspot toggle.
|
||||
* 新增加拿大版 2018 Toyota Sienna LTD 指紋(v1)。(感謝 明峰 提供)
|
||||
* Added Canada 2018 Toyota Sienna LTD fingerprint (v1). (Thanks to 明峰)
|
||||
* 新增大陸版 Volkswagen Golf GTI 指紋 (v1)。(感謝 easyeiji 提供)
|
||||
* Added China Volkswagen Golf GTI fingerprint (v1). (Thanks to easyeiji)
|
||||
|
||||
2020-05-10
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.5 devel-staging.
|
||||
* Based on latest openpilot 0.7.5 devel-staging.
|
||||
* 更新 dp 圖示 (特別感謝 @wabes 的設計與提供)。
|
||||
* Updated dp logo, special thanks to @wabes for the design.
|
||||
* 簡/繁中文版和 i18n 整合成為單一版本。
|
||||
* Merged zhs/zht/i18n versions into one.
|
||||
* 新增大陸版 CAMRY HYBRID 指紋v2。(感謝 @杜子腾)
|
||||
* Added China Camry Hybrid FPv2. (Thanks to @杜子腾)
|
||||
* 新增台灣版 Altis HYBRID 指紋v1。(感謝 @Fish)
|
||||
* Added Taiwan Altis Hybrid FPv1. (Thanks to @Fish)
|
||||
* 新增行駛時關閉畫面功能。
|
||||
* Added Screen off while driving feature.
|
||||
* 新增倒車時關閉畫面功能。
|
||||
* Added Screen off while reversing feature.
|
||||
* 新增駕駛介面加入「加速模式」切換鈕。
|
||||
* Added acceleration profile toggle onto driving UI.
|
||||
* 新增自定車型功能，取代指紋暫存功能。
|
||||
* Replaced fingerprint cache with custom car model selector.
|
||||
* 新增可調亮度。
|
||||
* Added Brightness changer.
|
||||
* 新增部分德語支持。(特別感謝 @arne182 提供)
|
||||
* Added partial de_DE language support (Thanks to @arne182)
|
||||
* 新增停車碰撞偵測記錄功能。
|
||||
* Added off road impact detection to dashcam.
|
||||
Binary file not shown.
@@ -97,6 +97,14 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
relayMalfunction @72;
|
||||
gasPressed @73;
|
||||
stockFcw @74;
|
||||
# dp
|
||||
preLaneChangeLeftALC @75;
|
||||
preLaneChangeRightALC @76;
|
||||
laneChangeALC @77;
|
||||
manualSteeringRequired @78;
|
||||
manualSteeringRequiredBlinkersOn @79;
|
||||
leadCarMoving @80;
|
||||
leadCarDetected @81;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -157,6 +165,9 @@ struct CarState {
|
||||
# clutch (manual transmission only)
|
||||
clutchPressed @28 :Bool;
|
||||
|
||||
# dp
|
||||
lkMode @37 :Bool;
|
||||
|
||||
# which packets this state came from
|
||||
canMonoTimes @12: List(UInt64);
|
||||
|
||||
|
||||
@@ -297,6 +297,8 @@ struct ThermalData {
|
||||
memUsedPercent @19 :Int8;
|
||||
cpuPerc @20 :Int8;
|
||||
|
||||
ipAddr @25 :Text; # dp
|
||||
|
||||
enum ThermalStatus {
|
||||
green @0; # all processes run
|
||||
yellow @1; # critical processes run (kill uploader), engage still allowed
|
||||
@@ -799,6 +801,9 @@ struct PathPlan {
|
||||
laneChangeState @18 :LaneChangeState;
|
||||
laneChangeDirection @19 :LaneChangeDirection;
|
||||
|
||||
# dragonpilot
|
||||
alcAllowed @20 :Bool;
|
||||
|
||||
enum Desire {
|
||||
none @0;
|
||||
turnLeft @1;
|
||||
|
||||
@@ -0,0 +1,33 @@
|
||||
#!/usr/bin/env python3.7
|
||||
import subprocess
|
||||
from common.params import Params
|
||||
params = Params()
|
||||
|
||||
def get_last_modified():
|
||||
return Params().get('DragonLastModified', encoding='utf-8')
|
||||
|
||||
def is_online():
|
||||
return not subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"])
|
||||
|
||||
def common_controller_update():
|
||||
dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
|
||||
if dragon_lat_ctrl:
|
||||
dragon_enable_steering_on_signal = True if (params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" and params.get("LaneChangeEnabled", encoding='utf8') == "0") else False
|
||||
if dragon_enable_steering_on_signal:
|
||||
try:
|
||||
dragon_blinker_off_timer = float(params.get("DragonBlinkerOffTimer", encoding='utf8')) * 100
|
||||
except (TypeError, ValueError):
|
||||
dragon_blinker_off_timer = 0
|
||||
else:
|
||||
dragon_blinker_off_timer = 0
|
||||
else:
|
||||
dragon_enable_steering_on_signal = False
|
||||
dragon_blinker_off_timer = 0
|
||||
return dragon_lat_ctrl, dragon_enable_steering_on_signal, dragon_blinker_off_timer
|
||||
|
||||
def common_controller_ctrl(enabled, dragon_lat_ctrl, dragon_enable_steering_on_signal, blinker_on, steer_req):
|
||||
if enabled:
|
||||
if (dragon_enable_steering_on_signal and blinker_on) or not dragon_lat_ctrl:
|
||||
steer_req = 0 if isinstance(steer_req, int) else False
|
||||
|
||||
return steer_req
|
||||
@@ -108,6 +108,97 @@ keys = {
|
||||
"Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
"Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
|
||||
#dragonpilot config
|
||||
"DragonEnableDashcam": [TxType.PERSISTENT],
|
||||
"DragonEnableAutoShutdown": [TxType.PERSISTENT],
|
||||
"DragonAutoShutdownAt": [TxType.PERSISTENT],
|
||||
"DragonEnableSteeringOnSignal": [TxType.PERSISTENT],
|
||||
"DragonEnableLogger": [TxType.PERSISTENT],
|
||||
"DragonEnableUploader": [TxType.PERSISTENT],
|
||||
"DragonNoctuaMode": [TxType.PERSISTENT],
|
||||
"DragonCacheCar": [TxType.PERSISTENT],
|
||||
"DragonCachedModel": [TxType.CLEAR_ON_MANAGER_START], # deprecated
|
||||
"DragonCachedFP": [TxType.CLEAR_ON_MANAGER_START], # deprecated
|
||||
"DragonCachedVIN": [TxType.CLEAR_ON_MANAGER_START], # deprecated
|
||||
"DragonCachedCarFW": [TxType.CLEAR_ON_MANAGER_START], # deprecated
|
||||
"DragonCachedSource": [TxType.CLEAR_ON_MANAGER_START], # deprecated
|
||||
"DragonAllowGas": [TxType.PERSISTENT],
|
||||
"DragonToyotaStockDSU": [TxType.PERSISTENT],
|
||||
"DragonLatCtrl": [TxType.PERSISTENT],
|
||||
"DragonUISpeed": [TxType.PERSISTENT],
|
||||
"DragonUIEvent": [TxType.PERSISTENT],
|
||||
"DragonUIMaxSpeed": [TxType.PERSISTENT],
|
||||
"DragonUIFace": [TxType.PERSISTENT],
|
||||
"DragonUIDev": [TxType.PERSISTENT],
|
||||
"DragonUIDevMini": [TxType.PERSISTENT],
|
||||
"DragonEnableTomTom": [TxType.PERSISTENT],
|
||||
"DragonBootTomTom": [TxType.PERSISTENT],
|
||||
"DragonRunTomTom": [TxType.PERSISTENT],
|
||||
"DragonEnableAutonavi": [TxType.PERSISTENT],
|
||||
"DragonBootAutonavi": [TxType.PERSISTENT],
|
||||
"DragonRunAutonavi": [TxType.PERSISTENT],
|
||||
"DragonEnableAegis": [TxType.PERSISTENT],
|
||||
"DragonBootAegis": [TxType.PERSISTENT],
|
||||
"DragonRunAegis": [TxType.PERSISTENT],
|
||||
"DragonEnableMixplorer": [TxType.PERSISTENT],
|
||||
"DragonRunMixplorer": [TxType.PERSISTENT],
|
||||
"DragonSteeringMonitorTimer": [TxType.PERSISTENT],
|
||||
"DragonCameraOffset": [TxType.PERSISTENT],
|
||||
"DragonUIVolumeBoost": [TxType.PERSISTENT],
|
||||
"DragonGreyPandaMode": [TxType.PERSISTENT],
|
||||
"DragonDrivingUI": [TxType.PERSISTENT],
|
||||
"DragonDisplaySteeringLimitAlert": [TxType.PERSISTENT],
|
||||
"DragonChargingCtrl": [TxType.PERSISTENT],
|
||||
"DragonCharging": [TxType.PERSISTENT],
|
||||
"DragonDisCharging": [TxType.PERSISTENT],
|
||||
"DragonToyotaLaneDepartureWarning": [TxType.PERSISTENT],
|
||||
"DragonUILane": [TxType.PERSISTENT],
|
||||
"DragonUILead": [TxType.PERSISTENT],
|
||||
"DragonUIPath": [TxType.PERSISTENT],
|
||||
"DragonUIBlinker": [TxType.PERSISTENT],
|
||||
"DragonUIDMView": [TxType.PERSISTENT],
|
||||
"DragonEnableDriverMonitoring": [TxType.PERSISTENT],
|
||||
"DragonCarModel": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"DragonEnableSlowOnCurve": [TxType.PERSISTENT],
|
||||
"DragonEnableLeadCarMovingAlert": [TxType.PERSISTENT],
|
||||
"DragonToyotaSnGMod": [TxType.PERSISTENT],
|
||||
"DragonWazeMode": [TxType.PERSISTENT],
|
||||
"DragonRunWaze": [TxType.PERSISTENT],
|
||||
"DragonEnableAutoLC": [TxType.PERSISTENT],
|
||||
"DragonAssistedLCMinMPH": [TxType.PERSISTENT],
|
||||
"DragonAutoLCMinMPH": [TxType.PERSISTENT],
|
||||
"DragonAutoLCDelay": [TxType.PERSISTENT],
|
||||
"DragonBTG": [TxType.PERSISTENT],
|
||||
"DragonBootHotspot": [TxType.PERSISTENT],
|
||||
"DragonAccelProfile": [TxType.PERSISTENT],
|
||||
"DragonLastModified": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"DragonEnableRegistration": [TxType.PERSISTENT],
|
||||
"DragonDynamicFollow": [TxType.PERSISTENT],
|
||||
"DragonToyotaSngResponse": [TxType.PERSISTENT],
|
||||
"DragonEnableGearCheck": [TxType.PERSISTENT],
|
||||
"DragonEnableTempMonitor": [TxType.PERSISTENT],
|
||||
"DragonAppAutoUpdate": [TxType.PERSISTENT],
|
||||
"DragonUpdating": [TxType.CLEAR_ON_MANAGER_START],
|
||||
"DragonCustomModel": [TxType.PERSISTENT],
|
||||
"DragonSupportedCars": [TxType.PERSISTENT],
|
||||
"DragonLocale": [TxType.PERSISTENT],
|
||||
"DragonUIScreenOffReversing": [TxType.PERSISTENT],
|
||||
"DragonEnableSRLearner": [TxType.PERSISTENT],
|
||||
"DragonEnableSteerBoost": [TxType.PERSISTENT],
|
||||
"DragonSteerBoostMin": [TxType.PERSISTENT],
|
||||
"DragonSteerBoostMax": [TxType.PERSISTENT],
|
||||
"DragonSteerBoostMinAt": [TxType.PERSISTENT],
|
||||
"DragonSteerBoostMaxAt": [TxType.PERSISTENT],
|
||||
"DragonDashcamHours": [TxType.PERSISTENT],
|
||||
"DragonUIScreenOffDriving": [TxType.PERSISTENT],
|
||||
"DragonEnableAutoUpdate": [TxType.PERSISTENT],
|
||||
"DragonUIBrightness": [TxType.PERSISTENT],
|
||||
"DragonEnableUploadOnMobile": [TxType.PERSISTENT],
|
||||
"DragonEnableUploadOnHotspot": [TxType.PERSISTENT],
|
||||
"DragonMaxSpeedLimit": [TxType.PERSISTENT],
|
||||
"DragonEnableRating": [TxType.PERSISTENT],
|
||||
"DragonEnableContALC": [TxType.PERSISTENT],
|
||||
"DragonBlinkerOffTimer": [TxType.PERSISTENT],
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,21 @@
|
||||
The MIT License
|
||||
|
||||
Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
THE SOFTWARE.
|
||||
@@ -0,0 +1,92 @@
|
||||
This Font Software is licensed under the SIL Open Font License,
|
||||
Version 1.1.
|
||||
|
||||
This license is copied below, and is also available with a FAQ at:
|
||||
http://scripts.sil.org/OFL
|
||||
|
||||
-----------------------------------------------------------
|
||||
SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007
|
||||
-----------------------------------------------------------
|
||||
|
||||
PREAMBLE
|
||||
The goals of the Open Font License (OFL) are to stimulate worldwide
|
||||
development of collaborative font projects, to support the font
|
||||
creation efforts of academic and linguistic communities, and to
|
||||
provide a free and open framework in which fonts may be shared and
|
||||
improved in partnership with others.
|
||||
|
||||
The OFL allows the licensed fonts to be used, studied, modified and
|
||||
redistributed freely as long as they are not sold by themselves. The
|
||||
fonts, including any derivative works, can be bundled, embedded,
|
||||
redistributed and/or sold with any software provided that any reserved
|
||||
names are not used by derivative works. The fonts and derivatives,
|
||||
however, cannot be released under any other type of license. The
|
||||
requirement for fonts to remain under this license does not apply to
|
||||
any document created using the fonts or their derivatives.
|
||||
|
||||
DEFINITIONS
|
||||
"Font Software" refers to the set of files released by the Copyright
|
||||
Holder(s) under this license and clearly marked as such. This may
|
||||
include source files, build scripts and documentation.
|
||||
|
||||
"Reserved Font Name" refers to any names specified as such after the
|
||||
copyright statement(s).
|
||||
|
||||
"Original Version" refers to the collection of Font Software
|
||||
components as distributed by the Copyright Holder(s).
|
||||
|
||||
"Modified Version" refers to any derivative made by adding to,
|
||||
deleting, or substituting -- in part or in whole -- any of the
|
||||
components of the Original Version, by changing formats or by porting
|
||||
the Font Software to a new environment.
|
||||
|
||||
"Author" refers to any designer, engineer, programmer, technical
|
||||
writer or other person who contributed to the Font Software.
|
||||
|
||||
PERMISSION & CONDITIONS
|
||||
Permission is hereby granted, free of charge, to any person obtaining
|
||||
a copy of the Font Software, to use, study, copy, merge, embed,
|
||||
modify, redistribute, and sell modified and unmodified copies of the
|
||||
Font Software, subject to the following conditions:
|
||||
|
||||
1) Neither the Font Software nor any of its individual components, in
|
||||
Original or Modified Versions, may be sold by itself.
|
||||
|
||||
2) Original or Modified Versions of the Font Software may be bundled,
|
||||
redistributed and/or sold with any software, provided that each copy
|
||||
contains the above copyright notice and this license. These can be
|
||||
included either as stand-alone text files, human-readable headers or
|
||||
in the appropriate machine-readable metadata fields within text or
|
||||
binary files as long as those fields can be easily viewed by the user.
|
||||
|
||||
3) No Modified Version of the Font Software may use the Reserved Font
|
||||
Name(s) unless explicit written permission is granted by the
|
||||
corresponding Copyright Holder. This restriction only applies to the
|
||||
primary font name as presented to the users.
|
||||
|
||||
4) The name(s) of the Copyright Holder(s) or the Author(s) of the Font
|
||||
Software shall not be used to promote, endorse or advertise any
|
||||
Modified Version, except to acknowledge the contribution(s) of the
|
||||
Copyright Holder(s) and the Author(s) or with their explicit written
|
||||
permission.
|
||||
|
||||
5) The Font Software, modified or unmodified, in part or in whole,
|
||||
must be distributed entirely under this license, and must not be
|
||||
distributed under any other license. The requirement for fonts to
|
||||
remain under this license does not apply to any document created using
|
||||
the Font Software.
|
||||
|
||||
TERMINATION
|
||||
This license becomes null and void if any of the above conditions are
|
||||
not met.
|
||||
|
||||
DISCLAIMER
|
||||
THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||||
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
|
||||
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT
|
||||
OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE
|
||||
COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||||
INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL
|
||||
DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
||||
FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM
|
||||
OTHER DEALINGS IN THE FONT SOFTWARE.
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,372 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!--
|
||||
NOTE: this is the newer (L) version of the system font configuration,
|
||||
supporting richer weight selection. Some apps will expect the older
|
||||
version, so please keep system_fonts.xml and fallback_fonts.xml in sync
|
||||
with any changes, even though framework will only read this file.
|
||||
|
||||
All fonts withohut names are added to the default list. Fonts are chosen
|
||||
based on a match: full BCP-47 language tag including script, then just
|
||||
language, and finally order (the first font containing the glyph).
|
||||
|
||||
Order of appearance is also the tiebreaker for weight matching. This is
|
||||
the reason why the 900 weights of Roboto precede the 700 weights - we
|
||||
prefer the former when an 800 weight is requested. Since bold spans
|
||||
effectively add 300 to the weight, this ensures that 900 is the bold
|
||||
paired with the 500 weight, ensuring adequate contrast.
|
||||
-->
|
||||
<familyset version="22">
|
||||
<!-- first font is default -->
|
||||
<family name="sans-serif">
|
||||
<font weight="100" style="normal">Roboto-Thin.ttf</font>
|
||||
<font weight="100" style="italic">Roboto-ThinItalic.ttf</font>
|
||||
<font weight="300" style="normal">Roboto-Light.ttf</font>
|
||||
<font weight="300" style="italic">Roboto-LightItalic.ttf</font>
|
||||
<font weight="400" style="normal">Roboto-Regular.ttf</font>
|
||||
<font weight="400" style="italic">Roboto-Italic.ttf</font>
|
||||
<font weight="500" style="normal">Roboto-Medium.ttf</font>
|
||||
<font weight="500" style="italic">Roboto-MediumItalic.ttf</font>
|
||||
<font weight="900" style="normal">Roboto-Black.ttf</font>
|
||||
<font weight="900" style="italic">Roboto-BlackItalic.ttf</font>
|
||||
<font weight="700" style="normal">Roboto-Bold.ttf</font>
|
||||
<font weight="700" style="italic">Roboto-BoldItalic.ttf</font>
|
||||
</family>
|
||||
|
||||
<!-- Note that aliases must come after the fonts they reference. -->
|
||||
<alias name="sans-serif-thin" to="sans-serif" weight="100" />
|
||||
<alias name="sans-serif-light" to="sans-serif" weight="300" />
|
||||
<alias name="sans-serif-medium" to="sans-serif" weight="500" />
|
||||
<alias name="sans-serif-black" to="sans-serif" weight="900" />
|
||||
<alias name="arial" to="sans-serif" />
|
||||
<alias name="helvetica" to="sans-serif" />
|
||||
<alias name="tahoma" to="sans-serif" />
|
||||
<alias name="verdana" to="sans-serif" />
|
||||
|
||||
<family name="sans-serif-condensed">
|
||||
<font weight="300" style="normal">RobotoCondensed-Light.ttf</font>
|
||||
<font weight="300" style="italic">RobotoCondensed-LightItalic.ttf</font>
|
||||
<font weight="400" style="normal">RobotoCondensed-Regular.ttf</font>
|
||||
<font weight="400" style="italic">RobotoCondensed-Italic.ttf</font>
|
||||
<font weight="700" style="normal">RobotoCondensed-Bold.ttf</font>
|
||||
<font weight="700" style="italic">RobotoCondensed-BoldItalic.ttf</font>
|
||||
</family>
|
||||
<alias name="sans-serif-condensed-light" to="sans-serif-condensed" weight="300" />
|
||||
|
||||
<family name="serif">
|
||||
<font weight="400" style="normal">NotoSerif-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSerif-Bold.ttf</font>
|
||||
<font weight="400" style="italic">NotoSerif-Italic.ttf</font>
|
||||
<font weight="700" style="italic">NotoSerif-BoldItalic.ttf</font>
|
||||
</family>
|
||||
<alias name="times" to="serif" />
|
||||
<alias name="times new roman" to="serif" />
|
||||
<alias name="palatino" to="serif" />
|
||||
<alias name="georgia" to="serif" />
|
||||
<alias name="baskerville" to="serif" />
|
||||
<alias name="goudy" to="serif" />
|
||||
<alias name="fantasy" to="serif" />
|
||||
<alias name="ITC Stone Serif" to="serif" />
|
||||
|
||||
<family name="monospace">
|
||||
<font weight="400" style="normal">DroidSansMono.ttf</font>
|
||||
</family>
|
||||
<alias name="sans-serif-monospace" to="monospace" />
|
||||
<alias name="monaco" to="monospace" />
|
||||
|
||||
<family name="serif-monospace">
|
||||
<font weight="400" style="normal">CutiveMono.ttf</font>
|
||||
</family>
|
||||
<alias name="courier" to="serif-monospace" />
|
||||
<alias name="courier new" to="serif-monospace" />
|
||||
|
||||
<family name="casual">
|
||||
<font weight="400" style="normal">ComingSoon.ttf</font>
|
||||
</family>
|
||||
|
||||
<family name="cursive">
|
||||
<font weight="400" style="normal">DancingScript-Regular.ttf</font>
|
||||
<font weight="700" style="normal">DancingScript-Bold.ttf</font>
|
||||
</family>
|
||||
|
||||
<family name="sans-serif-smallcaps">
|
||||
<font weight="400" style="normal">CarroisGothicSC-Regular.ttf</font>
|
||||
</family>
|
||||
|
||||
<!-- fallback fonts -->
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoNaskhArabic-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoNaskhArabic-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoNaskhArabicUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoNaskhArabicUI-Bold.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansEthiopic-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansEthiopic-Bold.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansHebrew-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansHebrew-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansThai-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansThai-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansThaiUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansThaiUI-Bold.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansArmenian-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansArmenian-Bold.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansGeorgian-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansGeorgian-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansDevanagari-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansDevanagari-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansDevanagariUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansDevanagariUI-Bold.ttf</font>
|
||||
</family>
|
||||
<!-- Gujarati should come after Devanagari -->
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansGujarati-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansGujarati-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansGujaratiUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansGujaratiUI-Bold.ttf</font>
|
||||
</family>
|
||||
<!-- Gurmukhi should come after Devanagari -->
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansGurmukhi-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansGurmukhi-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansGurmukhiUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansGurmukhiUI-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansTamil-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansTamil-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansTamilUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansTamilUI-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansMalayalam-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansMalayalam-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansMalayalamUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansMalayalamUI-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansBengali-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansBengali-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansBengaliUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansBengaliUI-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansTelugu-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansTelugu-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansTeluguUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansTeluguUI-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansKannada-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansKannada-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansKannadaUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansKannadaUI-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansOriya-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansOriya-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansOriyaUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansOriyaUI-Bold.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansSinhala-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansSinhala-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansKhmer-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansKhmer-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansKhmerUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansKhmerUI-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansLao-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansLao-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansLaoUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansLaoUI-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="elegant">
|
||||
<font weight="400" style="normal">NotoSansMyanmar-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansMyanmar-Bold.ttf</font>
|
||||
</family>
|
||||
<family variant="compact">
|
||||
<font weight="400" style="normal">NotoSansMyanmarUI-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansMyanmarUI-Bold.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansThaana-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansThaana-Bold.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansCham-Regular.ttf</font>
|
||||
<font weight="700" style="normal">NotoSansCham-Bold.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansBalinese-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansBamum-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansBatak-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansBuginese-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansBuhid-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansCanadianAboriginal-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansCherokee-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansCoptic-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansGlagolitic-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansHanunoo-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansJavanese-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansKayahLi-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansLepcha-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansLimbu-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansLisu-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansMandaic-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansMeeteiMayek-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansNewTaiLue-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansNKo-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansOlChiki-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansRejang-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansSaurashtra-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansSundanese-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansSylotiNagri-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansSyriacEstrangela-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansTagbanwa-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansTaiTham-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansTaiViet-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansTibetan-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansTifinagh-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansVai-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansYi-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansSymbols-Regular-Subsetted.ttf</font>
|
||||
</family>
|
||||
<family lang="ja">
|
||||
<font weight="400" style="normal">NotoSansJP-Regular.otf</font>
|
||||
</family>
|
||||
<family lang="ko">
|
||||
<font weight="400" style="normal">NotoSansKR-Regular.otf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NanumGothic.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoColorEmoji.ttf</font>
|
||||
</family>
|
||||
<family lang="zh-Hans">
|
||||
<font weight="400" style="normal">NotoSansCJKtc-Regular.otf</font>
|
||||
<font weight="500" style="normal">NotoSansCJKtc-Medium.otf</font>
|
||||
<font weight="700" style="normal">NotoSansCJKtc-Bold.otf</font>
|
||||
</family>
|
||||
<family lang="zh-Hant">
|
||||
<font weight="400" style="normal">NotoSansCJKtc-Regular.otf</font>
|
||||
<font weight="500" style="normal">NotoSansCJKtc-Medium.otf</font>
|
||||
<font weight="700" style="normal">NotoSansCJKtc-Bold.otf</font>
|
||||
</family>
|
||||
<family lang="ja">
|
||||
<font weight="400" style="normal">MTLmr3m.ttf</font>
|
||||
</family>
|
||||
<!--
|
||||
Tai Le and Mongolian are intentionally kept last, to make sure they don't override
|
||||
the East Asian punctuation for Chinese.
|
||||
-->
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansTaiLe-Regular.ttf</font>
|
||||
</family>
|
||||
<family>
|
||||
<font weight="400" style="normal">NotoSansMongolian-Regular.ttf</font>
|
||||
</family>
|
||||
</familyset>
|
||||
Executable
+62
@@ -0,0 +1,62 @@
|
||||
#!/usr/bin/bash
|
||||
|
||||
###############################################################################
|
||||
# The MIT License
|
||||
#
|
||||
# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
|
||||
#
|
||||
# Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
# of this software and associated documentation files (the "Software"), to deal
|
||||
# in the Software without restriction, including without limitation the rights
|
||||
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
# copies of the Software, and to permit persons to whom the Software is
|
||||
# furnished to do so, subject to the following conditions:
|
||||
#
|
||||
# The above copyright notice and this permission notice shall be included in
|
||||
# all copies or substantial portions of the Software.
|
||||
#
|
||||
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
# THE SOFTWARE.
|
||||
#
|
||||
# Noto is a trademark of Google Inc. Noto fonts are open source.
|
||||
# All Noto fonts are published under the SIL Open Font License,
|
||||
# Version 1.1. Language data and some sample texts are from the Unicode CLDR project.
|
||||
#
|
||||
###############################################################################
|
||||
|
||||
|
||||
# Android system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
|
||||
#lang=en
|
||||
|
||||
update_font=0
|
||||
remove_old_font=0
|
||||
|
||||
# check regular font
|
||||
if [ ! -f "/system/fonts/NotoSansCJKtc-Regular.otf" ]; then
|
||||
update_font=1
|
||||
fi
|
||||
|
||||
if [ $update_font -eq "1" ] || [ $remove_old_font -eq "1" ]; then
|
||||
# sleep 3 secs in case, make sure the /system is re-mountable
|
||||
sleep 3
|
||||
mount -o remount,rw /system
|
||||
if [ $update_font -eq "1" ]; then
|
||||
# install font
|
||||
cp -rf /data/openpilot/dragonpilot/cjk-fonts/NotoSansCJKtc-* /system/fonts/
|
||||
# install font mapping
|
||||
cp -rf /data/openpilot/dragonpilot/cjk-fonts/fonts.xml /system/etc/fonts.xml
|
||||
# change permissions
|
||||
chmod 644 /system/etc/fonts.xml
|
||||
chmod 644 /system/fonts/NotoSansCJKtc-*
|
||||
fi
|
||||
mount -o remount,r /system
|
||||
# change system locale
|
||||
fi
|
||||
|
||||
#setprop persist.sys.locale $lang
|
||||
#setprop persist.sys.local $lang
|
||||
@@ -1,7 +1,7 @@
|
||||
{
|
||||
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a.zip",
|
||||
"ota_hash": "efdf7de63b1aef63d68301e6175930991bf9a5927d16ec6fcc69287e2ee7ca4a",
|
||||
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e.img",
|
||||
"recovery_len": 15861036,
|
||||
"recovery_hash": "97c27e6ed04ed6bb0608b845a2d4100912093f9380c3f2ba6b56bccd608e5f6e"
|
||||
"ota_url": "http://dpp.cool/neosupdate/ota-signed-7bf9c7c55f0a5dff4aca834d32642cbe1a1a6bf2056f38d64f7aa3575390c9de.zip",
|
||||
"ota_hash": "7bf9c7c55f0a5dff4aca834d32642cbe1a1a6bf2056f38d64f7aa3575390c9de",
|
||||
"recovery_url": "http://dpp.cool/neosupdate/recovery-4772f9348e04b560b9df87d6dea6c740fa8d62ea41a8db3842eec216f04e3110.img",
|
||||
"recovery_len": 15922476,
|
||||
"recovery_hash": "4772f9348e04b560b9df87d6dea6c740fa8d62ea41a8db3842eec216f04e3110"
|
||||
}
|
||||
|
||||
@@ -66,6 +66,7 @@ function launch {
|
||||
echo 3 > /proc/irq/6/smp_affinity_list # MDSS
|
||||
echo 1 > /proc/irq/78/smp_affinity_list # Modem, can potentially lock up
|
||||
echo 2 > /proc/irq/733/smp_affinity_list # USB
|
||||
echo 2 > /proc/irq/736/smp_affinity_list # USB
|
||||
|
||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
|
||||
|
||||
|
||||
+7
-1
@@ -1,5 +1,11 @@
|
||||
#!/usr/bin/bash
|
||||
|
||||
/usr/bin/sh /data/openpilot/scripts/toyota_dsu_mode.sh
|
||||
if [ -f "/sdcard/dp_patcher.py" ]; then
|
||||
/data/data/com.termux/files/usr/bin/python /sdcard/dp_patcher.py
|
||||
fi
|
||||
getprop persist.sys.locale | tr -d '\n' > /data/params/d/DragonLocale
|
||||
chmod +x scripts/*.sh
|
||||
/usr/bin/sh /data/openpilot/dragonpilot/cjk-fonts/installer.sh &
|
||||
export PASSIVE="0"
|
||||
exec ./launch_chffrplus.sh
|
||||
|
||||
|
||||
@@ -0,0 +1,46 @@
|
||||
CM_ "IMPORT _toyota_2017.dbc"
|
||||
CM_ "IMPORT _comma.dbc"
|
||||
|
||||
BO_ 550 BRAKE_MODULE: 8 XXX
|
||||
SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 581 GAS_PEDAL_ALT: 5 XXX
|
||||
SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 705 GAS_PEDAL: 8 XXX
|
||||
SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (1.30,0) [-20000|20000] "" XXX
|
||||
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
|
||||
|
||||
BO_ 610 EPS_STATUS: 5 EPS
|
||||
SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
|
||||
SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
|
||||
|
||||
BO_ 1009 PCM_CRUISE_ALT: 8 XXX
|
||||
SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
|
||||
|
||||
BO_ 1599 LIGHT_STALK_ISH: 8 SCM
|
||||
SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
|
||||
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
|
||||
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
|
||||
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
|
||||
@@ -0,0 +1,46 @@
|
||||
CM_ "IMPORT _toyota_2017.dbc"
|
||||
CM_ "IMPORT _comma.dbc"
|
||||
|
||||
BO_ 550 BRAKE_MODULE: 8 XXX
|
||||
SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 581 GAS_PEDAL_ALT: 5 XXX
|
||||
SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 705 GAS_PEDAL: 8 XXX
|
||||
SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-20000|20000] "" XXX
|
||||
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
|
||||
|
||||
BO_ 610 EPS_STATUS: 5 EPS
|
||||
SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
|
||||
SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
|
||||
|
||||
BO_ 1009 PCM_CRUISE_ALT: 8 XXX
|
||||
SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
|
||||
|
||||
BO_ 1599 LIGHT_STALK_ISH: 8 SCM
|
||||
SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
|
||||
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
|
||||
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
|
||||
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
|
||||
@@ -0,0 +1,408 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
|
||||
NS_ :
|
||||
NS_DESC_
|
||||
CM_
|
||||
BA_DEF_
|
||||
BA_
|
||||
VAL_
|
||||
CAT_DEF_
|
||||
CAT_
|
||||
FILTER
|
||||
BA_DEF_DEF_
|
||||
EV_DATA_
|
||||
ENVVAR_DATA_
|
||||
SGTYPE_
|
||||
SGTYPE_VAL_
|
||||
BA_DEF_SGTYPE_
|
||||
BA_SGTYPE_
|
||||
SIG_TYPE_REF_
|
||||
VAL_TABLE_
|
||||
SIG_GROUP_
|
||||
SIG_VALTYPE_
|
||||
SIGTYPE_VALTYPE_
|
||||
BO_TX_BU_
|
||||
BA_DEF_REL_
|
||||
BA_REL_
|
||||
BA_DEF_DEF_REL_
|
||||
BU_SG_REL_
|
||||
BU_EV_REL_
|
||||
BU_BO_REL_
|
||||
SG_MUL_VAL_
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
|
||||
SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
|
||||
SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
|
||||
|
||||
BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
|
||||
SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
|
||||
SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
|
||||
SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
|
||||
|
||||
BO_ 166 BRAKE: 8 XXX
|
||||
SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 170 WHEEL_SPEEDS: 8 XXX
|
||||
SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
|
||||
BO_ 180 SPEED: 8 XXX
|
||||
SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 353 DSU_SPEED: 8 XXX
|
||||
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
|
||||
|
||||
BO_ 452 ENGINE_RPM: 8 CGW
|
||||
SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
|
||||
SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 552 ACCELEROMETER: 8 XXX
|
||||
SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
|
||||
SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
|
||||
BO_ 560 BRAKE_MODULE2: 7 XXX
|
||||
SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 742 LEAD_INFO: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
|
||||
SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
|
||||
SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
BO_ 921 PCM_CRUISE_SM: 8 XXX
|
||||
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1043 TIME : 8 CGW
|
||||
SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
|
||||
SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
|
||||
SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
|
||||
SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
|
||||
SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
|
||||
SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
|
||||
SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
|
||||
SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
|
||||
SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1162 RSA2: 8 FCM
|
||||
SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1163 RSA3: 8 FCM
|
||||
SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
CM_ SG_ 1163 TSRMSW "always 1";
|
||||
CM_ SG_ 1163 OTSGNNTM "always 3";
|
||||
CM_ SG_ 1163 NTLVLSPD "always 3";
|
||||
CM_ SG_ 1163 OVSPNTM "always 3";
|
||||
CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
|
||||
CM_ SG_ 1163 TSRSPU "always 1";
|
||||
|
||||
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
VAL_ 1553 UNITS 1 "km" 2 "miles";
|
||||
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
|
||||
VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
|
||||
VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
|
||||
VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
|
||||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "lexus_is_2018_pt.dbc starts here"
|
||||
|
||||
|
||||
|
||||
BO_ 550 BRAKE_MODULE: 8 XXX
|
||||
SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 581 GAS_PEDAL_ALT: 5 XXX
|
||||
SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 705 GAS_PEDAL: 8 XXX
|
||||
SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (1.30,0) [-20000|20000] "" XXX
|
||||
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
|
||||
|
||||
BO_ 610 EPS_STATUS: 5 EPS
|
||||
SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
|
||||
SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
|
||||
|
||||
BO_ 1009 PCM_CRUISE_ALT: 8 XXX
|
||||
SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
|
||||
|
||||
BO_ 1599 LIGHT_STALK_ISH: 8 SCM
|
||||
SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
|
||||
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
|
||||
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
|
||||
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
|
||||
@@ -0,0 +1,408 @@
|
||||
CM_ "AUTOGENERATED FILE, DO NOT EDIT"
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here"
|
||||
BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
|
||||
|
||||
BO_ 512 GAS_COMMAND: 6 EON
|
||||
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
|
||||
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
|
||||
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
|
||||
|
||||
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
|
||||
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
|
||||
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
|
||||
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
|
||||
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
|
||||
|
||||
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
|
||||
|
||||
|
||||
CM_ "Imported file _toyota_2017.dbc starts here"
|
||||
VERSION ""
|
||||
|
||||
|
||||
NS_ :
|
||||
NS_DESC_
|
||||
CM_
|
||||
BA_DEF_
|
||||
BA_
|
||||
VAL_
|
||||
CAT_DEF_
|
||||
CAT_
|
||||
FILTER
|
||||
BA_DEF_DEF_
|
||||
EV_DATA_
|
||||
ENVVAR_DATA_
|
||||
SGTYPE_
|
||||
SGTYPE_VAL_
|
||||
BA_DEF_SGTYPE_
|
||||
BA_SGTYPE_
|
||||
SIG_TYPE_REF_
|
||||
VAL_TABLE_
|
||||
SIG_GROUP_
|
||||
SIG_VALTYPE_
|
||||
SIGTYPE_VALTYPE_
|
||||
BO_TX_BU_
|
||||
BA_DEF_REL_
|
||||
BA_REL_
|
||||
BA_DEF_DEF_REL_
|
||||
BU_SG_REL_
|
||||
BU_EV_REL_
|
||||
BU_BO_REL_
|
||||
SG_MUL_VAL_
|
||||
|
||||
BS_:
|
||||
|
||||
BU_: XXX DSU HCU EPS IPAS CGW
|
||||
|
||||
BO_ 36 KINEMATICS: 8 XXX
|
||||
SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX
|
||||
SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/sec" XXX
|
||||
SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
|
||||
|
||||
BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
|
||||
SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
|
||||
SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
|
||||
SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
|
||||
|
||||
BO_ 166 BRAKE: 8 XXX
|
||||
SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 170 WHEEL_SPEEDS: 8 XXX
|
||||
SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
|
||||
|
||||
BO_ 180 SPEED: 8 XXX
|
||||
SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 353 DSU_SPEED: 8 XXX
|
||||
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
|
||||
|
||||
BO_ 452 ENGINE_RPM: 8 CGW
|
||||
SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
|
||||
|
||||
BO_ 466 PCM_CRUISE: 8 XXX
|
||||
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 467 PCM_CRUISE_2: 8 XXX
|
||||
SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
|
||||
SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 552 ACCELEROMETER: 8 XXX
|
||||
SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
|
||||
SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
|
||||
|
||||
BO_ 560 BRAKE_MODULE2: 7 XXX
|
||||
SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
|
||||
SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 643 PRE_COLLISION: 7 DSU
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
|
||||
SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
|
||||
SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
|
||||
SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 740 STEERING_LKA: 5 XXX
|
||||
SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
|
||||
SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 742 LEAD_INFO: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
|
||||
SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
|
||||
SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
|
||||
|
||||
BO_ 835 ACC_CONTROL: 8 DSU
|
||||
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
|
||||
SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
|
||||
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 836 PRE_COLLISION_2: 8 DSU
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 869 DSU_CRUISE : 7 DSU
|
||||
SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
|
||||
SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
|
||||
|
||||
BO_ 921 PCM_CRUISE_SM: 8 XXX
|
||||
SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 951 ESP_CONTROL: 8 ESP
|
||||
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1041 ACC_HUD: 8 DSU
|
||||
SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1042 LKAS_HUD: 8 XXX
|
||||
SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1043 TIME : 8 CGW
|
||||
SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX
|
||||
SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX
|
||||
SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX
|
||||
SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX
|
||||
SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX
|
||||
SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX
|
||||
SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX
|
||||
SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1408 VIN_PART_1: 8 CGW
|
||||
SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1409 VIN_PART_2: 8 CGW
|
||||
SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1410 VIN_PART_3: 8 CGW
|
||||
SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1553 UI_SETTING: 8 XXX
|
||||
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1556 STEERING_LEVERS: 8 XXX
|
||||
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1568 SEATS_DOORS: 8 XXX
|
||||
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1570 LIGHT_STALK: 8 SCM
|
||||
SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1161 RSA1: 8 FCM
|
||||
SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
|
||||
SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1162 RSA2: 8 FCM
|
||||
SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1163 RSA3: 8 FCM
|
||||
SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
|
||||
SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
|
||||
SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
|
||||
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
|
||||
|
||||
CM_ SG_ 36 ACCEL_Y "unit is tbd";
|
||||
CM_ SG_ 36 YAW_RATE "verify";
|
||||
CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
|
||||
CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
|
||||
CM_ SG_ 37 STEER_RATE "factor is tbd";
|
||||
CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
|
||||
CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
|
||||
CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
|
||||
CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
|
||||
CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
|
||||
CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
|
||||
CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
|
||||
CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
|
||||
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
|
||||
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
|
||||
CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
|
||||
CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
|
||||
CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
|
||||
CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
|
||||
CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
|
||||
CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
|
||||
CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
|
||||
CM_ SG_ 1163 TSREQPD "always 1";
|
||||
CM_ SG_ 1163 TSRMSW "always 1";
|
||||
CM_ SG_ 1163 OTSGNNTM "always 3";
|
||||
CM_ SG_ 1163 NTLVLSPD "always 3";
|
||||
CM_ SG_ 1163 OVSPNTM "always 3";
|
||||
CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
|
||||
CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
|
||||
CM_ SG_ 1163 TSRSPU "always 1";
|
||||
|
||||
VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
|
||||
VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
|
||||
VAL_ 614 STATE 3 "enabled" 1 "disabled";
|
||||
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
|
||||
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
|
||||
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
|
||||
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
|
||||
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
|
||||
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
|
||||
VAL_ 1553 UNITS 1 "km" 2 "miles";
|
||||
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
|
||||
VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
|
||||
VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
|
||||
VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
|
||||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
CM_ "lexus_nxt_2015_pt.dbc starts here"
|
||||
|
||||
|
||||
|
||||
BO_ 550 BRAKE_MODULE: 8 XXX
|
||||
SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
|
||||
SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 581 GAS_PEDAL_ALT: 5 XXX
|
||||
SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 705 GAS_PEDAL: 8 XXX
|
||||
SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
|
||||
|
||||
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-20000|20000] "" XXX
|
||||
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
|
||||
|
||||
BO_ 610 EPS_STATUS: 5 EPS
|
||||
SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
|
||||
SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
|
||||
SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 956 GEAR_PACKET: 8 XXX
|
||||
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
|
||||
|
||||
BO_ 1009 PCM_CRUISE_ALT: 8 XXX
|
||||
SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
|
||||
|
||||
BO_ 1599 LIGHT_STALK_ISH: 8 SCM
|
||||
SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
|
||||
VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
|
||||
VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
|
||||
VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
|
||||
+386
-37
@@ -702,36 +702,58 @@ BO_ 1088 Getriebe_1: 8 XXX
|
||||
SG_ Status_Getriebe_und_Wandlerschu : 1|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Schaltung_aktiv__Getriebe_1_ : 0|1@1+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 912 Gateway_Komfort_1: 6 XXX
|
||||
SG_ Bremslicht_Anhaenger : 47|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Anhaenger_erkannt_Gateway : 46|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ECD_AAG_unplausibel : 45|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ BLS_AAG_unplausibel : 44|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Zaehler_Anhaenger : 40|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Frei_Gateway_Komfort_1_4 : 34|6@1+ (1,0) [0|0] "" XXX
|
||||
SG_ ECD_ILM_unplausibel : 33|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ BLS_ILM_unplausibel : 32|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Bremslicht_mitte_defekt : 31|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Bremslicht_rechts_defekt : 30|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Bremslicht_links_defekt : 29|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Rueckfahrlicht_Gateway : 28|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Zaehler_Bremslicht : 24|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Frei_Gateway_Komfort_1_3 : 17|7@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Fahrertuerkontakt : 16|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ RDK_Systemfehler : 15|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ RDK_Warnstufe_1 : 14|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ RDK_Warnstufe_2 : 13|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Reifendruckwarnung_Reserverad : 12|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Reifendruckwarnung_hinten_recht : 11|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Reifendruckwarnung_hinten_links : 10|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Reifendruckwarnung_vorn_rechts : 9|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Reifendruckwarnung_vorn_links : 8|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Frei_Gateway_Komfort_1_2 : 5|3@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Fahrertuerkontakt_veraltet : 4|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Frei_Gateway_Komfort_1_1 : 3|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Licht_1_Botschaft_veraltet : 2|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Anhaenger_Botschaft_veraltet : 1|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ Reifendruckwarnung_veraltet : 0|1@1+ (1,0) [0|0] "" XXX
|
||||
BO_ 912 Gate_Komf_1: 8 XXX
|
||||
SG_ GK1_Sta_RDK_Warn : 0|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Sta_Anhaen : 1|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Sta_Licht1 : 2|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Sta_Licht3 : 3|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Sta_Tuerkont : 4|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Sta_Li_vorn : 5|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_SleepAckn : 7|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_CharismaModus m1 : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ GK1_SamFktNr M : 12|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ GK1_Fa_Tuerkont : 16|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_RueckfahrSch : 17|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_ELV_verrieg : 18|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Sta_Kessy_2 : 19|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Sta_Stdhzg : 20|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_SH_Verbau : 21|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_ParkFrontWi : 22|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_KW_Warm : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BCM_Remotestart_Betrieb : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Rueckfahr : 28|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_BrLi_links : 29|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_BrLi_rechts : 30|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_BrLi_mitte : 31|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_BLS_ILM : 32|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_EDC_ILM : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Blinker_li : 34|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Blinker_re : 35|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_def_P_verr : 36|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_LS1_Fernlicht : 37|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Sta_Licht2 : 38|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Sta_LSM : 39|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Count_Anhaen : 40|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ GK1_BLS_AAG : 44|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_EDC_AAG : 45|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Anhaenger : 46|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_BrLi_Anhaen : 47|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Abblendlicht : 48|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Fernlicht : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Wischer_vorn : 50|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Sta_ILM_F_1 : 51|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Abbl_VL_def : 52|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Abbl_VR_def : 53|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Blink_Autob : 54|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Warnblk_Status : 55|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_SH_laeuft : 56|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ SH1_ein_Wasserpumpe : 57|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Nebel_ein : 58|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Bremslicht : 59|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_Anh_abgesteckt : 60|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_AnhKonLamp : 61|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LDS_Stellung_AFL : 62|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK1_SH_Zusatzfkt : 63|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1340 Fahrwerk_1: 1 XXX
|
||||
SG_ Frei_Fahrwerk_1_2 : 7|1@1+ (1,0) [0|0] "" XXX
|
||||
@@ -1040,11 +1062,338 @@ BO_ 1324 ADR_1: 8 XXX
|
||||
SG_ Zaehler_ADR_1 : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Momentenanforderung_ADR : 0|8@1+ (0.39,0) [0|99] "MDI" XXX
|
||||
|
||||
BO_ 210 PQ_HCA: 8 XXX
|
||||
SG_ HCA_Torque : 16|15@1+ (1,0) [0|32767] "" XXX
|
||||
SG_ UNK_Bit : 34|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ HCA_Torque_VZ : 31|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ PQ_HCA_BZ : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ PQ_HCA_Checksum : 0|4@1+ (1,0) [0|15] "" XXX
|
||||
BO_ 1550 Einheiten_1: 2 XXX
|
||||
SG_ MFA_v_Einheit_02 : 0|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1490 VIN_1: 8 XXX
|
||||
BO_ 872 ACC_System: 8 XXX
|
||||
SG_ ACS_Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ ACS_Zaehler : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ ACS_Sta_ADR : 12|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ ACS_ADR_Schub : 14|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACS_Schubabsch : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACS_StSt_Info : 16|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ ACS_MomEingriff : 18|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACS_Typ_ACC : 19|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ ACS_FreigSollB : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACS_Sollbeschl : 24|11@1+ (0.005,-7.22) [-7.22|3.005] "Unit_MeterPerSeconSquar" XXX
|
||||
SG_ ACS_Anhaltewunsch : 38|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACS_Fehler : 39|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACS_zul_Regelabw : 40|8@1+ (1,0.005) [0|1.265] "Unit_MeterPerSeconSquar" XXX
|
||||
SG_ ACS_max_AendGrad : 48|8@1+ (1,0.02) [0.02|5.06] "Unit_MeterPerSeconSquar" XXX
|
||||
|
||||
BO_ 1386 ACC_GRA_Anziege: 8 XXX
|
||||
SG_ ACA_Checksum : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ ACA_StaACC : 8|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ ACA_ID_StaACC : 11|5@1+ (1,0) [0|31] "" XXX
|
||||
SG_ ACA_Fahrerhinw : 16|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACA_AnzDisplay : 17|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACA_Zeitluecke : 18|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ ACA_V_Wunsch : 24|8@1+ (1,0) [0|255] "Unit_KiloMeterPerHour" XXX
|
||||
SG_ ACA_kmh_mph : 32|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACA_Akustik1 : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACA_Akustik2 : 34|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACA_PrioDisp : 35|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACA_gemZeitl : 40|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ ACA_ACC_Verz : 44|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACA_StaGRA : 48|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ ACA_ID_StaGRA : 51|5@1+ (1,0) [0|31] "" XXX
|
||||
SG_ ACA_Codierung : 56|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACA_Tachokranz : 57|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACA_Aend_Zeitluecke : 58|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACA_Zaehler : 60|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 208 Lenkhilfe_3: 8 XXX
|
||||
SG_ LH3_Checksumme : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LH3_BS_Spiegel : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ LH3_Zaehler : 12|4@4+ (1,0) [0|15] "" XXX
|
||||
SG_ LH3_LM : 16|10@1+ (1,0) [0|1023] "" XXX
|
||||
SG_ LH3_LMSign : 26|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LH3_LMValid : 27|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LH3_Sta_DSR : 28|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ LH3_BLW : 32|12@1+ (0.15,0) [0|615] "" XXX
|
||||
SG_ LH3_BLWSign : 44|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LH3_BLWValid : 45|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LH3_Lenkungstyp : 46|2@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 978 Lenkhilfe_2: 8 XXX
|
||||
SG_ LH2_Checksumme : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LH2_Zaehler : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ LH2_Geradeaus : 12|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LH2_Sta_Charisma : 13|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ LH2_Sta_HCA : 16|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ LH2_Ausg_LW1 : 20|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LH2_Ausg_LW1_gue : 21|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ LH2_StatEPS_PLA : 24|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ LH2_aktLenkeingriff : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ LH2_PLA_Err : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ LH2_PLA_Abbr : 52|4@1+ (1,0) [0|15] "" XXX
|
||||
|
||||
BO_ 210 HCA_1: 5 XXX
|
||||
SG_ HCA_Checksumme : 0|8@1+ (1,0) [0|15] "" XXX
|
||||
SG_ HCA_Zaehler : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ HCA_Status : 12|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ LM_Offset : 16|15@1+ (0.03125,0) [0|300] "cNm" XXX
|
||||
SG_ LM_OffSign : 31|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Vib_Freq : 32|4@1+ (4,0) [0|60] "Hz" XXX
|
||||
SG_ Vib_Amp : 36|4@1+ (0.5,0) [0|7.5] "Nm" XXX
|
||||
|
||||
BO_ 1470 LDW_1: 8 XXX
|
||||
SG_ Right_Lane_Status : 0|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ Left_Lane_Status : 2|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ LDW_Direction : 14|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_ME_X1 : 18|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Kombi_Lamp_Orange : 19|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ Kombi_Lamp_Green : 20|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ XX_LDW_Maybe_Warning : 16|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ XX_DLCORTLC1 : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ XX_DLCORTLC2 : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 428 Bremse_8: 8 XXX
|
||||
SG_ BR8_Checksumme : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ BR8_Zaehler : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ BR8_Sta_ACC_Anf : 12|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BR8_Verz_EPB_akt : 13|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BR8_Sta_Br_temp : 14|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BR8_Sta_Br_Druck : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BR8_TolAbgl_HL : 16|8@1+ (0.048828125,-6.201171875) [-6.201171875|6.15234375] "Unit_PerCent" XXX
|
||||
SG_ BR8_TolAbgl_HR : 24|8@1+ (0.048828125,-6.201171875) [-6.201171875|6.15234375] "Unit_PerCent" XXX
|
||||
SG_ BR8_Istbeschl : 32|9@1+ (0.02,-7.22) [-7.22|2.98] "Unit_MeterPerSeconSquar" XXX
|
||||
SG_ BR8_Sta_HW_BLS : 41|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BR8_QB_LBeschl : 42|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BR8_ESC_Mode : 43|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ BR8_aktBrSyst : 45|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BR8_Fa_bremst : 46|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BR8_StaBrSyst : 47|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BR8_Laengsbeschl : 48|10@1+ (0.03125,-16) [-15.96875|15.9375] "Unit_MeterPerSeconSquar" XXX
|
||||
SG_ BR8_Sta_ADR_BR : 58|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BR8_Quattro : 59|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BR8_Sta_VerzReg : 60|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BR8_Sta_BLS : 61|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BR8_Verz_EPB : 62|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BR8_Check_EPB : 63|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 928 Bremse_10: 8 XXX
|
||||
SG_ B10_Checksumme : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ B10_Zaehler : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ B10_QB_Wegimp_VL : 12|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ B10_QB_Wegimp_VR : 13|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ B10_QB_Wegimp_HL : 14|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ B10_QB_Wegimp_HR : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ B10_Wegimp_VL : 16|10@1+ (1,0) [0|1000] "" XXX
|
||||
SG_ B10_Wegimp_VR : 26|10@1+ (1,0) [0|1000] "" XXX
|
||||
SG_ B10_Wegimp_HL : 36|10@1+ (1,0) [0|1000] "" XXX
|
||||
SG_ B10_Wegimp_HR : 46|10@1+ (1,0) [0|1000] "" XXX
|
||||
SG_ B10_QB_Fahrtr_VL : 56|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ B10_QB_Fahrtr_VR : 57|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ B10_QB_Fahrtr_HL : 58|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ B10_QB_Fahrtr_HR : 59|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ B10_Fahrtr_VL : 60|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ B10_Fahrtr_VR : 61|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ B10_Fahrtr_HL : 62|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ B10_Fahrtr_HR : 63|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 835 RDK_Status: 3 XXX
|
||||
SG_ RKS_Reifen_VL : 0|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RKS_Reifen_VR : 1|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RKS_Reifen_HL : 2|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RKS_Reifen_HR : 3|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RKS_Reifen_RR : 4|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RKS_Warnung_2 : 5|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RKS_Warnung_1 : 6|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RKS_Systemfehler : 7|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RKS_Kalibrier_abgew : 8|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RKS_Druckdiff_Vorn : 9|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RKS_Druckdiff_Hinten : 10|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RKS_Befuellung_RR_low : 11|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RKS_Funkstoerung : 12|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RKS_System_Aus : 13|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RKS_KD_Fehler : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RKS_Lampe : 16|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RKS_Ton : 17|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RKS_Gong : 18|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RKS_RDK_Blinkbit : 19|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ RKS_Teillast : 20|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 914 Gate_Komf_2: 8 XXX
|
||||
SG_ GK2_Sta_LSM : 0|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK2_Sta_Lichtsensor : 1|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK2_Sta_Licht1 : 2|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK2_Sta_VSG : 3|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK2_Sta_Schluessel : 4|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK2_Sta_Profil : 5|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK2_Sta_Clima2 : 6|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK2_Sta_BSG4 : 7|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK2_Sta_Kessy_4 : 8|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BS4_Gleitende_Leuchtw_Anf : 9|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ BS4_GLW_Fernlicht_Anf : 10|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK2_Blk_L_Kontrolle : 11|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK2_Blk_R_Kontrolle : 12|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK2_LS_KomFehler : 14|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK2_LS_def : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK2_Helligkeit : 16|3@1+ (714.286,0) [0|5000.002] "Unit_Lux" XXX
|
||||
SG_ GK2_VD_zu_ver : 19|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK2_VD_entriegelt : 20|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK2_VD_offen_ver : 21|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK2_Verdeck_Anf : 22|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK2_VDKD_auf : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK2_Schluessel : 24|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ GK2_Hardtop : 28|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK2_AFL_Schalter : 29|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK2_Nebelschluss : 30|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK2_EM_LIN_ungueltig : 31|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ GK2_Profil : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ GK2_Kl_StSt_Info : 36|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ GK2_BSG_StSt_Info : 38|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ GK2_BEM_P_Generator : 40|8@1+ (50,0) [0|12700] "Unit_Watt" XXX
|
||||
SG_ GK2_BEM_Abschaltstufen : 48|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ GK2_BEM_DFM : 51|5@1+ (3.225,0.025) [0.025|100] "Unit_PerCent" XXX
|
||||
SG_ GK2_Kessy_StSt_Info : 56|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ GK2_BEM_StSt_Info : 58|2@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
BO_ 1175 Parkhilfe_01: 8 XXX
|
||||
SG_ PH_Abschaltursache : 13|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ PH_Opt_Anzeige_V_ein : 16|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ PH_Opt_Anzeige_H_ein : 17|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ PH_Opt_Anz_V_Hindernis : 18|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ PH_Opt_Anz_H_Hindernis : 19|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ PH_Tongeber_V_aktiv : 20|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ PH_Tongeber_H_aktiv : 21|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ PH_Tongeber_mute : 22|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ PH_Anf_Audioabsenkung : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ PH_Frequenz_hinten : 32|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ PH_Lautstaerke_hinten : 36|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ PH_Frequenz_vorn : 40|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ PH_Lautstaerke_vorn : 44|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ PH_Trigger_Bildaufschaltung : 48|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ PH_StartStopp_Info : 49|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ PH_Aufbauten_erk : 51|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ PH_BerErk_vorn : 52|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ PH_BerErk_hinten : 54|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ PH_defekt : 56|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ PH_gestoert : 57|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ PH_Systemzustand : 58|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ PH_Display_Kundenwunsch : 61|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ PH_KD_Fehler : 63|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1463 Bremse_11: 8 XXX
|
||||
SG_ B11_HydHalten : 13|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ B11_Br_StSt_Info : 14|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ B11_OBD_Nib_VL : 16|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ B11_OBD_Nib_VR : 20|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ B11_OBD_Nib_HL : 24|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ B11_OBD_Nib_HR : 28|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ B11_EPB_Steller_akt : 32|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ B11_EPB_Steller_gue : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1500 Soll_Verbauliste_neu: 8 XXX
|
||||
SG_ VL1_Motor_SG : 0|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Getr_SG : 1|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_ABS : 2|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Kombi : 3|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_LSM : 4|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Airbag : 5|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Lenkhilfe : 6|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_dyn_LWR : 7|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_res_08 : 8|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Allrad : 9|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_ADR : 10|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_ADR_getrennt : 11|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_EPB : 12|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_res_13 : 13|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Daempfer : 14|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Quersperre : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_MotorSlave : 16|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_SWA : 17|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_HCA : 18|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_RKA_Plus : 19|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_PLA : 20|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_WFS_KBI : 21|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Kombi_KBI : 22|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Soll_eq_Ist : 23|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_BSG_Komf : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_ZKE : 25|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_TSG_FT : 26|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_TSG_BT : 27|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_TSG_HL : 28|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_TSG_HR : 29|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Memory : 30|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Dachmodul_K : 31|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Zentralelektrik_II : 32|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_RDK : 33|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Lenksaeule : 34|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Gateway : 35|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Clima_Komf : 36|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Einparkhilfe : 37|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_PTC_Heizung : 38|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Standheiz : 39|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Verdeck : 40|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_RSE_I : 41|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_res_42 : 42|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_MDI_I : 43|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Anhaenger : 44|1@1+ (1,0) [0|1] "" SWA
|
||||
SG_ VL1_Memory_BF : 45|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Easy_Entry_VF : 46|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Easy_Entry_VB : 47|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Heckdeckel : 48|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Rearview : 49|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Sonderfzg_SG : 50|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Tastenmodul : 51|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Kompass : 52|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_WFS_K : 53|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_GSM_Pager : 54|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_InfoElektronik : 55|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_DSP : 56|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_DAB : 57|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Telematik : 58|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Navigation : 59|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_TV_Tuner : 60|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Neigungsmodul_I : 61|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Radio : 62|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ VL1_Telefon : 63|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 1490 Ident: 8 XXX
|
||||
SG_ IDT_Mux M : 0|2@1+ (1,0) [0|2] "" XXX
|
||||
SG_ IDT_Geheimnis_1 m0 : 8|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ IDT_VIN_4 m1 : 8|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ IDT_VIN_11 m2 : 8|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ IDT_Geheimnis_2 m0 : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ IDT_VIN_5 m1 : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ IDT_VIN_12 m2 : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ IDT_Geheimnis_3 m0 : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ IDT_VIN_6 m1 : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ IDT_VIN_13 m2 : 24|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ IDT_Geheimnis_4 m0 : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ IDT_VIN_7 m1 : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ IDT_VIN_14 m2 : 32|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ IDT_VIN_1 m0 : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ IDT_VIN_8 m1 : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ IDT_VIN_15 m2 : 40|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ IDT_VIN_2 m0 : 48|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ IDT_VIN_9 m1 : 48|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ IDT_VIN_16 m2 : 48|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ IDT_VIN_3 m0 : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ IDT_VIN_10 m1 : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ IDT_VIN_17 m2 : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 2000 Diagnose_1: 8 XXX
|
||||
SG_ DI1_VerlernZaehl : 0|8@1+ (1,0) [0|254] "" XXX
|
||||
SG_ DI1_km_Stand : 8|20@1+ (1,0) [0|1048575] "Unit_KiloMeter" XXX
|
||||
SG_ DI1_Jahr : 28|7@1+ (1,2000) [2000|2127] "Unit_Year" XXX
|
||||
SG_ DI1_Monat : 35|4@1+ (1,0) [1|12] "Unit_Month" XXX
|
||||
SG_ DI1_Tag : 39|5@1+ (1,0) [0|31] "Unit_Day" XXX
|
||||
SG_ DI1_Stunde : 44|5@1+ (1,0) [0|23] "Unit_Hours" XXX
|
||||
SG_ DI1_Minute : 49|6@1+ (1,0) [0|59] "Unit_Minut" XXX
|
||||
SG_ DI1_Sekunde : 55|6@1+ (1,0) [0|59] "Unit_Secon" XXX
|
||||
SG_ DI1_KM_Stand_alt : 62|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DI1_Zeit_alt : 63|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 210 LM_Offset "centiNewton-meters for ease of calculation without FP math in Panda";
|
||||
CM_ SG_ 210 Vib_Amp "Steering wheel haptic, amplitude";
|
||||
CM_ SG_ 210 Vib_Freq "Steering wheel haptic, frequency";
|
||||
CM_ SG_ 1386 ACA_V_Wunsch "255=unset";
|
||||
CM_ SG_ 1470 LDW_Direction "0=right,1=left";
|
||||
CM_ SG_ 1470 XX_DLCORTLC1 "Might be DLC or TLC";
|
||||
CM_ SG_ 1470 XX_DLCORTLC2 "Might be DLC or TLC, might have wrong size";
|
||||
CM_ SG_ 1550 MFA_v_Signal_02 "0=km/h, 1=mph";
|
||||
|
||||
VAL_ 1088 Waehlhebelposition__Getriebe_1_ 8 "P" 7 "R" 6 "N" 5 "D" 9 "U";
|
||||
|
||||
Executable
+10
@@ -0,0 +1,10 @@
|
||||
#!/usr/bin/bash
|
||||
|
||||
if [ $1 -eq 1 ]; then
|
||||
printf %s "1" > /data/params/d/DragonBTG
|
||||
fi
|
||||
if [ $1 -eq 0 ]; then
|
||||
printf %s "0" > /data/params/d/DragonBTG
|
||||
fi
|
||||
|
||||
rm -rf /data/openpilot/selfdrive/boardd/boardd && reboot
|
||||
Executable
+13
@@ -0,0 +1,13 @@
|
||||
#!/usr/bin/bash
|
||||
|
||||
export LD_LIBRARY_PATH=/data/data/com.termux/files/usr/lib
|
||||
export HOME=/data/data/com.termux/files/home
|
||||
export PATH=/usr/local/bin:/data/data/com.termux/files/usr/bin:/data/data/com.termux/files/usr/sbin:/data/data/com.termux/files/usr/bin/applets:/bin:/sbin:/vendor/bin:/system/sbin:/system/bin:/system/xbin:/data/data/com.termux/files/usr/bin/git
|
||||
printf %s "1" > /data/params/d/DragonUpdating
|
||||
cd /data/openpilot || exit
|
||||
git reset --hard @{u}
|
||||
git clean -xdf
|
||||
rm -fr /tmp/scons_cache/
|
||||
find . -type f -name '*.py[co]' -delete -o -type d -name __pycache__ -delete
|
||||
scons --clean
|
||||
reboot
|
||||
Executable
+9
@@ -0,0 +1,9 @@
|
||||
#!/usr/bin/bash
|
||||
|
||||
export LD_LIBRARY_PATH=/data/data/com.termux/files/usr/lib
|
||||
export HOME=/data/data/com.termux/files/home
|
||||
export PATH=/usr/local/bin:/data/data/com.termux/files/usr/bin:/data/data/com.termux/files/usr/sbin:/data/data/com.termux/files/usr/bin/applets:/bin:/sbin:/vendor/bin:/system/sbin:/system/bin:/system/xbin:/data/data/com.termux/files/usr/bin/git
|
||||
export PYTHONPATH=/data/openpilot
|
||||
printf %s "1" > /data/params/d/DragonUpdating
|
||||
rm /data/openpilot/panda/board/obj/panda.bin
|
||||
cd /data/openpilot && git fetch --all && git reset --hard @{u} && git clean -xdf && scons --clean && reboot
|
||||
Executable
+11
@@ -0,0 +1,11 @@
|
||||
#!/usr/bin/bash
|
||||
|
||||
export LD_LIBRARY_PATH=/data/data/com.termux/files/usr/lib
|
||||
export HOME=/data/data/com.termux/files/home
|
||||
export PATH=/usr/local/bin:/data/data/com.termux/files/usr/bin:/data/data/com.termux/files/usr/sbin:/data/data/com.termux/files/usr/bin/applets:/bin:/sbin:/vendor/bin:/system/sbin:/system/bin:/system/xbin:/data/data/com.termux/files/usr/bin/python
|
||||
export PYTHONPATH=/data/openpilot
|
||||
value=`cat /data/params/d/DragonToyotaStockDSU`
|
||||
if [ $value -eq "1" ]; then
|
||||
printf %s "0" > /data/params/d/DragonEnableLogger
|
||||
printf %s "0" > /data/params/d/DragonEnableUploader
|
||||
fi
|
||||
Executable
+9
@@ -0,0 +1,9 @@
|
||||
#!/usr/bin/bash
|
||||
|
||||
export LD_LIBRARY_PATH=/data/data/com.termux/files/usr/lib
|
||||
export HOME=/data/data/com.termux/files/home
|
||||
export PATH=/usr/local/bin:/data/data/com.termux/files/usr/bin:/data/data/com.termux/files/usr/sbin:/data/data/com.termux/files/usr/bin/applets:/bin:/sbin:/vendor/bin:/system/sbin:/system/bin:/system/xbin:/data/data/com.termux/files/usr/bin/python
|
||||
export PYTHONPATH=/data/openpilot
|
||||
printf %s "1" > /data/params/d/DragonUpdating
|
||||
rm /data/openpilot/panda/board/obj/panda.bin
|
||||
cd /data/openpilot/panda ; pkill -f boardd ; python -c "from panda import Panda; Panda().flash()" && reboot
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 1.5 KiB After Width: | Height: | Size: 86 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 15 KiB After Width: | Height: | Size: 86 KiB |
@@ -0,0 +1,486 @@
|
||||
# SOME DESCRIPTIVE TITLE.
|
||||
# Copyright (C) YEAR THE PACKAGE'S COPYRIGHT HOLDER
|
||||
# This file is distributed under the same license as the PACKAGE package.
|
||||
# FIRST AUTHOR <EMAIL@ADDRESS>, YEAR.
|
||||
#
|
||||
#, fuzzy
|
||||
msgid ""
|
||||
msgstr ""
|
||||
"Project-Id-Version: PACKAGE VERSION\n"
|
||||
"Report-Msgid-Bugs-To: \n"
|
||||
"POT-Creation-Date: 2020-04-23 17:17+1000\n"
|
||||
"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
|
||||
"Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
|
||||
"Language-Team: LANGUAGE <LL@li.org>\n"
|
||||
"Language: \n"
|
||||
"MIME-Version: 1.0\n"
|
||||
"Content-Type: text/plain; charset=CHARSET\n"
|
||||
"Content-Transfer-Encoding: 8bit\n"
|
||||
|
||||
#: controls/lib/alerts.py:82 controls/lib/alerts.py:89
|
||||
msgid "BRAKE!"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:83 controls/lib/alerts.py:90
|
||||
msgid "Risk of Collision"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:96 controls/lib/alerts.py:103
|
||||
#: controls/lib/alerts.py:110 controls/lib/alerts.py:215
|
||||
#: controls/lib/alerts.py:229 controls/lib/alerts.py:263
|
||||
#: controls/lib/alerts.py:824
|
||||
msgid "TAKE CONTROL"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:97
|
||||
msgid "Turn Exceeds Steering Limit"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:104 controls/lib/alerts.py:111
|
||||
#: controls/lib/alerts.py:209
|
||||
msgid "Steering Temporarily Unavailable"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:117
|
||||
msgid "KEEP EYES ON ROAD: Driver Distracted"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:124
|
||||
msgid "KEEP EYES ON ROAD"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:125
|
||||
msgid "Driver Appears Distracted"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:131 controls/lib/alerts.py:152
|
||||
msgid "DISENGAGE IMMEDIATELY"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:132
|
||||
msgid "Driver Was Distracted"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:138
|
||||
msgid "TOUCH STEERING WHEEL: No Face Detected"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:145
|
||||
msgid "TOUCH STEERING WHEEL"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:146
|
||||
msgid "Driver Is Unresponsive"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:153
|
||||
msgid "Driver Was Unresponsive"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:159
|
||||
msgid "CHECK DRIVER FACE VISIBILITY"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:160
|
||||
msgid "Driver Monitor Model Output Uncertain"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:166
|
||||
msgid "DISENGAGEMENT REQUIRED"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:167 controls/lib/alerts.py:593
|
||||
msgid "Not in Geofenced Area"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:173
|
||||
msgid "Be ready to take over at any time"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:174 controls/lib/alerts.py:181
|
||||
#: controls/lib/alerts.py:188 controls/lib/alerts.py:195
|
||||
msgid "Always keep hands on wheel and eyes on road"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:180
|
||||
msgid "WARNING: This branch is not tested"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:187
|
||||
msgid "Dashcam mode"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:194
|
||||
msgid "Dashcam mode for unsupported car"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:201 controls/lib/alerts.py:356
|
||||
#: controls/lib/alerts.py:363 controls/lib/alerts.py:370
|
||||
#: controls/lib/alerts.py:377 controls/lib/alerts.py:384
|
||||
#: controls/lib/alerts.py:391 controls/lib/alerts.py:398
|
||||
#: controls/lib/alerts.py:405 controls/lib/alerts.py:412
|
||||
#: controls/lib/alerts.py:419 controls/lib/alerts.py:426
|
||||
#: controls/lib/alerts.py:433 controls/lib/alerts.py:441
|
||||
#: controls/lib/alerts.py:449 controls/lib/alerts.py:456
|
||||
#: controls/lib/alerts.py:463 controls/lib/alerts.py:470
|
||||
#: controls/lib/alerts.py:477 controls/lib/alerts.py:484
|
||||
#: controls/lib/alerts.py:491 controls/lib/alerts.py:498
|
||||
#: controls/lib/alerts.py:505 controls/lib/alerts.py:512
|
||||
msgid "TAKE CONTROL IMMEDIATELY"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:202
|
||||
msgid "Ethical Dilemma Detected"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:208 controls/lib/alerts.py:271
|
||||
#: controls/lib/alerts.py:278 controls/lib/alerts.py:285
|
||||
#: controls/lib/alerts.py:292 controls/lib/alerts.py:299
|
||||
#: controls/lib/alerts.py:306 controls/lib/alerts.py:313
|
||||
#: controls/lib/alerts.py:320 controls/lib/alerts.py:327
|
||||
#: controls/lib/alerts.py:334 controls/lib/alerts.py:341
|
||||
#: controls/lib/alerts.py:348 controls/lib/alerts.py:543
|
||||
#: controls/lib/alerts.py:550 controls/lib/alerts.py:557
|
||||
#: controls/lib/alerts.py:564 controls/lib/alerts.py:571
|
||||
#: controls/lib/alerts.py:578 controls/lib/alerts.py:585
|
||||
#: controls/lib/alerts.py:592 controls/lib/alerts.py:599
|
||||
#: controls/lib/alerts.py:606 controls/lib/alerts.py:613
|
||||
#: controls/lib/alerts.py:620 controls/lib/alerts.py:627
|
||||
#: controls/lib/alerts.py:634 controls/lib/alerts.py:641
|
||||
#: controls/lib/alerts.py:648 controls/lib/alerts.py:655
|
||||
#: controls/lib/alerts.py:662 controls/lib/alerts.py:669
|
||||
#: controls/lib/alerts.py:676 controls/lib/alerts.py:683
|
||||
#: controls/lib/alerts.py:690 controls/lib/alerts.py:697
|
||||
#: controls/lib/alerts.py:704 controls/lib/alerts.py:718
|
||||
msgid "openpilot Unavailable"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:216
|
||||
msgid "Resume Driving Manually"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:222
|
||||
msgid "STOPPED"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:223
|
||||
msgid "Press Resume to Move"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:230
|
||||
msgid "Steer Unavailable Below "
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:236
|
||||
msgid "DEBUG ALERT"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:242
|
||||
msgid "Steer Left to Start Lane Change"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:243 controls/lib/alerts.py:250
|
||||
#: controls/lib/alerts.py:257 controls/lib/alerts.py:833
|
||||
#: controls/lib/alerts.py:840 controls/lib/alerts.py:847
|
||||
msgid "Monitor Other Vehicles"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:249
|
||||
msgid "Steer Right to Start Lane Change"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:256 controls/lib/alerts.py:846
|
||||
msgid "Changing Lane"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:264 controls/lib/alerts.py:614
|
||||
msgid "Vision Model Output Uncertain"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:272
|
||||
msgid "Main Switch Off"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:279
|
||||
msgid "Calibration Needs Data. Upload Drive, Try Again"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:286
|
||||
msgid "Out of Storage Space"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:293
|
||||
msgid "Pedal Pressed During Attempt"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:300
|
||||
msgid "Speed Too Low"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:307
|
||||
msgid "Brake Hold Active"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:314
|
||||
msgid "Park Brake Engaged"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:321 controls/lib/alerts.py:478
|
||||
#: controls/lib/alerts.py:642
|
||||
msgid "Cruise Fault: Restart the Car"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:328 controls/lib/alerts.py:406
|
||||
msgid "Low Battery"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:335 controls/lib/alerts.py:782
|
||||
msgid "No Data from Device Sensors"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:342 controls/lib/alerts.py:789
|
||||
msgid "Speaker not found"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:349
|
||||
msgid "Distraction Level Too High"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:357
|
||||
msgid "System Overheated"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:364 controls/lib/alerts.py:551
|
||||
msgid "Gear not D"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:371
|
||||
msgid "Calibration Invalid: Reposition Device and Recalibrate"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:378 controls/lib/alerts.py:565
|
||||
msgid "Calibration in Progress"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:385
|
||||
msgid "Door Open"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:392
|
||||
msgid "Seatbelt Unlatched"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:399 controls/lib/alerts.py:586
|
||||
msgid "ESP Off"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:413 controls/lib/alerts.py:684
|
||||
msgid "Communication Issue between Processes"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:420 controls/lib/alerts.py:691
|
||||
msgid "Radar Communication Issue"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:427 controls/lib/alerts.py:434
|
||||
#: controls/lib/alerts.py:600 controls/lib/alerts.py:607
|
||||
msgid "Radar Error: Restart the Car"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:442 controls/lib/alerts.py:705
|
||||
msgid "Low Memory: Reboot Your Device"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:450 controls/lib/alerts.py:621
|
||||
msgid "Controls Failed"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:457
|
||||
msgid "Controls Mismatch"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:464 controls/lib/alerts.py:628
|
||||
msgid "CAN Error: Check Connections"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:471 controls/lib/alerts.py:635
|
||||
msgid "LKAS Fault: Restart the Car"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:485
|
||||
msgid "Gas Fault: Restart the Car"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:492 controls/lib/alerts.py:656
|
||||
msgid "Reverse Gear"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:499
|
||||
msgid "Cruise Is Off"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:506 controls/lib/alerts.py:677
|
||||
msgid "Planner Solution Error"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:513 controls/lib/alerts.py:719
|
||||
#: controls/lib/alerts.py:810
|
||||
msgid "Harness Malfunction"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:521 controls/lib/alerts.py:528
|
||||
msgid "openpilot Canceled"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:522
|
||||
msgid "No close lead car"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:529
|
||||
msgid "Speed too low"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:535 controls/lib/alerts.py:711
|
||||
msgid "Speed Too High"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:536
|
||||
msgid "Slow down to resume operation"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:544
|
||||
msgid "System overheated"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:558
|
||||
msgid "Calibration Invalid: Reposition Device & Recalibrate"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:572
|
||||
msgid "Door open"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:579
|
||||
msgid "Seatbelt unlatched"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:649
|
||||
msgid "Gas Error: Restart the Car"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:663
|
||||
msgid "Cruise is Off"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:670
|
||||
msgid "No Close Lead Car"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:698
|
||||
msgid "Please Connect to Internet"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:712
|
||||
msgid "Slow down to engage"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:726
|
||||
msgid "LKAS Fault: Restart the car to engage"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:733 controls/lib/alerts.py:740
|
||||
msgid "Cruise Fault: Restart the car to engage"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:747
|
||||
msgid "Calibration in Progress: "
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:748
|
||||
msgid "Drive Above "
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:754
|
||||
msgid "Unsupported Giraffe Configuration"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:755
|
||||
msgid "Visit comma.ai/tg"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:761
|
||||
msgid "Stock LKAS is turned on"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:762
|
||||
msgid "Turn off stock LKAS to engage"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:768
|
||||
msgid "Please connect to Internet"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:769
|
||||
msgid "An Update Check Is Required to Engage"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:775
|
||||
msgid "Community Feature Detected"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:776
|
||||
msgid "Enable Community Features in Developer Settings"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:783 controls/lib/alerts.py:790
|
||||
#: controls/lib/alerts.py:797
|
||||
msgid "Reboot your Device"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:796
|
||||
msgid "RAM Critically Low"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:803
|
||||
msgid "Dashcam Mode"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:804
|
||||
msgid "Car Unrecognized"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:811
|
||||
msgid "Please Check Hardware"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:817
|
||||
msgid "Vehicle Parameter Identification Failed"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:825
|
||||
msgid "Lane Departure Detected"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:832
|
||||
msgid "Left ALC will engage in 3 seconds"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:839
|
||||
msgid "Right ALC will engage in 3 seconds"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:853
|
||||
msgid "STEERING REQUIRED: Lane Keeping OFF"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:860
|
||||
msgid "STEERING REQUIRED: Blinkers ON"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:866
|
||||
msgid "Lead Car Is Moving"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:872
|
||||
msgid "Lead Car Detected"
|
||||
msgstr ""
|
||||
Binary file not shown.
@@ -0,0 +1,486 @@
|
||||
# SOME DESCRIPTIVE TITLE.
|
||||
# Copyright (C) YEAR THE PACKAGE'S COPYRIGHT HOLDER
|
||||
# This file is distributed under the same license as the PACKAGE package.
|
||||
# FIRST AUTHOR <EMAIL@ADDRESS>, YEAR.
|
||||
#
|
||||
#, fuzzy
|
||||
msgid ""
|
||||
msgstr ""
|
||||
"Project-Id-Version: PACKAGE VERSION\n"
|
||||
"Report-Msgid-Bugs-To: \n"
|
||||
"POT-Creation-Date: 2020-04-23 17:17+1000\n"
|
||||
"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
|
||||
"Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
|
||||
"Language-Team: LANGUAGE <LL@li.org>\n"
|
||||
"Language: \n"
|
||||
"MIME-Version: 1.0\n"
|
||||
"Content-Type: text/plain; charset=UTF-8\n"
|
||||
"Content-Transfer-Encoding: 8bit\n"
|
||||
|
||||
#: controls/lib/alerts.py:82 controls/lib/alerts.py:89
|
||||
msgid "BRAKE!"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:83 controls/lib/alerts.py:90
|
||||
msgid "Risk of Collision"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:96 controls/lib/alerts.py:103
|
||||
#: controls/lib/alerts.py:110 controls/lib/alerts.py:215
|
||||
#: controls/lib/alerts.py:229 controls/lib/alerts.py:263
|
||||
#: controls/lib/alerts.py:824
|
||||
msgid "TAKE CONTROL"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:97
|
||||
msgid "Turn Exceeds Steering Limit"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:104 controls/lib/alerts.py:111
|
||||
#: controls/lib/alerts.py:209
|
||||
msgid "Steering Temporarily Unavailable"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:117
|
||||
msgid "KEEP EYES ON ROAD: Driver Distracted"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:124
|
||||
msgid "KEEP EYES ON ROAD"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:125
|
||||
msgid "Driver Appears Distracted"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:131 controls/lib/alerts.py:152
|
||||
msgid "DISENGAGE IMMEDIATELY"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:132
|
||||
msgid "Driver Was Distracted"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:138
|
||||
msgid "TOUCH STEERING WHEEL: No Face Detected"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:145
|
||||
msgid "TOUCH STEERING WHEEL"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:146
|
||||
msgid "Driver Is Unresponsive"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:153
|
||||
msgid "Driver Was Unresponsive"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:159
|
||||
msgid "CHECK DRIVER FACE VISIBILITY"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:160
|
||||
msgid "Driver Monitor Model Output Uncertain"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:166
|
||||
msgid "DISENGAGEMENT REQUIRED"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:167 controls/lib/alerts.py:593
|
||||
msgid "Not in Geofenced Area"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:173
|
||||
msgid "Be ready to take over at any time"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:174 controls/lib/alerts.py:181
|
||||
#: controls/lib/alerts.py:188 controls/lib/alerts.py:195
|
||||
msgid "Always keep hands on wheel and eyes on road"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:180
|
||||
msgid "WARNING: This branch is not tested"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:187
|
||||
msgid "Dashcam mode"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:194
|
||||
msgid "Dashcam mode for unsupported car"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:201 controls/lib/alerts.py:356
|
||||
#: controls/lib/alerts.py:363 controls/lib/alerts.py:370
|
||||
#: controls/lib/alerts.py:377 controls/lib/alerts.py:384
|
||||
#: controls/lib/alerts.py:391 controls/lib/alerts.py:398
|
||||
#: controls/lib/alerts.py:405 controls/lib/alerts.py:412
|
||||
#: controls/lib/alerts.py:419 controls/lib/alerts.py:426
|
||||
#: controls/lib/alerts.py:433 controls/lib/alerts.py:441
|
||||
#: controls/lib/alerts.py:449 controls/lib/alerts.py:456
|
||||
#: controls/lib/alerts.py:463 controls/lib/alerts.py:470
|
||||
#: controls/lib/alerts.py:477 controls/lib/alerts.py:484
|
||||
#: controls/lib/alerts.py:491 controls/lib/alerts.py:498
|
||||
#: controls/lib/alerts.py:505 controls/lib/alerts.py:512
|
||||
msgid "TAKE CONTROL IMMEDIATELY"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:202
|
||||
msgid "Ethical Dilemma Detected"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:208 controls/lib/alerts.py:271
|
||||
#: controls/lib/alerts.py:278 controls/lib/alerts.py:285
|
||||
#: controls/lib/alerts.py:292 controls/lib/alerts.py:299
|
||||
#: controls/lib/alerts.py:306 controls/lib/alerts.py:313
|
||||
#: controls/lib/alerts.py:320 controls/lib/alerts.py:327
|
||||
#: controls/lib/alerts.py:334 controls/lib/alerts.py:341
|
||||
#: controls/lib/alerts.py:348 controls/lib/alerts.py:543
|
||||
#: controls/lib/alerts.py:550 controls/lib/alerts.py:557
|
||||
#: controls/lib/alerts.py:564 controls/lib/alerts.py:571
|
||||
#: controls/lib/alerts.py:578 controls/lib/alerts.py:585
|
||||
#: controls/lib/alerts.py:592 controls/lib/alerts.py:599
|
||||
#: controls/lib/alerts.py:606 controls/lib/alerts.py:613
|
||||
#: controls/lib/alerts.py:620 controls/lib/alerts.py:627
|
||||
#: controls/lib/alerts.py:634 controls/lib/alerts.py:641
|
||||
#: controls/lib/alerts.py:648 controls/lib/alerts.py:655
|
||||
#: controls/lib/alerts.py:662 controls/lib/alerts.py:669
|
||||
#: controls/lib/alerts.py:676 controls/lib/alerts.py:683
|
||||
#: controls/lib/alerts.py:690 controls/lib/alerts.py:697
|
||||
#: controls/lib/alerts.py:704 controls/lib/alerts.py:718
|
||||
msgid "openpilot Unavailable"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:216
|
||||
msgid "Resume Driving Manually"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:222
|
||||
msgid "STOPPED"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:223
|
||||
msgid "Press Resume to Move"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:230
|
||||
msgid "Steer Unavailable Below "
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:236
|
||||
msgid "DEBUG ALERT"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:242
|
||||
msgid "Steer Left to Start Lane Change"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:243 controls/lib/alerts.py:250
|
||||
#: controls/lib/alerts.py:257 controls/lib/alerts.py:833
|
||||
#: controls/lib/alerts.py:840 controls/lib/alerts.py:847
|
||||
msgid "Monitor Other Vehicles"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:249
|
||||
msgid "Steer Right to Start Lane Change"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:256 controls/lib/alerts.py:846
|
||||
msgid "Changing Lane"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:264 controls/lib/alerts.py:614
|
||||
msgid "Vision Model Output Uncertain"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:272
|
||||
msgid "Main Switch Off"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:279
|
||||
msgid "Calibration Needs Data. Upload Drive, Try Again"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:286
|
||||
msgid "Out of Storage Space"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:293
|
||||
msgid "Pedal Pressed During Attempt"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:300
|
||||
msgid "Speed Too Low"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:307
|
||||
msgid "Brake Hold Active"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:314
|
||||
msgid "Park Brake Engaged"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:321 controls/lib/alerts.py:478
|
||||
#: controls/lib/alerts.py:642
|
||||
msgid "Cruise Fault: Restart the Car"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:328 controls/lib/alerts.py:406
|
||||
msgid "Low Battery"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:335 controls/lib/alerts.py:782
|
||||
msgid "No Data from Device Sensors"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:342 controls/lib/alerts.py:789
|
||||
msgid "Speaker not found"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:349
|
||||
msgid "Distraction Level Too High"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:357
|
||||
msgid "System Overheated"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:364 controls/lib/alerts.py:551
|
||||
msgid "Gear not D"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:371
|
||||
msgid "Calibration Invalid: Reposition Device and Recalibrate"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:378 controls/lib/alerts.py:565
|
||||
msgid "Calibration in Progress"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:385
|
||||
msgid "Door Open"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:392
|
||||
msgid "Seatbelt Unlatched"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:399 controls/lib/alerts.py:586
|
||||
msgid "ESP Off"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:413 controls/lib/alerts.py:684
|
||||
msgid "Communication Issue between Processes"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:420 controls/lib/alerts.py:691
|
||||
msgid "Radar Communication Issue"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:427 controls/lib/alerts.py:434
|
||||
#: controls/lib/alerts.py:600 controls/lib/alerts.py:607
|
||||
msgid "Radar Error: Restart the Car"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:442 controls/lib/alerts.py:705
|
||||
msgid "Low Memory: Reboot Your Device"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:450 controls/lib/alerts.py:621
|
||||
msgid "Controls Failed"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:457
|
||||
msgid "Controls Mismatch"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:464 controls/lib/alerts.py:628
|
||||
msgid "CAN Error: Check Connections"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:471 controls/lib/alerts.py:635
|
||||
msgid "LKAS Fault: Restart the Car"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:485
|
||||
msgid "Gas Fault: Restart the Car"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:492 controls/lib/alerts.py:656
|
||||
msgid "Reverse Gear"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:499
|
||||
msgid "Cruise Is Off"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:506 controls/lib/alerts.py:677
|
||||
msgid "Planner Solution Error"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:513 controls/lib/alerts.py:719
|
||||
#: controls/lib/alerts.py:810
|
||||
msgid "Harness Malfunction"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:521 controls/lib/alerts.py:528
|
||||
msgid "openpilot Canceled"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:522
|
||||
msgid "No close lead car"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:529
|
||||
msgid "Speed too low"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:535 controls/lib/alerts.py:711
|
||||
msgid "Speed Too High"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:536
|
||||
msgid "Slow down to resume operation"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:544
|
||||
msgid "System overheated"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:558
|
||||
msgid "Calibration Invalid: Reposition Device & Recalibrate"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:572
|
||||
msgid "Door open"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:579
|
||||
msgid "Seatbelt unlatched"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:649
|
||||
msgid "Gas Error: Restart the Car"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:663
|
||||
msgid "Cruise is Off"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:670
|
||||
msgid "No Close Lead Car"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:698
|
||||
msgid "Please Connect to Internet"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:712
|
||||
msgid "Slow down to engage"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:726
|
||||
msgid "LKAS Fault: Restart the car to engage"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:733 controls/lib/alerts.py:740
|
||||
msgid "Cruise Fault: Restart the car to engage"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:747
|
||||
msgid "Calibration in Progress: "
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:748
|
||||
msgid "Drive Above "
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:754
|
||||
msgid "Unsupported Giraffe Configuration"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:755
|
||||
msgid "Visit comma.ai/tg"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:761
|
||||
msgid "Stock LKAS is turned on"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:762
|
||||
msgid "Turn off stock LKAS to engage"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:768
|
||||
msgid "Please connect to Internet"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:769
|
||||
msgid "An Update Check Is Required to Engage"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:775
|
||||
msgid "Community Feature Detected"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:776
|
||||
msgid "Enable Community Features in Developer Settings"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:783 controls/lib/alerts.py:790
|
||||
#: controls/lib/alerts.py:797
|
||||
msgid "Reboot your Device"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:796
|
||||
msgid "RAM Critically Low"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:803
|
||||
msgid "Dashcam Mode"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:804
|
||||
msgid "Car Unrecognized"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:811
|
||||
msgid "Please Check Hardware"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:817
|
||||
msgid "Vehicle Parameter Identification Failed"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:825
|
||||
msgid "Lane Departure Detected"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:832
|
||||
msgid "Left ALC will engage in 3 seconds"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:839
|
||||
msgid "Right ALC will engage in 3 seconds"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:853
|
||||
msgid "STEERING REQUIRED: Lane Keeping OFF"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:860
|
||||
msgid "STEERING REQUIRED: Blinkers ON"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:866
|
||||
msgid "Lead Car Is Moving"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:872
|
||||
msgid "Lead Car Detected"
|
||||
msgstr ""
|
||||
Binary file not shown.
@@ -0,0 +1,486 @@
|
||||
# SOME DESCRIPTIVE TITLE.
|
||||
# Copyright (C) YEAR THE PACKAGE'S COPYRIGHT HOLDER
|
||||
# This file is distributed under the same license as the PACKAGE package.
|
||||
# FIRST AUTHOR <EMAIL@ADDRESS>, YEAR.
|
||||
#
|
||||
#, fuzzy
|
||||
msgid ""
|
||||
msgstr ""
|
||||
"Project-Id-Version: PACKAGE VERSION\n"
|
||||
"Report-Msgid-Bugs-To: \n"
|
||||
"POT-Creation-Date: 2020-04-23 17:17+1000\n"
|
||||
"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
|
||||
"Last-Translator: Rick Lan <ricklan@gmail.com>\n"
|
||||
"Language-Team: LANGUAGE <LL@li.org>\n"
|
||||
"Language: zh-CN\n"
|
||||
"MIME-Version: 1.0\n"
|
||||
"Content-Type: text/plain; charset=UTF-8\n"
|
||||
"Content-Transfer-Encoding: 8bit\n"
|
||||
|
||||
#: controls/lib/alerts.py:82 controls/lib/alerts.py:89
|
||||
msgid "BRAKE!"
|
||||
msgstr "刹车！"
|
||||
|
||||
#: controls/lib/alerts.py:83 controls/lib/alerts.py:90
|
||||
msgid "Risk of Collision"
|
||||
msgstr "有碰撞的风险"
|
||||
|
||||
#: controls/lib/alerts.py:96 controls/lib/alerts.py:103
|
||||
#: controls/lib/alerts.py:110 controls/lib/alerts.py:215
|
||||
#: controls/lib/alerts.py:229 controls/lib/alerts.py:263
|
||||
#: controls/lib/alerts.py:824
|
||||
msgid "TAKE CONTROL"
|
||||
msgstr "接管控制"
|
||||
|
||||
#: controls/lib/alerts.py:97
|
||||
msgid "Turn Exceeds Steering Limit"
|
||||
msgstr "弯道超过横向操控限制"
|
||||
|
||||
#: controls/lib/alerts.py:104 controls/lib/alerts.py:111
|
||||
#: controls/lib/alerts.py:209
|
||||
msgid "Steering Temporarily Unavailable"
|
||||
msgstr "横向控制暂时失效"
|
||||
|
||||
#: controls/lib/alerts.py:117
|
||||
msgid "KEEP EYES ON ROAD: Driver Distracted"
|
||||
msgstr "注意路况：驾驶分心"
|
||||
|
||||
#: controls/lib/alerts.py:124
|
||||
msgid "KEEP EYES ON ROAD"
|
||||
msgstr "注意路况"
|
||||
|
||||
#: controls/lib/alerts.py:125
|
||||
msgid "Driver Appears Distracted"
|
||||
msgstr "驾驶分心"
|
||||
|
||||
#: controls/lib/alerts.py:131 controls/lib/alerts.py:152
|
||||
msgid "DISENGAGE IMMEDIATELY"
|
||||
msgstr "立即解除"
|
||||
|
||||
#: controls/lib/alerts.py:132
|
||||
msgid "Driver Was Distracted"
|
||||
msgstr "驾驶分心"
|
||||
|
||||
#: controls/lib/alerts.py:138
|
||||
msgid "TOUCH STEERING WHEEL: No Face Detected"
|
||||
msgstr "请触碰方向盘：未侦测到驾驶面容"
|
||||
|
||||
#: controls/lib/alerts.py:145
|
||||
msgid "TOUCH STEERING WHEEL"
|
||||
msgstr "请触碰方向盘"
|
||||
|
||||
#: controls/lib/alerts.py:146
|
||||
msgid "Driver Is Unresponsive"
|
||||
msgstr "驾驶没有反应"
|
||||
|
||||
#: controls/lib/alerts.py:153
|
||||
msgid "Driver Was Unresponsive"
|
||||
msgstr "驾驶没有反应"
|
||||
|
||||
#: controls/lib/alerts.py:159
|
||||
msgid "CHECK DRIVER FACE VISIBILITY"
|
||||
msgstr "请检查驾驶面部的可见度"
|
||||
|
||||
#: controls/lib/alerts.py:160
|
||||
msgid "Driver Monitor Model Output Uncertain"
|
||||
msgstr "驾驶监控模型判断不明确"
|
||||
|
||||
#: controls/lib/alerts.py:166
|
||||
msgid "DISENGAGEMENT REQUIRED"
|
||||
msgstr "请马上解除"
|
||||
|
||||
#: controls/lib/alerts.py:167 controls/lib/alerts.py:593
|
||||
msgid "Not in Geofenced Area"
|
||||
msgstr "不在地理围栏区域之内"
|
||||
|
||||
#: controls/lib/alerts.py:173
|
||||
msgid "Be ready to take over at any time"
|
||||
msgstr "请准备好随时接管"
|
||||
|
||||
#: controls/lib/alerts.py:174 controls/lib/alerts.py:181
|
||||
#: controls/lib/alerts.py:188 controls/lib/alerts.py:195
|
||||
msgid "Always keep hands on wheel and eyes on road"
|
||||
msgstr "将手放在方向盘上并持续监视路况"
|
||||
|
||||
#: controls/lib/alerts.py:180
|
||||
msgid "WARNING: This branch is not tested"
|
||||
msgstr "注意：这个分支未经过测试"
|
||||
|
||||
#: controls/lib/alerts.py:187
|
||||
msgid "Dashcam mode"
|
||||
msgstr "行车记录模式"
|
||||
|
||||
#: controls/lib/alerts.py:194
|
||||
msgid "Dashcam mode for unsupported car"
|
||||
msgstr "行车记录模式 (尚未支援车种)"
|
||||
|
||||
#: controls/lib/alerts.py:201 controls/lib/alerts.py:356
|
||||
#: controls/lib/alerts.py:363 controls/lib/alerts.py:370
|
||||
#: controls/lib/alerts.py:377 controls/lib/alerts.py:384
|
||||
#: controls/lib/alerts.py:391 controls/lib/alerts.py:398
|
||||
#: controls/lib/alerts.py:405 controls/lib/alerts.py:412
|
||||
#: controls/lib/alerts.py:419 controls/lib/alerts.py:426
|
||||
#: controls/lib/alerts.py:433 controls/lib/alerts.py:441
|
||||
#: controls/lib/alerts.py:449 controls/lib/alerts.py:456
|
||||
#: controls/lib/alerts.py:463 controls/lib/alerts.py:470
|
||||
#: controls/lib/alerts.py:477 controls/lib/alerts.py:484
|
||||
#: controls/lib/alerts.py:491 controls/lib/alerts.py:498
|
||||
#: controls/lib/alerts.py:505 controls/lib/alerts.py:512
|
||||
msgid "TAKE CONTROL IMMEDIATELY"
|
||||
msgstr "即刻接管控制"
|
||||
|
||||
#: controls/lib/alerts.py:202
|
||||
msgid "Ethical Dilemma Detected"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:208 controls/lib/alerts.py:271
|
||||
#: controls/lib/alerts.py:278 controls/lib/alerts.py:285
|
||||
#: controls/lib/alerts.py:292 controls/lib/alerts.py:299
|
||||
#: controls/lib/alerts.py:306 controls/lib/alerts.py:313
|
||||
#: controls/lib/alerts.py:320 controls/lib/alerts.py:327
|
||||
#: controls/lib/alerts.py:334 controls/lib/alerts.py:341
|
||||
#: controls/lib/alerts.py:348 controls/lib/alerts.py:543
|
||||
#: controls/lib/alerts.py:550 controls/lib/alerts.py:557
|
||||
#: controls/lib/alerts.py:564 controls/lib/alerts.py:571
|
||||
#: controls/lib/alerts.py:578 controls/lib/alerts.py:585
|
||||
#: controls/lib/alerts.py:592 controls/lib/alerts.py:599
|
||||
#: controls/lib/alerts.py:606 controls/lib/alerts.py:613
|
||||
#: controls/lib/alerts.py:620 controls/lib/alerts.py:627
|
||||
#: controls/lib/alerts.py:634 controls/lib/alerts.py:641
|
||||
#: controls/lib/alerts.py:648 controls/lib/alerts.py:655
|
||||
#: controls/lib/alerts.py:662 controls/lib/alerts.py:669
|
||||
#: controls/lib/alerts.py:676 controls/lib/alerts.py:683
|
||||
#: controls/lib/alerts.py:690 controls/lib/alerts.py:697
|
||||
#: controls/lib/alerts.py:704 controls/lib/alerts.py:718
|
||||
msgid "openpilot Unavailable"
|
||||
msgstr "无法使用 openpilot"
|
||||
|
||||
#: controls/lib/alerts.py:216
|
||||
msgid "Resume Driving Manually"
|
||||
msgstr "请自行恢復驾驶"
|
||||
|
||||
#: controls/lib/alerts.py:222
|
||||
msgid "STOPPED"
|
||||
msgstr "已停止"
|
||||
|
||||
#: controls/lib/alerts.py:223
|
||||
msgid "Press Resume to Move"
|
||||
msgstr "请按 RES 继续"
|
||||
|
||||
#: controls/lib/alerts.py:230
|
||||
msgid "Steer Unavailable Below "
|
||||
msgstr "横向控制暂时失效，车速低于 "
|
||||
|
||||
#: controls/lib/alerts.py:236
|
||||
msgid "DEBUG ALERT"
|
||||
msgstr "除错用警示讯息"
|
||||
|
||||
#: controls/lib/alerts.py:242
|
||||
msgid "Steer Left to Start Lane Change"
|
||||
msgstr "请往左打方向盘切换至左车道"
|
||||
|
||||
#: controls/lib/alerts.py:243 controls/lib/alerts.py:250
|
||||
#: controls/lib/alerts.py:257 controls/lib/alerts.py:833
|
||||
#: controls/lib/alerts.py:840 controls/lib/alerts.py:847
|
||||
msgid "Monitor Other Vehicles"
|
||||
msgstr "请注意其它车辆"
|
||||
|
||||
#: controls/lib/alerts.py:249
|
||||
msgid "Steer Right to Start Lane Change"
|
||||
msgstr "请往右打方向盘切换至右车道"
|
||||
|
||||
#: controls/lib/alerts.py:256 controls/lib/alerts.py:846
|
||||
msgid "Changing Lane"
|
||||
msgstr "切换车道中"
|
||||
|
||||
#: controls/lib/alerts.py:264 controls/lib/alerts.py:614
|
||||
msgid "Vision Model Output Uncertain"
|
||||
msgstr "视觉模型判断不明确"
|
||||
|
||||
#: controls/lib/alerts.py:272
|
||||
msgid "Main Switch Off"
|
||||
msgstr "主开关已关闭"
|
||||
|
||||
#: controls/lib/alerts.py:279
|
||||
msgid "Calibration Needs Data. Upload Drive, Try Again"
|
||||
msgstr "校正需要数据，请上传您的行车数据后再重试一次"
|
||||
|
||||
#: controls/lib/alerts.py:286
|
||||
msgid "Out of Storage Space"
|
||||
msgstr "存储空间不足"
|
||||
|
||||
#: controls/lib/alerts.py:293
|
||||
msgid "Pedal Pressed During Attempt"
|
||||
msgstr "启用时侦测到驾驶踩踏油门/刹车"
|
||||
|
||||
#: controls/lib/alerts.py:300
|
||||
msgid "Speed Too Low"
|
||||
msgstr "车速过慢"
|
||||
|
||||
#: controls/lib/alerts.py:307
|
||||
msgid "Brake Hold Active"
|
||||
msgstr "驻车煞车已启用"
|
||||
|
||||
#: controls/lib/alerts.py:314
|
||||
msgid "Park Brake Engaged"
|
||||
msgstr "电子驻车已启动"
|
||||
|
||||
#: controls/lib/alerts.py:321 controls/lib/alerts.py:478
|
||||
#: controls/lib/alerts.py:642
|
||||
msgid "Cruise Fault: Restart the Car"
|
||||
msgstr "巡航系统错误：请重新发动车辆"
|
||||
|
||||
#: controls/lib/alerts.py:328 controls/lib/alerts.py:406
|
||||
msgid "Low Battery"
|
||||
msgstr "电量过低"
|
||||
|
||||
#: controls/lib/alerts.py:335 controls/lib/alerts.py:782
|
||||
msgid "No Data from Device Sensors"
|
||||
msgstr "未收到装置传感器数据"
|
||||
|
||||
#: controls/lib/alerts.py:342 controls/lib/alerts.py:789
|
||||
msgid "Speaker not found"
|
||||
msgstr "找不到音效装置"
|
||||
|
||||
#: controls/lib/alerts.py:349
|
||||
msgid "Distraction Level Too High"
|
||||
msgstr "驾驶分心太多次"
|
||||
|
||||
#: controls/lib/alerts.py:357
|
||||
msgid "System Overheated"
|
||||
msgstr "系统过热"
|
||||
|
||||
#: controls/lib/alerts.py:364 controls/lib/alerts.py:551
|
||||
msgid "Gear not D"
|
||||
msgstr "不在 D 档位"
|
||||
|
||||
#: controls/lib/alerts.py:371
|
||||
msgid "Calibration Invalid: Reposition Device and Recalibrate"
|
||||
msgstr "校准无效：请将装置放于新的位置并重新校准"
|
||||
|
||||
#: controls/lib/alerts.py:378 controls/lib/alerts.py:565
|
||||
msgid "Calibration in Progress"
|
||||
msgstr "正在校准中"
|
||||
|
||||
#: controls/lib/alerts.py:385
|
||||
msgid "Door Open"
|
||||
msgstr "车门开启"
|
||||
|
||||
#: controls/lib/alerts.py:392
|
||||
msgid "Seatbelt Unlatched"
|
||||
msgstr "安全带未繫"
|
||||
|
||||
#: controls/lib/alerts.py:399 controls/lib/alerts.py:586
|
||||
msgid "ESP Off"
|
||||
msgstr "ESP 关闭"
|
||||
|
||||
#: controls/lib/alerts.py:413 controls/lib/alerts.py:684
|
||||
msgid "Communication Issue between Processes"
|
||||
msgstr "行程间出现通讯问题"
|
||||
|
||||
#: controls/lib/alerts.py:420 controls/lib/alerts.py:691
|
||||
msgid "Radar Communication Issue"
|
||||
msgstr "雷达通讯出现问题"
|
||||
|
||||
#: controls/lib/alerts.py:427 controls/lib/alerts.py:434
|
||||
#: controls/lib/alerts.py:600 controls/lib/alerts.py:607
|
||||
msgid "Radar Error: Restart the Car"
|
||||
msgstr "雷达讯号错误：请重新发动车辆"
|
||||
|
||||
#: controls/lib/alerts.py:442 controls/lib/alerts.py:705
|
||||
msgid "Low Memory: Reboot Your Device"
|
||||
msgstr "记忆体不足：请重启您的装置"
|
||||
|
||||
#: controls/lib/alerts.py:450 controls/lib/alerts.py:621
|
||||
msgid "Controls Failed"
|
||||
msgstr "控制发生错误"
|
||||
|
||||
#: controls/lib/alerts.py:457
|
||||
msgid "Controls Mismatch"
|
||||
msgstr "控制不匹配"
|
||||
|
||||
#: controls/lib/alerts.py:464 controls/lib/alerts.py:628
|
||||
msgid "CAN Error: Check Connections"
|
||||
msgstr "CAN 讯号错误：请检查线路"
|
||||
|
||||
#: controls/lib/alerts.py:471 controls/lib/alerts.py:635
|
||||
msgid "LKAS Fault: Restart the Car"
|
||||
msgstr "LKAS 错误：请重新发动车辆"
|
||||
|
||||
#: controls/lib/alerts.py:485
|
||||
msgid "Gas Fault: Restart the Car"
|
||||
msgstr "油门错误：请重新发动车辆"
|
||||
|
||||
#: controls/lib/alerts.py:492 controls/lib/alerts.py:656
|
||||
msgid "Reverse Gear"
|
||||
msgstr "切换至倒车档"
|
||||
|
||||
#: controls/lib/alerts.py:499
|
||||
msgid "Cruise Is Off"
|
||||
msgstr "巡航系统关闭"
|
||||
|
||||
#: controls/lib/alerts.py:506 controls/lib/alerts.py:677
|
||||
msgid "Planner Solution Error"
|
||||
msgstr "Planner Solution 错误"
|
||||
|
||||
#: controls/lib/alerts.py:513 controls/lib/alerts.py:719
|
||||
#: controls/lib/alerts.py:810
|
||||
msgid "Harness Malfunction"
|
||||
msgstr "Harness 故障"
|
||||
|
||||
#: controls/lib/alerts.py:521 controls/lib/alerts.py:528
|
||||
msgid "openpilot Canceled"
|
||||
msgstr "openpilot 已取消"
|
||||
|
||||
#: controls/lib/alerts.py:522
|
||||
msgid "No close lead car"
|
||||
msgstr "前方没有车辆"
|
||||
|
||||
#: controls/lib/alerts.py:529
|
||||
msgid "Speed too low"
|
||||
msgstr "车速过慢"
|
||||
|
||||
#: controls/lib/alerts.py:535 controls/lib/alerts.py:711
|
||||
msgid "Speed Too High"
|
||||
msgstr "车速过快"
|
||||
|
||||
#: controls/lib/alerts.py:536
|
||||
msgid "Slow down to resume operation"
|
||||
msgstr "请减速后再启用"
|
||||
|
||||
#: controls/lib/alerts.py:544
|
||||
msgid "System overheated"
|
||||
msgstr "系统过热"
|
||||
|
||||
#: controls/lib/alerts.py:558
|
||||
msgid "Calibration Invalid: Reposition Device & Recalibrate"
|
||||
msgstr "校准无效：请将装置放于新的位置并重新校准"
|
||||
|
||||
#: controls/lib/alerts.py:572
|
||||
msgid "Door open"
|
||||
msgstr "车门未关"
|
||||
|
||||
#: controls/lib/alerts.py:579
|
||||
msgid "Seatbelt unlatched"
|
||||
msgstr "安全带未繫"
|
||||
|
||||
#: controls/lib/alerts.py:649
|
||||
msgid "Gas Error: Restart the Car"
|
||||
msgstr "油门错误：请重新发动车辆"
|
||||
|
||||
#: controls/lib/alerts.py:663
|
||||
msgid "Cruise is Off"
|
||||
msgstr "巡航系统关闭"
|
||||
|
||||
#: controls/lib/alerts.py:670
|
||||
msgid "No Close Lead Car"
|
||||
msgstr "前方没有车辆"
|
||||
|
||||
#: controls/lib/alerts.py:698
|
||||
msgid "Please Connect to Internet"
|
||||
msgstr "请连接网路"
|
||||
|
||||
#: controls/lib/alerts.py:712
|
||||
msgid "Slow down to engage"
|
||||
msgstr "请减速后再启用"
|
||||
|
||||
#: controls/lib/alerts.py:726
|
||||
msgid "LKAS Fault: Restart the car to engage"
|
||||
msgstr "LKAS 错误：请重新发动车辆"
|
||||
|
||||
#: controls/lib/alerts.py:733 controls/lib/alerts.py:740
|
||||
msgid "Cruise Fault: Restart the car to engage"
|
||||
msgstr "巡航系统错误：请重新发动车辆"
|
||||
|
||||
#: controls/lib/alerts.py:747
|
||||
msgid "Calibration in Progress: "
|
||||
msgstr "正在校准相机中："
|
||||
|
||||
#: controls/lib/alerts.py:748
|
||||
msgid "Drive Above "
|
||||
msgstr "车速请高于"
|
||||
|
||||
#: controls/lib/alerts.py:754
|
||||
msgid "Unsupported Giraffe Configuration"
|
||||
msgstr "未支援的 Giraffe 设置"
|
||||
|
||||
#: controls/lib/alerts.py:755
|
||||
msgid "Visit comma.ai/tg"
|
||||
msgstr "请查阅 comma.ai/tg"
|
||||
|
||||
#: controls/lib/alerts.py:761
|
||||
msgid "Stock LKAS is turned on"
|
||||
msgstr "原厂 LKAS 已开启"
|
||||
|
||||
#: controls/lib/alerts.py:762
|
||||
msgid "Turn off stock LKAS to engage"
|
||||
msgstr "需关闭原厂 LKAS 才能启用"
|
||||
|
||||
#: controls/lib/alerts.py:768
|
||||
msgid "Please connect to Internet"
|
||||
msgstr "请连接网路"
|
||||
|
||||
#: controls/lib/alerts.py:769
|
||||
msgid "An Update Check Is Required to Engage"
|
||||
msgstr "需检查更新后才能启用"
|
||||
|
||||
#: controls/lib/alerts.py:775
|
||||
msgid "Community Feature Detected"
|
||||
msgstr "检测到社群开发功能"
|
||||
|
||||
#: controls/lib/alerts.py:776
|
||||
msgid "Enable Community Features in Developer Settings"
|
||||
msgstr "请至开发人员设定裡启用社群开发功能"
|
||||
|
||||
#: controls/lib/alerts.py:783 controls/lib/alerts.py:790
|
||||
#: controls/lib/alerts.py:797
|
||||
msgid "Reboot your Device"
|
||||
msgstr "请重启装置"
|
||||
|
||||
#: controls/lib/alerts.py:796
|
||||
msgid "RAM Critically Low"
|
||||
msgstr "记忆体严重不足"
|
||||
|
||||
#: controls/lib/alerts.py:803
|
||||
msgid "Dashcam Mode"
|
||||
msgstr "行车记录模式"
|
||||
|
||||
#: controls/lib/alerts.py:804
|
||||
msgid "Car Unrecognized"
|
||||
msgstr "无法辨识车款"
|
||||
|
||||
#: controls/lib/alerts.py:811
|
||||
msgid "Please Check Hardware"
|
||||
msgstr "请检查硬体"
|
||||
|
||||
#: controls/lib/alerts.py:817
|
||||
msgid "Vehicle Parameter Identification Failed"
|
||||
msgstr "车子参数识别失败"
|
||||
|
||||
#: controls/lib/alerts.py:825
|
||||
msgid "Lane Departure Detected"
|
||||
msgstr "偏离车道"
|
||||
|
||||
#: controls/lib/alerts.py:832
|
||||
msgid "Left ALC will engage in 3 seconds"
|
||||
msgstr "准备自动切至左车道"
|
||||
|
||||
#: controls/lib/alerts.py:839
|
||||
msgid "Right ALC will engage in 3 seconds"
|
||||
msgstr "准备自动切至右车道"
|
||||
|
||||
#: controls/lib/alerts.py:853
|
||||
msgid "STEERING REQUIRED: Lane Keeping OFF"
|
||||
msgstr "请接管方向盘：车道维持关闭"
|
||||
|
||||
#: controls/lib/alerts.py:860
|
||||
msgid "STEERING REQUIRED: Blinkers ON"
|
||||
msgstr "请接管方向盘：方向灯开启"
|
||||
|
||||
#: controls/lib/alerts.py:866
|
||||
msgid "Lead Car Is Moving"
|
||||
msgstr "前方车辆车移动中"
|
||||
|
||||
#: controls/lib/alerts.py:872
|
||||
msgid "Lead Car Detected"
|
||||
msgstr "侦测到前方车辆"
|
||||
Binary file not shown.
@@ -0,0 +1,486 @@
|
||||
# SOME DESCRIPTIVE TITLE.
|
||||
# Copyright (C) YEAR THE PACKAGE'S COPYRIGHT HOLDER
|
||||
# This file is distributed under the same license as the PACKAGE package.
|
||||
# FIRST AUTHOR <EMAIL@ADDRESS>, YEAR.
|
||||
#
|
||||
#, fuzzy
|
||||
msgid ""
|
||||
msgstr ""
|
||||
"Project-Id-Version: PACKAGE VERSION\n"
|
||||
"Report-Msgid-Bugs-To: \n"
|
||||
"POT-Creation-Date: 2020-04-23 17:17+1000\n"
|
||||
"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
|
||||
"Last-Translator: Rick Lan <ricklan@gmail.com>\n"
|
||||
"Language-Team: LANGUAGE <LL@li.org>\n"
|
||||
"Language: zh-TW\n"
|
||||
"MIME-Version: 1.0\n"
|
||||
"Content-Type: text/plain; charset=UTF-8\n"
|
||||
"Content-Transfer-Encoding: 8bit\n"
|
||||
|
||||
#: controls/lib/alerts.py:82 controls/lib/alerts.py:89
|
||||
msgid "BRAKE!"
|
||||
msgstr "剎車！"
|
||||
|
||||
#: controls/lib/alerts.py:83 controls/lib/alerts.py:90
|
||||
msgid "Risk of Collision"
|
||||
msgstr "有碰撞的風險"
|
||||
|
||||
#: controls/lib/alerts.py:96 controls/lib/alerts.py:103
|
||||
#: controls/lib/alerts.py:110 controls/lib/alerts.py:215
|
||||
#: controls/lib/alerts.py:229 controls/lib/alerts.py:263
|
||||
#: controls/lib/alerts.py:824
|
||||
msgid "TAKE CONTROL"
|
||||
msgstr "接管控制"
|
||||
|
||||
#: controls/lib/alerts.py:97
|
||||
msgid "Turn Exceeds Steering Limit"
|
||||
msgstr "彎道超過橫向操控限制"
|
||||
|
||||
#: controls/lib/alerts.py:104 controls/lib/alerts.py:111
|
||||
#: controls/lib/alerts.py:209
|
||||
msgid "Steering Temporarily Unavailable"
|
||||
msgstr "橫向控制暫時失效"
|
||||
|
||||
#: controls/lib/alerts.py:117
|
||||
msgid "KEEP EYES ON ROAD: Driver Distracted"
|
||||
msgstr "注意路況：駕駛分心"
|
||||
|
||||
#: controls/lib/alerts.py:124
|
||||
msgid "KEEP EYES ON ROAD"
|
||||
msgstr "注意路況"
|
||||
|
||||
#: controls/lib/alerts.py:125
|
||||
msgid "Driver Appears Distracted"
|
||||
msgstr "駕駛分心"
|
||||
|
||||
#: controls/lib/alerts.py:131 controls/lib/alerts.py:152
|
||||
msgid "DISENGAGE IMMEDIATELY"
|
||||
msgstr "立即解除"
|
||||
|
||||
#: controls/lib/alerts.py:132
|
||||
msgid "Driver Was Distracted"
|
||||
msgstr "駕駛分心"
|
||||
|
||||
#: controls/lib/alerts.py:138
|
||||
msgid "TOUCH STEERING WHEEL: No Face Detected"
|
||||
msgstr "請觸碰方向盤：未偵測到駕駛面容"
|
||||
|
||||
#: controls/lib/alerts.py:145
|
||||
msgid "TOUCH STEERING WHEEL"
|
||||
msgstr "請觸碰方向盤"
|
||||
|
||||
#: controls/lib/alerts.py:146
|
||||
msgid "Driver Is Unresponsive"
|
||||
msgstr "駕駛沒有反應"
|
||||
|
||||
#: controls/lib/alerts.py:153
|
||||
msgid "Driver Was Unresponsive"
|
||||
msgstr "駕駛沒有反應"
|
||||
|
||||
#: controls/lib/alerts.py:159
|
||||
msgid "CHECK DRIVER FACE VISIBILITY"
|
||||
msgstr "請檢查駕駛面部的可見度"
|
||||
|
||||
#: controls/lib/alerts.py:160
|
||||
msgid "Driver Monitor Model Output Uncertain"
|
||||
msgstr "駕駛監控模型判斷不明確"
|
||||
|
||||
#: controls/lib/alerts.py:166
|
||||
msgid "DISENGAGEMENT REQUIRED"
|
||||
msgstr "請馬上解除"
|
||||
|
||||
#: controls/lib/alerts.py:167 controls/lib/alerts.py:593
|
||||
msgid "Not in Geofenced Area"
|
||||
msgstr "不在地理圍欄區域之內"
|
||||
|
||||
#: controls/lib/alerts.py:173
|
||||
msgid "Be ready to take over at any time"
|
||||
msgstr "請準備好隨時接管"
|
||||
|
||||
#: controls/lib/alerts.py:174 controls/lib/alerts.py:181
|
||||
#: controls/lib/alerts.py:188 controls/lib/alerts.py:195
|
||||
msgid "Always keep hands on wheel and eyes on road"
|
||||
msgstr "將手放在方向盤上並持續監視路況"
|
||||
|
||||
#: controls/lib/alerts.py:180
|
||||
msgid "WARNING: This branch is not tested"
|
||||
msgstr "注意：這個分支未經過測試"
|
||||
|
||||
#: controls/lib/alerts.py:187
|
||||
msgid "Dashcam mode"
|
||||
msgstr "行車記錄模式"
|
||||
|
||||
#: controls/lib/alerts.py:194
|
||||
msgid "Dashcam mode for unsupported car"
|
||||
msgstr "行車記錄模式 (尚未支援車種)"
|
||||
|
||||
#: controls/lib/alerts.py:201 controls/lib/alerts.py:356
|
||||
#: controls/lib/alerts.py:363 controls/lib/alerts.py:370
|
||||
#: controls/lib/alerts.py:377 controls/lib/alerts.py:384
|
||||
#: controls/lib/alerts.py:391 controls/lib/alerts.py:398
|
||||
#: controls/lib/alerts.py:405 controls/lib/alerts.py:412
|
||||
#: controls/lib/alerts.py:419 controls/lib/alerts.py:426
|
||||
#: controls/lib/alerts.py:433 controls/lib/alerts.py:441
|
||||
#: controls/lib/alerts.py:449 controls/lib/alerts.py:456
|
||||
#: controls/lib/alerts.py:463 controls/lib/alerts.py:470
|
||||
#: controls/lib/alerts.py:477 controls/lib/alerts.py:484
|
||||
#: controls/lib/alerts.py:491 controls/lib/alerts.py:498
|
||||
#: controls/lib/alerts.py:505 controls/lib/alerts.py:512
|
||||
msgid "TAKE CONTROL IMMEDIATELY"
|
||||
msgstr "即刻接管控制"
|
||||
|
||||
#: controls/lib/alerts.py:202
|
||||
msgid "Ethical Dilemma Detected"
|
||||
msgstr ""
|
||||
|
||||
#: controls/lib/alerts.py:208 controls/lib/alerts.py:271
|
||||
#: controls/lib/alerts.py:278 controls/lib/alerts.py:285
|
||||
#: controls/lib/alerts.py:292 controls/lib/alerts.py:299
|
||||
#: controls/lib/alerts.py:306 controls/lib/alerts.py:313
|
||||
#: controls/lib/alerts.py:320 controls/lib/alerts.py:327
|
||||
#: controls/lib/alerts.py:334 controls/lib/alerts.py:341
|
||||
#: controls/lib/alerts.py:348 controls/lib/alerts.py:543
|
||||
#: controls/lib/alerts.py:550 controls/lib/alerts.py:557
|
||||
#: controls/lib/alerts.py:564 controls/lib/alerts.py:571
|
||||
#: controls/lib/alerts.py:578 controls/lib/alerts.py:585
|
||||
#: controls/lib/alerts.py:592 controls/lib/alerts.py:599
|
||||
#: controls/lib/alerts.py:606 controls/lib/alerts.py:613
|
||||
#: controls/lib/alerts.py:620 controls/lib/alerts.py:627
|
||||
#: controls/lib/alerts.py:634 controls/lib/alerts.py:641
|
||||
#: controls/lib/alerts.py:648 controls/lib/alerts.py:655
|
||||
#: controls/lib/alerts.py:662 controls/lib/alerts.py:669
|
||||
#: controls/lib/alerts.py:676 controls/lib/alerts.py:683
|
||||
#: controls/lib/alerts.py:690 controls/lib/alerts.py:697
|
||||
#: controls/lib/alerts.py:704 controls/lib/alerts.py:718
|
||||
msgid "openpilot Unavailable"
|
||||
msgstr "無法使用 openpilot"
|
||||
|
||||
#: controls/lib/alerts.py:216
|
||||
msgid "Resume Driving Manually"
|
||||
msgstr "請自行恢復駕駛"
|
||||
|
||||
#: controls/lib/alerts.py:222
|
||||
msgid "STOPPED"
|
||||
msgstr "已停止"
|
||||
|
||||
#: controls/lib/alerts.py:223
|
||||
msgid "Press Resume to Move"
|
||||
msgstr "請按 RES 繼續"
|
||||
|
||||
#: controls/lib/alerts.py:230
|
||||
msgid "Steer Unavailable Below "
|
||||
msgstr "橫向控制暫時失效，車速低於 "
|
||||
|
||||
#: controls/lib/alerts.py:236
|
||||
msgid "DEBUG ALERT"
|
||||
msgstr "除錯用警示訊息"
|
||||
|
||||
#: controls/lib/alerts.py:242
|
||||
msgid "Steer Left to Start Lane Change"
|
||||
msgstr "請往左打方向盤切換至左車道"
|
||||
|
||||
#: controls/lib/alerts.py:243 controls/lib/alerts.py:250
|
||||
#: controls/lib/alerts.py:257 controls/lib/alerts.py:833
|
||||
#: controls/lib/alerts.py:840 controls/lib/alerts.py:847
|
||||
msgid "Monitor Other Vehicles"
|
||||
msgstr "請注意其它車輛"
|
||||
|
||||
#: controls/lib/alerts.py:249
|
||||
msgid "Steer Right to Start Lane Change"
|
||||
msgstr "請往右打方向盤切換至右車道"
|
||||
|
||||
#: controls/lib/alerts.py:256 controls/lib/alerts.py:846
|
||||
msgid "Changing Lane"
|
||||
msgstr "切換車道中"
|
||||
|
||||
#: controls/lib/alerts.py:264 controls/lib/alerts.py:614
|
||||
msgid "Vision Model Output Uncertain"
|
||||
msgstr "視覺模型判斷不明確"
|
||||
|
||||
#: controls/lib/alerts.py:272
|
||||
msgid "Main Switch Off"
|
||||
msgstr "主開關已關閉"
|
||||
|
||||
#: controls/lib/alerts.py:279
|
||||
msgid "Calibration Needs Data. Upload Drive, Try Again"
|
||||
msgstr "校正需要數據，請上傳您的行車數據後再重試一次"
|
||||
|
||||
#: controls/lib/alerts.py:286
|
||||
msgid "Out of Storage Space"
|
||||
msgstr "儲存空間不足"
|
||||
|
||||
#: controls/lib/alerts.py:293
|
||||
msgid "Pedal Pressed During Attempt"
|
||||
msgstr "啟用時偵測到駕駛踩踏油門/剎車"
|
||||
|
||||
#: controls/lib/alerts.py:300
|
||||
msgid "Speed Too Low"
|
||||
msgstr "車速過慢"
|
||||
|
||||
#: controls/lib/alerts.py:307
|
||||
msgid "Brake Hold Active"
|
||||
msgstr "駐車煞車已啟用"
|
||||
|
||||
#: controls/lib/alerts.py:314
|
||||
msgid "Park Brake Engaged"
|
||||
msgstr "電子駐車已啟動"
|
||||
|
||||
#: controls/lib/alerts.py:321 controls/lib/alerts.py:478
|
||||
#: controls/lib/alerts.py:642
|
||||
msgid "Cruise Fault: Restart the Car"
|
||||
msgstr "巡航系統錯誤：請重新發動車輛"
|
||||
|
||||
#: controls/lib/alerts.py:328 controls/lib/alerts.py:406
|
||||
msgid "Low Battery"
|
||||
msgstr "電量過低"
|
||||
|
||||
#: controls/lib/alerts.py:335 controls/lib/alerts.py:782
|
||||
msgid "No Data from Device Sensors"
|
||||
msgstr "未收到裝置傳感器數據"
|
||||
|
||||
#: controls/lib/alerts.py:342 controls/lib/alerts.py:789
|
||||
msgid "Speaker not found"
|
||||
msgstr "找不到音效裝置"
|
||||
|
||||
#: controls/lib/alerts.py:349
|
||||
msgid "Distraction Level Too High"
|
||||
msgstr "駕駛分心太多次"
|
||||
|
||||
#: controls/lib/alerts.py:357
|
||||
msgid "System Overheated"
|
||||
msgstr "系統過熱"
|
||||
|
||||
#: controls/lib/alerts.py:364 controls/lib/alerts.py:551
|
||||
msgid "Gear not D"
|
||||
msgstr "不在 D 檔位"
|
||||
|
||||
#: controls/lib/alerts.py:371
|
||||
msgid "Calibration Invalid: Reposition Device and Recalibrate"
|
||||
msgstr "校準無效：請將裝置放於新的位置並重新校準"
|
||||
|
||||
#: controls/lib/alerts.py:378 controls/lib/alerts.py:565
|
||||
msgid "Calibration in Progress"
|
||||
msgstr "正在校準中"
|
||||
|
||||
#: controls/lib/alerts.py:385
|
||||
msgid "Door Open"
|
||||
msgstr "車門開啟"
|
||||
|
||||
#: controls/lib/alerts.py:392
|
||||
msgid "Seatbelt Unlatched"
|
||||
msgstr "安全帶未繫"
|
||||
|
||||
#: controls/lib/alerts.py:399 controls/lib/alerts.py:586
|
||||
msgid "ESP Off"
|
||||
msgstr "ESP 關閉"
|
||||
|
||||
#: controls/lib/alerts.py:413 controls/lib/alerts.py:684
|
||||
msgid "Communication Issue between Processes"
|
||||
msgstr "行程間出現通訊問題"
|
||||
|
||||
#: controls/lib/alerts.py:420 controls/lib/alerts.py:691
|
||||
msgid "Radar Communication Issue"
|
||||
msgstr "雷達通訊出現問題"
|
||||
|
||||
#: controls/lib/alerts.py:427 controls/lib/alerts.py:434
|
||||
#: controls/lib/alerts.py:600 controls/lib/alerts.py:607
|
||||
msgid "Radar Error: Restart the Car"
|
||||
msgstr "雷達訊號錯誤：請重新發動車輛"
|
||||
|
||||
#: controls/lib/alerts.py:442 controls/lib/alerts.py:705
|
||||
msgid "Low Memory: Reboot Your Device"
|
||||
msgstr "記憶體不足：請重啟您的裝置"
|
||||
|
||||
#: controls/lib/alerts.py:450 controls/lib/alerts.py:621
|
||||
msgid "Controls Failed"
|
||||
msgstr "控制發生錯誤"
|
||||
|
||||
#: controls/lib/alerts.py:457
|
||||
msgid "Controls Mismatch"
|
||||
msgstr "控制不匹配"
|
||||
|
||||
#: controls/lib/alerts.py:464 controls/lib/alerts.py:628
|
||||
msgid "CAN Error: Check Connections"
|
||||
msgstr "CAN 訊號錯誤：請檢查線路"
|
||||
|
||||
#: controls/lib/alerts.py:471 controls/lib/alerts.py:635
|
||||
msgid "LKAS Fault: Restart the Car"
|
||||
msgstr "LKAS 錯誤：請重新發動車輛"
|
||||
|
||||
#: controls/lib/alerts.py:485
|
||||
msgid "Gas Fault: Restart the Car"
|
||||
msgstr "油門錯誤：請重新發動車輛"
|
||||
|
||||
#: controls/lib/alerts.py:492 controls/lib/alerts.py:656
|
||||
msgid "Reverse Gear"
|
||||
msgstr "切換至倒車檔"
|
||||
|
||||
#: controls/lib/alerts.py:499
|
||||
msgid "Cruise Is Off"
|
||||
msgstr "巡航系統關閉"
|
||||
|
||||
#: controls/lib/alerts.py:506 controls/lib/alerts.py:677
|
||||
msgid "Planner Solution Error"
|
||||
msgstr "Planner Solution 錯誤"
|
||||
|
||||
#: controls/lib/alerts.py:513 controls/lib/alerts.py:719
|
||||
#: controls/lib/alerts.py:810
|
||||
msgid "Harness Malfunction"
|
||||
msgstr "Harness 故障"
|
||||
|
||||
#: controls/lib/alerts.py:521 controls/lib/alerts.py:528
|
||||
msgid "openpilot Canceled"
|
||||
msgstr "openpilot 已取消"
|
||||
|
||||
#: controls/lib/alerts.py:522
|
||||
msgid "No close lead car"
|
||||
msgstr "前方沒有車輛"
|
||||
|
||||
#: controls/lib/alerts.py:529
|
||||
msgid "Speed too low"
|
||||
msgstr "車速過慢"
|
||||
|
||||
#: controls/lib/alerts.py:535 controls/lib/alerts.py:711
|
||||
msgid "Speed Too High"
|
||||
msgstr "車速過快"
|
||||
|
||||
#: controls/lib/alerts.py:536
|
||||
msgid "Slow down to resume operation"
|
||||
msgstr "請減速後再啟用"
|
||||
|
||||
#: controls/lib/alerts.py:544
|
||||
msgid "System overheated"
|
||||
msgstr "系統過熱"
|
||||
|
||||
#: controls/lib/alerts.py:558
|
||||
msgid "Calibration Invalid: Reposition Device & Recalibrate"
|
||||
msgstr "校準無效：請將裝置放於新的位置並重新校準"
|
||||
|
||||
#: controls/lib/alerts.py:572
|
||||
msgid "Door open"
|
||||
msgstr "車門未關"
|
||||
|
||||
#: controls/lib/alerts.py:579
|
||||
msgid "Seatbelt unlatched"
|
||||
msgstr "安全帶未繫"
|
||||
|
||||
#: controls/lib/alerts.py:649
|
||||
msgid "Gas Error: Restart the Car"
|
||||
msgstr "油門錯誤：請重新發動車輛"
|
||||
|
||||
#: controls/lib/alerts.py:663
|
||||
msgid "Cruise is Off"
|
||||
msgstr "巡航系統關閉"
|
||||
|
||||
#: controls/lib/alerts.py:670
|
||||
msgid "No Close Lead Car"
|
||||
msgstr "前方沒有車輛"
|
||||
|
||||
#: controls/lib/alerts.py:698
|
||||
msgid "Please Connect to Internet"
|
||||
msgstr "請連接網路"
|
||||
|
||||
#: controls/lib/alerts.py:712
|
||||
msgid "Slow down to engage"
|
||||
msgstr "請減速後再啟用"
|
||||
|
||||
#: controls/lib/alerts.py:726
|
||||
msgid "LKAS Fault: Restart the car to engage"
|
||||
msgstr "LKAS 錯誤：請重新發動車輛"
|
||||
|
||||
#: controls/lib/alerts.py:733 controls/lib/alerts.py:740
|
||||
msgid "Cruise Fault: Restart the car to engage"
|
||||
msgstr "巡航系統錯誤：請重新發動車輛"
|
||||
|
||||
#: controls/lib/alerts.py:747
|
||||
msgid "Calibration in Progress: "
|
||||
msgstr "正在校準相機中："
|
||||
|
||||
#: controls/lib/alerts.py:748
|
||||
msgid "Drive Above "
|
||||
msgstr "車速請高於"
|
||||
|
||||
#: controls/lib/alerts.py:754
|
||||
msgid "Unsupported Giraffe Configuration"
|
||||
msgstr "未支援的 Giraffe 設置"
|
||||
|
||||
#: controls/lib/alerts.py:755
|
||||
msgid "Visit comma.ai/tg"
|
||||
msgstr "請查閱 comma.ai/tg"
|
||||
|
||||
#: controls/lib/alerts.py:761
|
||||
msgid "Stock LKAS is turned on"
|
||||
msgstr "原廠 LKAS 已開啟"
|
||||
|
||||
#: controls/lib/alerts.py:762
|
||||
msgid "Turn off stock LKAS to engage"
|
||||
msgstr "需關閉原廠 LKAS 才能啟用"
|
||||
|
||||
#: controls/lib/alerts.py:768
|
||||
msgid "Please connect to Internet"
|
||||
msgstr "請連接網路"
|
||||
|
||||
#: controls/lib/alerts.py:769
|
||||
msgid "An Update Check Is Required to Engage"
|
||||
msgstr "需檢查更新後才能啟用"
|
||||
|
||||
#: controls/lib/alerts.py:775
|
||||
msgid "Community Feature Detected"
|
||||
msgstr "檢測到社群開發功能"
|
||||
|
||||
#: controls/lib/alerts.py:776
|
||||
msgid "Enable Community Features in Developer Settings"
|
||||
msgstr "請至開發人員設定裡啟用社群開發功能"
|
||||
|
||||
#: controls/lib/alerts.py:783 controls/lib/alerts.py:790
|
||||
#: controls/lib/alerts.py:797
|
||||
msgid "Reboot your Device"
|
||||
msgstr "請重啟裝置"
|
||||
|
||||
#: controls/lib/alerts.py:796
|
||||
msgid "RAM Critically Low"
|
||||
msgstr "記憶體嚴重不足"
|
||||
|
||||
#: controls/lib/alerts.py:803
|
||||
msgid "Dashcam Mode"
|
||||
msgstr "行車記錄模式"
|
||||
|
||||
#: controls/lib/alerts.py:804
|
||||
msgid "Car Unrecognized"
|
||||
msgstr "無法辨識車款"
|
||||
|
||||
#: controls/lib/alerts.py:811
|
||||
msgid "Please Check Hardware"
|
||||
msgstr "請檢查硬體"
|
||||
|
||||
#: controls/lib/alerts.py:817
|
||||
msgid "Vehicle Parameter Identification Failed"
|
||||
msgstr "車子參數識別失敗"
|
||||
|
||||
#: controls/lib/alerts.py:825
|
||||
msgid "Lane Departure Detected"
|
||||
msgstr "偏離車道"
|
||||
|
||||
#: controls/lib/alerts.py:832
|
||||
msgid "Left ALC will engage in 3 seconds"
|
||||
msgstr "準備自動切至左車道"
|
||||
|
||||
#: controls/lib/alerts.py:839
|
||||
msgid "Right ALC will engage in 3 seconds"
|
||||
msgstr "準備自動切至右車道"
|
||||
|
||||
#: controls/lib/alerts.py:853
|
||||
msgid "STEERING REQUIRED: Lane Keeping OFF"
|
||||
msgstr "請接管方向盤：車道維持關閉"
|
||||
|
||||
#: controls/lib/alerts.py:860
|
||||
msgid "STEERING REQUIRED: Blinkers ON"
|
||||
msgstr "請接管方向盤：方向燈開啟"
|
||||
|
||||
#: controls/lib/alerts.py:866
|
||||
msgid "Lead Car Is Moving"
|
||||
msgstr "前方車輛車移動中"
|
||||
|
||||
#: controls/lib/alerts.py:872
|
||||
msgid "Lead Car Detected"
|
||||
msgstr "偵測到前方車輛"
|
||||
@@ -1,5 +1,11 @@
|
||||
Import('env', 'common', 'messaging')
|
||||
|
||||
# dragonpilot - Add read DragonBTG value
|
||||
if FindFile('DragonBTG', '/data/params/d') != None:
|
||||
with open('/data/params/d/DragonBTG') as f:
|
||||
if (int(f.read())) == 1:
|
||||
env.Append(CCFLAGS='-DDragonBTG')
|
||||
|
||||
env.Program('boardd.cc', LIBS=['usb-1.0', common, messaging, 'pthread', 'zmq', 'capnp', 'kj'])
|
||||
env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
|
||||
|
||||
|
||||
@@ -64,7 +64,7 @@ bool fake_send = false;
|
||||
bool loopback_can = false;
|
||||
cereal::HealthData::HwType hw_type = cereal::HealthData::HwType::UNKNOWN;
|
||||
bool is_pigeon = false;
|
||||
const uint32_t NO_IGNITION_CNT_MAX = 2 * 60 * 60 * 30; // turn off charge after 30 hrs
|
||||
|
||||
const float VBATT_START_CHARGING = 11.5;
|
||||
const float VBATT_PAUSE_CHARGING = 11.0;
|
||||
float voltage_f = 12.5; // filtered voltage
|
||||
@@ -84,6 +84,7 @@ void pigeon_init();
|
||||
void *pigeon_thread(void *crap);
|
||||
|
||||
void *safety_setter_thread(void *s) {
|
||||
#ifndef DragonBTG
|
||||
// diagnostic only is the default, needed for VIN query
|
||||
pthread_mutex_lock(&usb_lock);
|
||||
libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::ELM327), 0, NULL, 0, TIMEOUT);
|
||||
@@ -110,6 +111,7 @@ void *safety_setter_thread(void *s) {
|
||||
pthread_mutex_lock(&usb_lock);
|
||||
libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::NO_OUTPUT), 0, NULL, 0, TIMEOUT);
|
||||
pthread_mutex_unlock(&usb_lock);
|
||||
#endif
|
||||
|
||||
char *value;
|
||||
size_t value_sz = 0;
|
||||
@@ -132,6 +134,9 @@ void *safety_setter_thread(void *s) {
|
||||
capnp::FlatArrayMessageReader cmsg(amsg);
|
||||
cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
|
||||
|
||||
LOGW("setting unsafety mode");
|
||||
libusb_control_transfer(dev_handle, 0x40, 0xdf, 9, 0, NULL, 0, TIMEOUT);
|
||||
|
||||
int safety_model = int(car_params.getSafetyModel());
|
||||
auto safety_param = car_params.getSafetyParam();
|
||||
LOGW("setting safety model: %d with param %d", safety_model, safety_param);
|
||||
@@ -339,7 +344,7 @@ void can_recv(PubSocket *publisher) {
|
||||
publisher->send((char*)bytes.begin(), bytes.size());
|
||||
}
|
||||
|
||||
void can_health(PubSocket *publisher) {
|
||||
void can_health(PubSocket *publisher, int shutdown_mins) {
|
||||
int cnt;
|
||||
int err;
|
||||
|
||||
@@ -397,12 +402,14 @@ void can_health(PubSocket *publisher) {
|
||||
|
||||
voltage_f = VOLTAGE_K * (health.voltage / 1000.0) + (1.0 - VOLTAGE_K) * voltage_f; // LPF
|
||||
|
||||
#ifndef DragonBTG
|
||||
// Make sure CAN buses are live: safety_setter_thread does not work if Panda CAN are silent and there is only one other CAN node
|
||||
if (health.safety_model == (uint8_t)(cereal::CarParams::SafetyModel::SILENT)) {
|
||||
pthread_mutex_lock(&usb_lock);
|
||||
libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::NO_OUTPUT), 0, NULL, 0, TIMEOUT);
|
||||
pthread_mutex_unlock(&usb_lock);
|
||||
}
|
||||
#endif
|
||||
|
||||
bool ignition = ((health.ignition_line != 0) || (health.ignition_can != 0));
|
||||
|
||||
@@ -414,6 +421,7 @@ void can_health(PubSocket *publisher) {
|
||||
|
||||
#ifndef __x86_64__
|
||||
bool cdp_mode = health.usb_power_mode == (uint8_t)(cereal::HealthData::UsbPowerMode::CDP);
|
||||
uint32_t NO_IGNITION_CNT_MAX = (2 * 60 * shutdown_mins) - 20; // turn off charge after 30 hrs or DragonShutdownAt Param (-10 seconds, turn off earlier than EON)
|
||||
bool no_ignition_exp = no_ignition_cnt > NO_IGNITION_CNT_MAX;
|
||||
if ((no_ignition_exp || (voltage_f < VBATT_PAUSE_CHARGING)) && cdp_mode && !ignition) {
|
||||
char *disable_power_down = NULL;
|
||||
@@ -446,12 +454,14 @@ void can_health(PubSocket *publisher) {
|
||||
libusb_control_transfer(dev_handle, 0xc0, 0xe7, 1, 0, NULL, 0, TIMEOUT);
|
||||
pthread_mutex_unlock(&usb_lock);
|
||||
}
|
||||
#ifndef DragonBTG
|
||||
// set safety mode to NO_OUTPUT when car is off. ELM327 is an alternative if we want to leverage athenad/connect
|
||||
if (!ignition && (health.safety_model != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) {
|
||||
pthread_mutex_lock(&usb_lock);
|
||||
libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::NO_OUTPUT), 0, NULL, 0, TIMEOUT);
|
||||
pthread_mutex_unlock(&usb_lock);
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// clear VIN, CarParams, and set new safety on car start
|
||||
@@ -677,9 +687,26 @@ void *can_health_thread(void *crap) {
|
||||
PubSocket * publisher = PubSocket::create(c, "health");
|
||||
assert(publisher != NULL);
|
||||
|
||||
int shutdown_mins = 1800;
|
||||
char *enable_auto_shutdown = NULL;
|
||||
size_t enable_auto_shutdown_sz = 0;
|
||||
const int r1 = read_db_value("DragonEnableAutoShutdown", &enable_auto_shutdown, &enable_auto_shutdown_sz);
|
||||
if (r1 == 0 && enable_auto_shutdown[0] == '1') {
|
||||
char *auto_shutdown_at = NULL;
|
||||
size_t auto_shutdown_at_sz = 0;
|
||||
const int r2 = read_db_value("DragonAutoShutdownAt", &auto_shutdown_at, &auto_shutdown_at_sz);
|
||||
if (r2 == 0) {
|
||||
shutdown_mins = atoi(auto_shutdown_at);
|
||||
}
|
||||
if (shutdown_mins <= 0) {
|
||||
shutdown_mins = 1800;
|
||||
}
|
||||
free(auto_shutdown_at);
|
||||
}
|
||||
free(enable_auto_shutdown);
|
||||
// run at 2hz
|
||||
while (!do_exit) {
|
||||
can_health(publisher);
|
||||
can_health(publisher, shutdown_mins);
|
||||
usleep(500*1000);
|
||||
}
|
||||
|
||||
@@ -893,6 +920,11 @@ void *pigeon_thread(void *crap) {
|
||||
if (pigeon_needs_init) {
|
||||
pigeon_needs_init = false;
|
||||
pigeon_init();
|
||||
#ifdef DragonBTG
|
||||
pthread_mutex_lock(&usb_lock);
|
||||
libusb_control_transfer(dev_handle, 0x40, 0xdc, 2, 100, NULL, 0, TIMEOUT);
|
||||
pthread_mutex_unlock(&usb_lock);
|
||||
#endif
|
||||
}
|
||||
int alen = 0;
|
||||
while (alen < 0xfc0) {
|
||||
@@ -929,6 +961,9 @@ void *pigeon_thread(void *crap) {
|
||||
int main() {
|
||||
int err;
|
||||
LOGW("starting boardd");
|
||||
#ifdef DragonBTG
|
||||
LOGW("boardd is running in DragonBTG mode");
|
||||
#endif
|
||||
|
||||
// set process priority
|
||||
err = set_realtime_priority(4);
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
import os
|
||||
from common.params import Params
|
||||
from common.params import Params, put_nonblocking
|
||||
from common.basedir import BASEDIR
|
||||
from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_known_cars
|
||||
from selfdrive.car.vin import get_vin, VIN_UNKNOWN
|
||||
@@ -7,6 +7,9 @@ from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car
|
||||
from selfdrive.swaglog import cloudlog
|
||||
import cereal.messaging as messaging
|
||||
from selfdrive.car import gen_empty_fingerprint
|
||||
from common.dp import is_online
|
||||
import threading
|
||||
import selfdrive.crash as crash
|
||||
|
||||
from cereal import car
|
||||
|
||||
@@ -72,6 +75,13 @@ def only_toyota_left(candidate_cars):
|
||||
# **** for use live only ****
|
||||
def fingerprint(logcan, sendcan, has_relay):
|
||||
fixed_fingerprint = os.environ.get('FINGERPRINT', "")
|
||||
# dp
|
||||
dragon_car_model = Params().get("DragonCustomModel", encoding="utf8")
|
||||
has_dragon_car_model = True if len(dragon_car_model) else False
|
||||
# when dragon_car_model is set, we do not need to scan relay,
|
||||
# however we still need to do FPv1 to collect available can msgs
|
||||
# for other purposes.
|
||||
has_relay = False if has_dragon_car_model else has_relay
|
||||
|
||||
if has_relay and not fixed_fingerprint:
|
||||
# Vin query only reliably works thorugh OBDII
|
||||
@@ -143,19 +153,30 @@ def fingerprint(logcan, sendcan, has_relay):
|
||||
|
||||
source = car.CarParams.FingerprintSource.can
|
||||
|
||||
# If FW query returns exactly 1 candidate, use it
|
||||
if len(fw_candidates) == 1:
|
||||
car_fingerprint = list(fw_candidates)[0]
|
||||
source = car.CarParams.FingerprintSource.fw
|
||||
|
||||
if fixed_fingerprint:
|
||||
car_fingerprint = fixed_fingerprint
|
||||
if has_dragon_car_model:
|
||||
car_fingerprint = dragon_car_model
|
||||
source = car.CarParams.FingerprintSource.fixed
|
||||
else:
|
||||
# If FW query returns exactly 1 candidate, use it
|
||||
if len(fw_candidates) == 1:
|
||||
car_fingerprint = list(fw_candidates)[0]
|
||||
source = car.CarParams.FingerprintSource.fw
|
||||
|
||||
if fixed_fingerprint:
|
||||
car_fingerprint = fixed_fingerprint
|
||||
source = car.CarParams.FingerprintSource.fixed
|
||||
|
||||
put_nonblocking("DragonCarModel", car_fingerprint)
|
||||
cloudlog.warning("fingerprinted %s", car_fingerprint)
|
||||
return car_fingerprint, finger, vin, car_fw, source
|
||||
|
||||
|
||||
def log_fingerprinted(candidate):
|
||||
while True:
|
||||
crash.capture_warning("fingerprinted %s" % candidate)
|
||||
break
|
||||
|
||||
|
||||
def get_car(logcan, sendcan, has_relay=False):
|
||||
candidate, fingerprints, vin, car_fw, source = fingerprint(logcan, sendcan, has_relay)
|
||||
|
||||
@@ -163,6 +184,10 @@ def get_car(logcan, sendcan, has_relay=False):
|
||||
cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
|
||||
candidate = "mock"
|
||||
|
||||
if is_online():
|
||||
x = threading.Thread(target=log_fingerprinted, args=(candidate,))
|
||||
x.start()
|
||||
|
||||
CarInterface, CarController, CarState = interfaces[candidate]
|
||||
car_params = CarInterface.get_params(candidate, fingerprints, has_relay, car_fw)
|
||||
car_params.carVin = vin
|
||||
|
||||
@@ -3,6 +3,11 @@ from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_comm
|
||||
create_wheel_buttons
|
||||
from selfdrive.car.chrysler.values import CAR, SteerLimitParams
|
||||
from opendbc.can.packer import CANPacker
|
||||
# dp
|
||||
from common.params import Params
|
||||
params = Params()
|
||||
from common.dp import get_last_modified
|
||||
from common.dp import common_controller_update, common_controller_ctrl
|
||||
|
||||
class CarController():
|
||||
def __init__(self, dbc_name, CP, VM):
|
||||
@@ -17,6 +22,13 @@ class CarController():
|
||||
|
||||
self.packer = CANPacker(dbc_name)
|
||||
|
||||
# dp
|
||||
self.dragon_enable_steering_on_signal = False
|
||||
self.dragon_lat_ctrl = True
|
||||
self.dp_last_modified = None
|
||||
self.last_blinker_on = False
|
||||
self.blinker_end_frame = 0
|
||||
self.dragon_blinker_off_timer = 0.
|
||||
|
||||
def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
|
||||
# this seems needed to avoid steering faults and to force the sync with the EPS counter
|
||||
@@ -24,6 +36,15 @@ class CarController():
|
||||
if self.prev_frame == frame:
|
||||
return []
|
||||
|
||||
# dp
|
||||
if frame % 500 == 0:
|
||||
modified = get_last_modified()
|
||||
if self.dp_last_modified != modified:
|
||||
self.dragon_lat_ctrl, \
|
||||
self.dragon_enable_steering_on_signal, \
|
||||
self.dragon_blinker_off_timer = common_controller_update()
|
||||
self.dp_last_modified = modified
|
||||
|
||||
# *** compute control surfaces ***
|
||||
# steer torque
|
||||
new_steer = actuators.steer * SteerLimitParams.STEER_MAX
|
||||
@@ -42,6 +63,19 @@ class CarController():
|
||||
if not lkas_active:
|
||||
apply_steer = 0
|
||||
|
||||
# dp
|
||||
blinker_on = CS.out.leftBlinker or CS.out.rightBlinker
|
||||
if not enabled:
|
||||
self.blinker_end_frame = 0
|
||||
if self.last_blinker_on and not blinker_on:
|
||||
self.blinker_end_frame = frame + self.dragon_blinker_off_timer
|
||||
apply_steer = common_controller_ctrl(enabled,
|
||||
self.dragon_lat_ctrl,
|
||||
self.dragon_enable_steering_on_signal,
|
||||
blinker_on or frame < self.blinker_end_frame,
|
||||
apply_steer)
|
||||
self.last_blinker_on = blinker_on
|
||||
|
||||
self.apply_steer_last = apply_steer
|
||||
|
||||
can_sends = []
|
||||
|
||||
@@ -57,6 +57,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# returns a car.CarState
|
||||
def update(self, c, can_strings):
|
||||
self.dp_load_params('chrysler')
|
||||
# ******************* do can recv *******************
|
||||
self.cp.update_strings(can_strings)
|
||||
self.cp_cam.update_strings(can_strings)
|
||||
|
||||
@@ -51,6 +51,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# returns a car.CarState
|
||||
def update(self, c, can_strings):
|
||||
self.dp_load_params('ford')
|
||||
# ******************* do can recv *******************
|
||||
self.cp.update_strings(can_strings)
|
||||
|
||||
|
||||
@@ -115,6 +115,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# returns a car.CarState
|
||||
def update(self, c, can_strings):
|
||||
self.dp_load_params('gm')
|
||||
self.cp.update_strings(can_strings)
|
||||
|
||||
ret = self.CS.update(self.cp)
|
||||
|
||||
@@ -7,6 +7,10 @@ from selfdrive.car import create_gas_command
|
||||
from selfdrive.car.honda import hondacan
|
||||
from selfdrive.car.honda.values import CruiseButtons, CAR, VISUAL_HUD
|
||||
from opendbc.can.packer import CANPacker
|
||||
from common.params import Params
|
||||
params = Params()
|
||||
from common.dp import get_last_modified
|
||||
from common.dp import common_controller_update, common_controller_ctrl
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
|
||||
@@ -72,7 +76,7 @@ def process_hud_alert(hud_alert):
|
||||
|
||||
HUDData = namedtuple("HUDData",
|
||||
["pcm_accel", "v_cruise", "car",
|
||||
"lanes", "fcw", "acc_alert", "steer_required"])
|
||||
"lanes", "fcw", "acc_alert", "steer_required", "dashed_lanes"])
|
||||
|
||||
class CarControllerParams():
|
||||
def __init__(self, CP):
|
||||
@@ -96,10 +100,27 @@ class CarController():
|
||||
|
||||
self.params = CarControllerParams(CP)
|
||||
|
||||
# dp
|
||||
self.dragon_enable_steering_on_signal = False
|
||||
self.dragon_lat_ctrl = True
|
||||
self.dp_last_modified = None
|
||||
self.last_blinker_on = False
|
||||
self.blinker_end_frame = 0
|
||||
self.dragon_blinker_off_timer = 0.
|
||||
|
||||
def update(self, enabled, CS, frame, actuators, \
|
||||
pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
|
||||
hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
|
||||
|
||||
# dp
|
||||
if frame % 500 == 0:
|
||||
modified = get_last_modified()
|
||||
if self.dp_last_modified != modified:
|
||||
self.dragon_lat_ctrl, \
|
||||
self.dragon_enable_steering_on_signal, \
|
||||
self.dragon_blinker_off_timer = common_controller_update()
|
||||
self.dp_last_modified = modified
|
||||
|
||||
P = self.params
|
||||
|
||||
# *** apply brake hysteresis ***
|
||||
@@ -114,7 +135,7 @@ class CarController():
|
||||
self.brake_last = rate_limit(brake, self.brake_last, -2., DT_CTRL)
|
||||
|
||||
# vehicle hud display, wait for one update from 10Hz 0x304 msg
|
||||
if hud_show_lanes:
|
||||
if hud_show_lanes and CS.lkMode:
|
||||
hud_lanes = 1
|
||||
else:
|
||||
hud_lanes = 0
|
||||
@@ -130,7 +151,7 @@ class CarController():
|
||||
fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert)
|
||||
|
||||
hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_car,
|
||||
hud_lanes, fcw_display, acc_alert, steer_required)
|
||||
hud_lanes, fcw_display, acc_alert, steer_required, CS.lkMode)
|
||||
|
||||
# **** process the car messages ****
|
||||
|
||||
@@ -139,11 +160,24 @@ class CarController():
|
||||
apply_brake = int(clip(self.brake_last * P.BRAKE_MAX, 0, P.BRAKE_MAX - 1))
|
||||
apply_steer = int(interp(-actuators.steer * P.STEER_MAX, P.STEER_LOOKUP_BP, P.STEER_LOOKUP_V))
|
||||
|
||||
lkas_active = enabled and not CS.steer_not_allowed
|
||||
lkas_active = enabled and not CS.steer_not_allowed and CS.lkMode
|
||||
|
||||
# Send CAN commands.
|
||||
can_sends = []
|
||||
|
||||
# dp
|
||||
blinker_on = CS.out.leftBlinker or CS.out.rightBlinker
|
||||
if not enabled:
|
||||
self.blinker_end_frame = 0
|
||||
if self.last_blinker_on and not blinker_on:
|
||||
self.blinker_end_frame = frame + self.dragon_blinker_off_timer
|
||||
lkas_active = common_controller_ctrl(enabled,
|
||||
self.dragon_lat_ctrl,
|
||||
self.dragon_enable_steering_on_signal,
|
||||
blinker_on or frame < self.blinker_end_frame,
|
||||
lkas_active)
|
||||
self.last_blinker_on = blinker_on
|
||||
|
||||
# Send steering command.
|
||||
idx = frame % 4
|
||||
can_sends.append(hondacan.create_steering_control(self.packer, apply_steer,
|
||||
|
||||
@@ -167,6 +167,9 @@ class CarState(CarStateBase):
|
||||
self.v_cruise_pcm_prev = 0
|
||||
self.cruise_mode = 0
|
||||
|
||||
# dp
|
||||
self.lkMode = True
|
||||
|
||||
def update(self, cp, cp_cam):
|
||||
ret = car.CarState.new_message()
|
||||
|
||||
@@ -221,6 +224,15 @@ class CarState(CarStateBase):
|
||||
ret.steeringAngle = cp.vl["STEERING_SENSORS"]['STEER_ANGLE']
|
||||
ret.steeringRate = cp.vl["STEERING_SENSORS"]['STEER_ANGLE_RATE']
|
||||
|
||||
# dp
|
||||
# when user presses LKAS button on steering wheel
|
||||
if self.cruise_setting == 1:
|
||||
if cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"] == 0:
|
||||
if self.lkMode:
|
||||
self.lkMode = False
|
||||
else:
|
||||
self.lkMode = True
|
||||
|
||||
self.cruise_setting = cp.vl["SCM_BUTTONS"]['CRUISE_SETTING']
|
||||
self.cruise_buttons = cp.vl["SCM_BUTTONS"]['CRUISE_BUTTONS']
|
||||
|
||||
|
||||
@@ -416,6 +416,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# returns a car.CarState
|
||||
def update(self, c, can_strings):
|
||||
self.dp_load_params('honda')
|
||||
# ******************* do can recv *******************
|
||||
self.cp.update_strings(can_strings)
|
||||
self.cp_cam.update_strings(can_strings)
|
||||
@@ -429,6 +430,9 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.brakeLights = bool(self.CS.brake_switch or
|
||||
c.actuators.brake > brakelights_threshold)
|
||||
|
||||
# dp
|
||||
ret.lkMode = self.CS.lkMode
|
||||
|
||||
buttonEvents = []
|
||||
|
||||
if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
|
||||
@@ -467,6 +471,8 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# events
|
||||
events = self.create_common_events(ret, pcm_enable=False)
|
||||
if not self.CS.lkMode:
|
||||
events.append(create_event('manualSteeringRequired', [ET.WARNING]))
|
||||
if self.CS.brake_error:
|
||||
events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
|
||||
if self.CS.brake_hold and self.CS.CP.carFingerprint not in HONDA_BOSCH:
|
||||
@@ -482,8 +488,6 @@ class CarInterface(CarInterfaceBase):
|
||||
if self.CP.enableCruise and not ret.cruiseState.enabled and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl):
|
||||
# non loud alert if cruise disbales below 25mph as expected (+ a little margin)
|
||||
if ret.vEgo < self.CP.minEnableSpeed + 2.:
|
||||
events.append(create_event('speedTooLow', [ET.IMMEDIATE_DISABLE]))
|
||||
else:
|
||||
events.append(create_event("cruiseDisabled", [ET.IMMEDIATE_DISABLE]))
|
||||
if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
|
||||
events.append(create_event('manualRestart', [ET.WARNING]))
|
||||
|
||||
@@ -54,7 +54,7 @@ FINGERPRINTS = {
|
||||
148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
|
||||
}],
|
||||
CAR.ACCORDH: [{
|
||||
148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
|
||||
148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 408: 6, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 475: 8, 477: 8, 479: 8, 481: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1416: 5, 1600: 5, 1601: 8, 1652: 8
|
||||
}],
|
||||
CAR.ACURA_ILX: [{
|
||||
57: 3, 145: 8, 228: 5, 304: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 419: 8, 420: 8, 422: 8, 428: 8, 432: 7, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1030: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5,
|
||||
@@ -81,8 +81,12 @@ FINGERPRINTS = {
|
||||
CAR.CRV: [{
|
||||
57: 3, 145: 8, 316: 8, 340: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 6, 401: 8, 404: 4, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 493: 3, 506: 8, 507: 1, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 661: 4, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 829: 5, 882: 2, 884: 7, 888: 8, 891: 8, 892: 8, 923: 2, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1033: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 1424: 5, 1600: 5, 1601: 8,
|
||||
}],
|
||||
CAR.CRV_5G: [{
|
||||
57: 3, 148: 8, 199: 4, 228: 5, 231: 5, 232: 7, 304: 8, 330: 8, 340: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 423: 2, 427: 3, 428: 8, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 467: 2, 469: 3, 470: 2, 474: 8, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 507: 1, 545: 6, 597: 8, 661: 4, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 814: 4, 815: 8, 817: 4, 825: 4, 829: 5, 862: 8, 881: 8, 882: 4, 884: 8, 888: 8, 891: 8, 927: 8, 918: 7, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1108: 8, 1092: 1, 1115: 2, 1125: 8, 1127: 2, 1296: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1618: 5, 1633: 8, 1670: 5
|
||||
CAR.CRV_5G: [
|
||||
{
|
||||
57: 3, 148: 8, 199: 4, 228: 5, 231: 5, 232: 7, 304: 8, 330: 8, 340: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 423: 2, 427: 3, 428: 8, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 467: 2, 469: 3, 470: 2, 474: 8, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 507: 1, 545: 6, 597: 8, 661: 4, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 814: 4, 815: 8, 817: 4, 825: 4, 829: 5, 862: 8, 881: 8, 882: 4, 884: 8, 888: 8, 891: 8, 927: 8, 918: 7, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1040: 6, 1056: 8, 1064: 7, 1088: 3, 1108: 8, 1092: 1, 1115: 2, 1125: 8, 1127: 2, 1296: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1618: 5, 1626: 5, 1627: 5, 1633: 8, 1670: 5
|
||||
},
|
||||
{
|
||||
57: 3, 148: 8, 199: 4, 228: 5, 231: 5, 232: 7, 304: 8, 330: 8, 340: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 423: 2, 427: 3, 428: 8, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 467: 2, 469: 3, 470: 2, 474: 8, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 507: 1, 545: 6, 597: 8, 661: 4, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 814: 4, 815: 8, 817: 4, 825: 4, 829: 5, 862: 8, 881: 8, 882: 4, 884: 8, 888: 8, 891: 8, 927: 8, 918: 7, 929: 8, 983: 8, 985: 3, 1024: 4, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1040: 6, 1056: 8, 1064: 7, 1088: 3, 1108: 8, 1092: 1, 1115: 2, 1125: 8, 1127: 2, 1296: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1618: 5, 1626: 5, 1627: 5, 1633: 8, 1670: 5
|
||||
}],
|
||||
# 1057: 5 1024: 5 are also on the OBD2 bus. their lengths differ from the camera's f-can bus. re-fingerprint after obd2 connection is split in panda firmware from bus 1.
|
||||
CAR.CRV_EU: [{
|
||||
@@ -107,6 +111,10 @@ FINGERPRINTS = {
|
||||
}],
|
||||
CAR.ODYSSEY_CHN: [{
|
||||
57: 3, 145: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 401: 8, 404: 4, 411: 5, 420: 8, 422: 8, 423: 2, 426: 8, 432: 7, 450: 8, 464: 8, 490: 8, 506: 8, 507: 1, 512: 6, 513: 6, 597: 8, 610: 8, 611: 8, 612: 8, 617: 8, 660: 8, 661: 4, 773: 7, 780: 8, 804: 8, 808: 8, 829: 5, 862: 8, 884: 7, 892: 8, 923: 2, 929: 8, 1030: 5, 1137: 8, 1302: 8, 1348: 5, 1361: 5, 1365: 5, 1600: 5, 1601: 8, 1639: 8
|
||||
},
|
||||
# Odyssey from Shell
|
||||
{
|
||||
57: 3, 145: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 401: 8, 408: 6, 411: 5, 415: 6, 420: 8, 422: 8, 423: 2, 426: 8, 432: 7, 450: 8, 464: 8, 490: 8, 507: 1, 597: 8, 610: 8, 611: 8, 612: 8, 617: 8, 660: 8, 661: 4, 773: 7, 804: 8, 808: 8, 884: 7, 892: 8, 923: 2, 929: 8, 1030: 5, 1137: 8, 1302: 8, 1348: 5, 1361: 5, 1365: 5, 1639: 8
|
||||
}],
|
||||
# 2017 Pilot Touring AND 2016 Pilot EX-L w/ Added Comma Pedal Support (512L & 513L)
|
||||
CAR.PILOT: [{
|
||||
@@ -377,6 +385,7 @@ FW_VERSIONS = {
|
||||
b'37805-5AW-G720\x00\x00',
|
||||
b'37805-5AZ-E850\x00\x00',
|
||||
b'37805-5BB-L640\x00\x00',
|
||||
b'37805-5AN-E410\x00\x00', # AlexNoop's Manual CIVIC_BOSCH
|
||||
],
|
||||
(Ecu.transmission, 0x18da1ef1, None): [
|
||||
b'28101-5CG-A920\x00\x00',
|
||||
@@ -396,6 +405,7 @@ FW_VERSIONS = {
|
||||
b'57114-TGG-A340\x00\x00',
|
||||
b'57114-TGL-G330\x00\x00',
|
||||
b'57114-TGG-C320\x00\x00',
|
||||
b'57114-TGL-G130\x00\x00', # AlexNoop's Manual CIVIC_BOSCH
|
||||
],
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-TBA-C020\x00\x00',
|
||||
@@ -405,12 +415,14 @@ FW_VERSIONS = {
|
||||
b'39990-TGG-A120\x00\x00',
|
||||
b'39990-TGL-E130\x00\x00',
|
||||
b'39990-TGG-A020\x00\x00',
|
||||
b'39990-TGN-E120\x00\x00', # AlexNoop's Manual CIVIC_BOSCH
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-TBA-A060\x00\x00',
|
||||
b'77959-TEA-G020\x00\x00',
|
||||
b'77959-TGG-A020\x00\x00',
|
||||
b'77959-TGG-G010\x00\x00',
|
||||
b'77959-TGG-A020\x00\x00',
|
||||
],
|
||||
(Ecu.combinationMeter, 0x18da60f1, None): [
|
||||
b'78109-TBA-A910\x00\x00',
|
||||
@@ -423,6 +435,7 @@ FW_VERSIONS = {
|
||||
b'78109-TGG-A810\x00\x00',
|
||||
b'78109-TGG-A820\x00\x00',
|
||||
b'78109-TGL-G120\x00\x00',
|
||||
b'78109-TGG-BA10\x00\x00', # AlexNoop's Manual CIVIC_BOSCH
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36802-TBA-A150\x00\x00',
|
||||
@@ -430,6 +443,7 @@ FW_VERSIONS = {
|
||||
b'36802-TGG-A050\x00\x00',
|
||||
b'36802-TGL-G040\x00\x00',
|
||||
b'36802-TGG-A060\x00\x00',
|
||||
b'36802-TGG-G040\x00\x00', # AlexNoop's Manual CIVIC_BOSCH
|
||||
],
|
||||
(Ecu.fwdCamera, 0x18dab5f1, None): [
|
||||
b'36161-TBA-A130\x00\x00',
|
||||
@@ -437,10 +451,12 @@ FW_VERSIONS = {
|
||||
b'36161-TGG-A060\x00\x00',
|
||||
b'36161-TGL-G050\x00\x00',
|
||||
b'36161-TGG-A080\x00\x00',
|
||||
b'36161-TGG-G070\x00\x00', # AlexNoop's Manual CIVIC_BOSCH
|
||||
],
|
||||
(Ecu.unknown, 0x18daeff1, None): [
|
||||
b'38897-TBA-A110\x00\x00',
|
||||
b'38897-TBA-A020\x00\x00',
|
||||
b'38897-TBA-A020\x00\x00',
|
||||
],
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-TBA-A110\x00\x00',
|
||||
@@ -572,6 +588,7 @@ FW_VERSIONS = {
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-THR-A010\x00\x00',
|
||||
b'38897-THR-A020\x00\x00',
|
||||
b'38897-TKN-H030\x00\x00',
|
||||
],
|
||||
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
|
||||
b'37805-5MR-A250\x00\x00',
|
||||
@@ -583,10 +600,12 @@ FW_VERSIONS = {
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-THR-A020\x00\x00',
|
||||
b'39990-THR-A030\x00\x00',
|
||||
b'39990-T6D-H220\x00\x00'
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-THR-A010\x00\x00',
|
||||
b'77959-THR-A110\x00\x00',
|
||||
b'77959-T6A-H140\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x18dab0f1, None): [
|
||||
b'36161-THR-A030\x00\x00',
|
||||
@@ -622,6 +641,7 @@ FW_VERSIONS = {
|
||||
b'78109-THR-AL10\x00\x00',
|
||||
b'78109-THR-C330\x00\x00',
|
||||
b'78109-THR-CE20\x00\x00',
|
||||
b'78109-TKN-H110\x00\x00'
|
||||
],
|
||||
(Ecu.shiftByWire, 0x18da0bf1, None): [
|
||||
b'54008-THR-A020\x00\x00',
|
||||
|
||||
@@ -3,6 +3,10 @@ from selfdrive.car import apply_std_steer_torque_limits
|
||||
from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11, create_lfa_mfa
|
||||
from selfdrive.car.hyundai.values import Buttons, SteerLimitParams, CAR
|
||||
from opendbc.can.packer import CANPacker
|
||||
from common.params import Params
|
||||
params = Params()
|
||||
from common.dp import get_last_modified
|
||||
from common.dp import common_controller_update, common_controller_ctrl
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
|
||||
@@ -44,8 +48,26 @@ class CarController():
|
||||
self.last_resume_frame = 0
|
||||
self.last_lead_distance = 0
|
||||
|
||||
# dp
|
||||
self.dragon_enable_steering_on_signal = False
|
||||
self.dragon_lat_ctrl = True
|
||||
self.dp_last_modified = None
|
||||
self.last_blinker_on = False
|
||||
self.blinker_end_frame = 0
|
||||
self.dragon_blinker_off_timer = 0.
|
||||
|
||||
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,
|
||||
left_lane, right_lane, left_lane_depart, right_lane_depart):
|
||||
|
||||
# dp
|
||||
if frame % 500 == 0:
|
||||
modified = get_last_modified()
|
||||
if self.dp_last_modified != modified:
|
||||
self.dragon_lat_ctrl, \
|
||||
self.dragon_enable_steering_on_signal, \
|
||||
self.dragon_blinker_off_timer = common_controller_update()
|
||||
self.dp_last_modified = modified
|
||||
|
||||
# Steering Torque
|
||||
new_steer = actuators.steer * SteerLimitParams.STEER_MAX
|
||||
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, SteerLimitParams)
|
||||
@@ -63,6 +85,19 @@ class CarController():
|
||||
|
||||
self.apply_steer_last = apply_steer
|
||||
|
||||
# dp
|
||||
blinker_on = CS.out.leftBlinker or CS.out.rightBlinker
|
||||
if not enabled:
|
||||
self.blinker_end_frame = 0
|
||||
if self.last_blinker_on and not blinker_on:
|
||||
self.blinker_end_frame = frame + self.dragon_blinker_off_timer
|
||||
lkas_active = common_controller_ctrl(enabled,
|
||||
self.dragon_lat_ctrl,
|
||||
self.dragon_enable_steering_on_signal,
|
||||
blinker_on or frame < self.blinker_end_frame,
|
||||
lkas_active)
|
||||
self.last_blinker_on = blinker_on
|
||||
|
||||
sys_warning, sys_state, left_lane_warning, right_lane_warning =\
|
||||
process_hud_alert(enabled, self.car_fingerprint, visual_alert,
|
||||
left_lane, right_lane, left_lane_depart, right_lane_depart)
|
||||
|
||||
@@ -155,6 +155,7 @@ class CarInterface(CarInterfaceBase):
|
||||
return ret
|
||||
|
||||
def update(self, c, can_strings):
|
||||
self.dp_load_params('hyundai')
|
||||
self.cp.update_strings(can_strings)
|
||||
self.cp_cam.update_strings(can_strings)
|
||||
|
||||
|
||||
@@ -7,6 +7,12 @@ from selfdrive.car import gen_empty_fingerprint
|
||||
from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
|
||||
from selfdrive.controls.lib.vehicle_model import VehicleModel
|
||||
|
||||
# dp
|
||||
from common.realtime import sec_since_boot
|
||||
from common.params import Params, put_nonblocking
|
||||
params = Params()
|
||||
from common.dp import get_last_modified
|
||||
|
||||
GearShifter = car.CarState.GearShifter
|
||||
|
||||
# generic car and radar interfaces
|
||||
@@ -27,6 +33,15 @@ class CarInterfaceBase():
|
||||
if CarController is not None:
|
||||
self.CC = CarController(self.cp.dbc_name, CP, self.VM)
|
||||
|
||||
# dp
|
||||
self.dragon_toyota_stock_dsu = False
|
||||
self.dragon_enable_steering_on_signal = False
|
||||
self.dragon_allow_gas = False
|
||||
self.ts_last_check = 0.
|
||||
self.dragon_lat_ctrl = True
|
||||
self.dp_last_modified = None
|
||||
self.dp_gear_check = True
|
||||
|
||||
@staticmethod
|
||||
def calc_accel_override(a_ego, a_target, v_ego, v_target):
|
||||
return 1.
|
||||
@@ -79,6 +94,22 @@ class CarInterfaceBase():
|
||||
def apply(self, c):
|
||||
raise NotImplementedError
|
||||
|
||||
def dp_load_params(self, car_name):
|
||||
# dp
|
||||
ts = sec_since_boot()
|
||||
if ts - self.ts_last_check >= 5.:
|
||||
modified = get_last_modified()
|
||||
if self.dp_last_modified != modified:
|
||||
self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
|
||||
if self.dragon_lat_ctrl:
|
||||
self.dragon_enable_steering_on_signal = True if (params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" and params.get("LaneChangeEnabled", encoding='utf8') == "0") else False
|
||||
self.dragon_toyota_stock_dsu = True if (car_name == 'toyota' and params.get("DragonToyotaStockDSU", encoding='utf8') == "1") else False
|
||||
if not self.dragon_toyota_stock_dsu:
|
||||
self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
|
||||
self.dp_gear_check = False if params.get("DragonEnableGearCheck", encoding='utf8') == "0" else True
|
||||
self.dp_last_modified = modified
|
||||
self.ts_last_check = ts
|
||||
|
||||
def create_common_events(self, cs_out, extra_gears=[], gas_resume_speed=-1, pcm_enable=True):
|
||||
events = []
|
||||
|
||||
@@ -86,18 +117,23 @@ class CarInterfaceBase():
|
||||
events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
|
||||
if cs_out.seatbeltUnlatched:
|
||||
events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
|
||||
if cs_out.gearShifter != GearShifter.drive and cs_out.gearShifter not in extra_gears:
|
||||
events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
|
||||
if cs_out.gearShifter == GearShifter.reverse:
|
||||
events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
|
||||
if not self.dragon_toyota_stock_dsu:
|
||||
if cs_out.gearShifter != GearShifter.drive and cs_out.gearShifter not in extra_gears:
|
||||
events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
|
||||
if cs_out.gearShifter == GearShifter.reverse:
|
||||
events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
|
||||
if not cs_out.cruiseState.available:
|
||||
events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
|
||||
if cs_out.espDisabled:
|
||||
events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
|
||||
if cs_out.gasPressed:
|
||||
if cs_out.gasPressed and not self.dragon_allow_gas and not self.dragon_toyota_stock_dsu:
|
||||
events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
|
||||
|
||||
if cs_out.steerError:
|
||||
if not self.dragon_lat_ctrl:
|
||||
events.append(create_event('manualSteeringRequired', [ET.WARNING]))
|
||||
elif self.dragon_enable_steering_on_signal and (cs_out.leftBlinker or cs_out.rightBlinker):
|
||||
events.append(create_event('manualSteeringRequiredBlinkersOn', [ET.WARNING]))
|
||||
elif cs_out.steerError:
|
||||
events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
|
||||
elif cs_out.steerWarning:
|
||||
events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
|
||||
@@ -105,9 +141,14 @@ class CarInterfaceBase():
|
||||
# Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
|
||||
# Optionally allow to press gas at zero speed to resume.
|
||||
# e.g. Chrysler does not spam the resume button yet, so resuming with gas is handy. FIXME!
|
||||
if (cs_out.gasPressed and (not self.CS.out.gasPressed) and cs_out.vEgo > gas_resume_speed) or \
|
||||
(cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)):
|
||||
events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
|
||||
if not self.dragon_toyota_stock_dsu:
|
||||
if not self.dragon_allow_gas:
|
||||
if (cs_out.gasPressed and (not self.CS.out.gasPressed) and cs_out.vEgo > gas_resume_speed) or \
|
||||
(cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)):
|
||||
events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
|
||||
else:
|
||||
if cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill):
|
||||
events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
|
||||
|
||||
# we engage when pcm is active (rising edge)
|
||||
if pcm_enable:
|
||||
|
||||
@@ -29,6 +29,16 @@ class CarInterface(CarInterfaceBase):
|
||||
self.yaw_rate = 0.
|
||||
self.yaw_rate_meas = 0.
|
||||
|
||||
# dp
|
||||
# mock override constructor so we need to define here as well.
|
||||
self.dragon_toyota_stock_dsu = False
|
||||
self.dragon_enable_steering_on_signal = False
|
||||
self.dragon_allow_gas = False
|
||||
self.ts_last_check = 0.
|
||||
self.dragon_lat_ctrl = True
|
||||
self.dp_last_modified = None
|
||||
self.dp_gear_check = True
|
||||
|
||||
@staticmethod
|
||||
def compute_gb(accel, speed):
|
||||
return accel
|
||||
@@ -50,6 +60,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# returns a car.CarState
|
||||
def update(self, c, can_strings):
|
||||
self.dp_load_params('mock')
|
||||
# get basic data from phone and gps since CAN isn't connected
|
||||
sensors = messaging.recv_sock(self.sensor)
|
||||
if sensors is not None:
|
||||
|
||||
@@ -3,6 +3,10 @@ from selfdrive.car import apply_std_steer_torque_limits
|
||||
from selfdrive.car.subaru import subarucan
|
||||
from selfdrive.car.subaru.values import DBC
|
||||
from opendbc.can.packer import CANPacker
|
||||
from common.params import Params
|
||||
params = Params()
|
||||
from common.dp import get_last_modified
|
||||
from common.dp import common_controller_update, common_controller_ctrl
|
||||
|
||||
|
||||
class CarControllerParams():
|
||||
@@ -30,9 +34,26 @@ class CarController():
|
||||
self.params = CarControllerParams()
|
||||
self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
|
||||
|
||||
# dp
|
||||
self.dragon_enable_steering_on_signal = False
|
||||
self.dragon_lat_ctrl = True
|
||||
self.dp_last_modified = None
|
||||
self.last_blinker_on = False
|
||||
self.blinker_end_frame = 0
|
||||
self.dragon_blinker_off_timer = 0.
|
||||
|
||||
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line):
|
||||
""" Controls thread """
|
||||
|
||||
# dp
|
||||
if frame % 500 == 0:
|
||||
modified = get_last_modified()
|
||||
if self.dp_last_modified != modified:
|
||||
self.dragon_lat_ctrl, \
|
||||
self.dragon_enable_steering_on_signal, \
|
||||
self.dragon_blinker_off_timer = common_controller_update()
|
||||
self.dp_last_modified = modified
|
||||
|
||||
P = self.params
|
||||
|
||||
# Send CAN commands.
|
||||
@@ -56,6 +77,19 @@ class CarController():
|
||||
if not lkas_enabled:
|
||||
apply_steer = 0
|
||||
|
||||
# dp
|
||||
blinker_on = CS.out.leftBlinker or CS.out.rightBlinker
|
||||
if not enabled:
|
||||
self.blinker_end_frame = 0
|
||||
if self.last_blinker_on and not blinker_on:
|
||||
self.blinker_end_frame = frame + self.dragon_blinker_off_timer
|
||||
apply_steer = common_controller_ctrl(enabled,
|
||||
self.dragon_lat_ctrl,
|
||||
self.dragon_enable_steering_on_signal,
|
||||
blinker_on or frame < self.blinker_end_frame,
|
||||
apply_steer)
|
||||
self.last_blinker_on = blinker_on
|
||||
|
||||
can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, P.STEER_STEP))
|
||||
|
||||
self.apply_steer_last = apply_steer
|
||||
|
||||
@@ -50,6 +50,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# returns a car.CarState
|
||||
def update(self, c, can_strings):
|
||||
self.dp_load_params('subaru')
|
||||
self.cp.update_strings(can_strings)
|
||||
self.cp_cam.update_strings(can_strings)
|
||||
|
||||
|
||||
@@ -5,13 +5,17 @@ from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_comma
|
||||
create_accel_command, create_acc_cancel_command, create_fcw_command
|
||||
from selfdrive.car.toyota.values import Ecu, CAR, STATIC_MSGS, SteerLimitParams
|
||||
from opendbc.can.packer import CANPacker
|
||||
from common.params import Params
|
||||
params = Params()
|
||||
from common.dp import get_last_modified
|
||||
from common.dp import common_controller_update, common_controller_ctrl
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
|
||||
# Accel limits
|
||||
ACCEL_HYST_GAP = 0.02 # don't change accel command for small oscilalitons within this value
|
||||
ACCEL_MAX = 1.5 # 1.5 m/s2
|
||||
ACCEL_MIN = -3.0 # 3 m/s2
|
||||
ACCEL_MAX = 2.0 # 2.0 m/s2
|
||||
ACCEL_MIN = -3.5 # 3.5 m/s2
|
||||
ACCEL_SCALE = max(ACCEL_MAX, -ACCEL_MIN)
|
||||
|
||||
def accel_hysteresis(accel, accel_steady, enabled):
|
||||
@@ -46,9 +50,32 @@ class CarController():
|
||||
|
||||
self.packer = CANPacker(dbc_name)
|
||||
|
||||
# dp
|
||||
self.dragon_enable_steering_on_signal = False
|
||||
self.dragon_lat_ctrl = True
|
||||
self.dragon_lane_departure_warning = True
|
||||
self.dragon_toyota_sng_mod = False
|
||||
self.dp_last_modified = None
|
||||
self.last_blinker_on = False
|
||||
self.blinker_end_frame = 0
|
||||
self.dragon_blinker_off_timer = 0.
|
||||
|
||||
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
|
||||
left_line, right_line, lead, left_lane_depart, right_lane_depart):
|
||||
|
||||
# dp
|
||||
if frame % 500 == 0:
|
||||
modified = get_last_modified()
|
||||
if self.dp_last_modified != modified:
|
||||
self.dragon_lane_departure_warning = False if params.get("DragonToyotaLaneDepartureWarning", encoding='utf8') == "0" else True
|
||||
self.dragon_toyota_sng_mod = True if params.get("DragonToyotaSnGMod", encoding='utf8') == "1" else False
|
||||
|
||||
self.dragon_lat_ctrl, \
|
||||
self.dragon_enable_steering_on_signal, \
|
||||
self.dragon_blinker_off_timer = common_controller_update()
|
||||
|
||||
self.dp_last_modified = modified
|
||||
|
||||
# *** compute control surfaces ***
|
||||
|
||||
# gas and brake
|
||||
@@ -74,8 +101,8 @@ class CarController():
|
||||
if CS.steer_state in [9, 25]:
|
||||
self.last_fault_frame = frame
|
||||
|
||||
# Cut steering for 2s after fault
|
||||
if not enabled or (frame - self.last_fault_frame < 200):
|
||||
# # Cut steering for 2s after fault
|
||||
if not enabled: # or (frame - self.last_fault_frame < 200):
|
||||
apply_steer = 0
|
||||
apply_steer_req = 0
|
||||
else:
|
||||
@@ -86,7 +113,7 @@ class CarController():
|
||||
pcm_cancel_cmd = 1
|
||||
|
||||
# on entering standstill, send standstill request
|
||||
if CS.out.standstill and not self.last_standstill:
|
||||
if not self.dragon_toyota_sng_mod and CS.out.standstill and not self.last_standstill:
|
||||
self.standstill_req = True
|
||||
if CS.pcm_acc_status != 8:
|
||||
# pcm entered standstill or it's disabled
|
||||
@@ -96,6 +123,19 @@ class CarController():
|
||||
self.last_accel = apply_accel
|
||||
self.last_standstill = CS.out.standstill
|
||||
|
||||
# dp
|
||||
blinker_on = CS.out.leftBlinker or CS.out.rightBlinker
|
||||
if not enabled:
|
||||
self.blinker_end_frame = 0
|
||||
if self.last_blinker_on and not blinker_on:
|
||||
self.blinker_end_frame = frame + self.dragon_blinker_off_timer
|
||||
apply_steer_req = common_controller_ctrl(enabled,
|
||||
self.dragon_lat_ctrl,
|
||||
self.dragon_enable_steering_on_signal,
|
||||
blinker_on or frame < self.blinker_end_frame,
|
||||
apply_steer_req)
|
||||
self.last_blinker_on = blinker_on
|
||||
|
||||
can_sends = []
|
||||
|
||||
#*** control msgs ***
|
||||
@@ -112,7 +152,7 @@ class CarController():
|
||||
lead = lead or CS.out.vEgo < 12. # at low speed we always assume the lead is present do ACC can be engaged
|
||||
|
||||
# Lexus IS uses a different cancellation message
|
||||
if pcm_cancel_cmd and CS.CP.carFingerprint == CAR.LEXUS_IS:
|
||||
if pcm_cancel_cmd and CS.CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
|
||||
can_sends.append(create_acc_cancel_command(self.packer))
|
||||
elif CS.CP.openpilotLongitudinalControl:
|
||||
can_sends.append(create_accel_command(self.packer, apply_accel, pcm_cancel_cmd, self.standstill_req, lead))
|
||||
@@ -139,8 +179,16 @@ class CarController():
|
||||
# forcing the pcm to disengage causes a bad fault sound so play a good sound instead
|
||||
send_ui = True
|
||||
|
||||
# dp
|
||||
if self.dragon_lane_departure_warning:
|
||||
dragon_left_lane_depart = left_lane_depart
|
||||
dragon_right_lane_depart = right_lane_depart
|
||||
else:
|
||||
dragon_left_lane_depart = False
|
||||
dragon_right_lane_depart = False
|
||||
|
||||
if (frame % 100 == 0 or send_ui) and Ecu.fwdCamera in self.fake_ecus:
|
||||
can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart))
|
||||
can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, left_line, right_line, dragon_left_lane_depart, dragon_right_lane_depart))
|
||||
|
||||
if frame % 100 == 0 and Ecu.dsu in self.fake_ecus:
|
||||
can_sends.append(create_fcw_command(self.packer, fcw_alert))
|
||||
|
||||
@@ -5,7 +5,10 @@ from selfdrive.car.interfaces import CarStateBase
|
||||
from opendbc.can.parser import CANParser
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, TSS2_CAR, NO_STOP_TIMER_CAR
|
||||
|
||||
from common.realtime import sec_since_boot
|
||||
from common.params import Params
|
||||
from common.dp import get_last_modified
|
||||
params = Params()
|
||||
|
||||
class CarState(CarStateBase):
|
||||
def __init__(self, CP):
|
||||
@@ -14,15 +17,29 @@ class CarState(CarStateBase):
|
||||
self.shifter_values = can_define.dv["GEAR_PACKET"]['GEAR']
|
||||
|
||||
# All TSS2 car have the accurate sensor
|
||||
self.accurate_steer_angle_seen = CP.carFingerprint in TSS2_CAR
|
||||
self.accurate_steer_angle_seen = CP.carFingerprint in TSS2_CAR or CP.carFingerprint in [CAR.LEXUS_ISH]
|
||||
|
||||
# On NO_DSU cars but not TSS2 cars the cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE']
|
||||
# is zeroed to where the steering angle is at start.
|
||||
# Need to apply an offset as soon as the steering angle measurements are both received
|
||||
self.needs_angle_offset = CP.carFingerprint not in TSS2_CAR
|
||||
self.needs_angle_offset = CP.carFingerprint not in TSS2_CAR or CP.carFingerprint in [CAR.LEXUS_ISH]
|
||||
self.angle_offset = 0.
|
||||
|
||||
# dp
|
||||
self.dragon_toyota_stock_dsu = False
|
||||
self.ts_last_check = 0.
|
||||
self.last_modifed = None
|
||||
|
||||
def update(self, cp, cp_cam):
|
||||
# dp
|
||||
ts = sec_since_boot()
|
||||
if ts - self.ts_last_check >= 5.:
|
||||
modified = get_last_modified()
|
||||
if self.last_modifed != modified:
|
||||
self.dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False
|
||||
self.last_modifed = modified
|
||||
self.ts_last_check = ts
|
||||
|
||||
ret = car.CarState.new_message()
|
||||
|
||||
ret.doorOpen = any([cp.vl["SEATS_DOORS"]['DOOR_OPEN_FL'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_FR'],
|
||||
@@ -34,6 +51,9 @@ class CarState(CarStateBase):
|
||||
if self.CP.enableGasInterceptor:
|
||||
ret.gas = (cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS'] + cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS2']) / 2.
|
||||
ret.gasPressed = ret.gas > 15
|
||||
elif self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
|
||||
ret.gas = cp.vl["GAS_PEDAL_ALT"]['GAS_PEDAL']
|
||||
ret.gasPressed = ret.gas > 1e-5
|
||||
else:
|
||||
ret.gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL']
|
||||
ret.gasPressed = cp.vl["PCM_CRUISE"]['GAS_RELEASED'] == 0
|
||||
@@ -74,15 +94,23 @@ class CarState(CarStateBase):
|
||||
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
|
||||
ret.steerWarning = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
|
||||
|
||||
if self.CP.carFingerprint == CAR.LEXUS_IS:
|
||||
if self.CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_NXT]:
|
||||
ret.cruiseState.available = cp.vl["DSU_CRUISE"]['MAIN_ON'] != 0
|
||||
ret.cruiseState.speed = cp.vl["DSU_CRUISE"]['SET_SPEED'] * CV.KPH_TO_MS
|
||||
self.low_speed_lockout = False
|
||||
elif self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
|
||||
ret.cruiseState.available = cp.vl["PCM_CRUISE_ALT"]['MAIN_ON'] != 0
|
||||
ret.cruiseState.speed = cp.vl["PCM_CRUISE_ALT"]['SET_SPEED'] * CV.KPH_TO_MS
|
||||
self.low_speed_lockout = False
|
||||
else:
|
||||
ret.cruiseState.available = cp.vl["PCM_CRUISE_2"]['MAIN_ON'] != 0
|
||||
ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]['SET_SPEED'] * CV.KPH_TO_MS
|
||||
self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
|
||||
self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
|
||||
if self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
|
||||
# Lexus ISH does not have CRUISE_STATUS value (always 0), so we use CRUISE_ACTIVE value instead
|
||||
self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE']
|
||||
else:
|
||||
self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
|
||||
if self.CP.carFingerprint in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor:
|
||||
# ignore standstill in hybrid vehicles, since pcm allows to restart without
|
||||
# receiving any special command. Also if interceptor is detected
|
||||
@@ -93,6 +121,8 @@ class CarState(CarStateBase):
|
||||
|
||||
if self.CP.carFingerprint == CAR.PRIUS:
|
||||
ret.genericToggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
|
||||
elif self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
|
||||
ret.genericToggle = bool(cp.vl["LIGHT_STALK_ISH"]['AUTO_HIGH_BEAM'])
|
||||
else:
|
||||
ret.genericToggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
|
||||
ret.stockAeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
|
||||
@@ -105,6 +135,15 @@ class CarState(CarStateBase):
|
||||
ret.leftBlindspot = cp.vl["BSM"]['L_ADJACENT'] == 1
|
||||
ret.rightBlindspot = cp.vl["BSM"]['R_ADJACENT'] == 1
|
||||
|
||||
# dp
|
||||
if self.dragon_toyota_stock_dsu and ret.cruiseState.available:
|
||||
enable_acc = True
|
||||
if ret.gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park]:
|
||||
enable_acc = False
|
||||
if ret.seatbeltUnlatched or ret.doorOpen:
|
||||
enable_acc = False
|
||||
ret.cruiseState.enabled = enable_acc
|
||||
|
||||
return ret
|
||||
|
||||
@staticmethod
|
||||
@@ -141,8 +180,8 @@ class CarState(CarStateBase):
|
||||
]
|
||||
|
||||
checks = [
|
||||
("BRAKE_MODULE", 40),
|
||||
("GAS_PEDAL", 33),
|
||||
#("BRAKE_MODULE", 40),
|
||||
#("GAS_PEDAL", 33),
|
||||
("WHEEL_SPEEDS", 80),
|
||||
("STEER_ANGLE_SENSOR", 80),
|
||||
("PCM_CRUISE", 33),
|
||||
@@ -150,7 +189,27 @@ class CarState(CarStateBase):
|
||||
("EPS_STATUS", 25),
|
||||
]
|
||||
|
||||
if CP.carFingerprint == CAR.LEXUS_IS:
|
||||
if CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
|
||||
signals.append(("GAS_PEDAL", "GAS_PEDAL_ALT", 0))
|
||||
signals.append(("MAIN_ON", "PCM_CRUISE_ALT", 0))
|
||||
signals.append(("SET_SPEED", "PCM_CRUISE_ALT", 0))
|
||||
signals.append(("AUTO_HIGH_BEAM", "LIGHT_STALK_ISH", 0))
|
||||
checks += [
|
||||
("BRAKE_MODULE", 50),
|
||||
("GAS_PEDAL_ALT", 50),
|
||||
("PCM_CRUISE_ALT", 1),
|
||||
]
|
||||
else:
|
||||
signals += [
|
||||
("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
|
||||
("GAS_PEDAL", "GAS_PEDAL", 0),
|
||||
]
|
||||
checks += [
|
||||
("BRAKE_MODULE", 40),
|
||||
("GAS_PEDAL", 33),
|
||||
]
|
||||
|
||||
if CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_NXT]:
|
||||
signals.append(("MAIN_ON", "DSU_CRUISE", 0))
|
||||
signals.append(("SET_SPEED", "DSU_CRUISE", 0))
|
||||
checks.append(("DSU_CRUISE", 5))
|
||||
@@ -174,6 +233,8 @@ class CarState(CarStateBase):
|
||||
signals += [("L_ADJACENT", "BSM", 0)]
|
||||
signals += [("R_ADJACENT", "BSM", 0)]
|
||||
|
||||
checks = []
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
|
||||
|
||||
@staticmethod
|
||||
|
||||
@@ -6,9 +6,11 @@ from selfdrive.car.toyota.values import Ecu, ECU_FINGERPRINT, CAR, TSS2_CAR, FIN
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
|
||||
from selfdrive.swaglog import cloudlog
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
from common.params import Params
|
||||
params = Params()
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
|
||||
@staticmethod
|
||||
def compute_gb(accel, speed):
|
||||
return float(accel) / 3.0
|
||||
@@ -231,6 +233,36 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
|
||||
ret.lateralTuning.pid.kf = 0.00006
|
||||
|
||||
elif candidate == CAR.LEXUS_ISH:
|
||||
stop_and_go = True # set to true because it's a hybrid
|
||||
ret.safetyParam = 130
|
||||
ret.wheelbase = 2.79908
|
||||
ret.steerRatio = 13.3
|
||||
tire_stiffness_factor = 0.444
|
||||
ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
|
||||
ret.lateralTuning.pid.kf = 0.00006
|
||||
|
||||
elif candidate == CAR.LEXUS_GSH:
|
||||
stop_and_go = True # set to true because it's a hybrid
|
||||
ret.safetyParam = 130
|
||||
ret.wheelbase = 2.84988
|
||||
ret.steerRatio = 13.3
|
||||
tire_stiffness_factor = 0.444
|
||||
ret.mass = 4112 * CV.LB_TO_KG + STD_CARGO_KG
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
|
||||
ret.lateralTuning.pid.kf = 0.00006
|
||||
|
||||
elif candidate == CAR.LEXUS_NXT:
|
||||
stop_and_go = True
|
||||
ret.safetyParam = 100
|
||||
ret.wheelbase = 2.66
|
||||
ret.steerRatio = 14.7
|
||||
tire_stiffness_factor = 0.444 # not optimized yet
|
||||
ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
|
||||
ret.lateralTuning.pid.kf = 0.00006
|
||||
|
||||
ret.steerRateCost = 1.
|
||||
ret.centerToFront = ret.wheelbase * 0.44
|
||||
|
||||
@@ -274,7 +306,11 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
|
||||
ret.longitudinalTuning.kiV = [0.18, 0.12]
|
||||
else:
|
||||
ret.gasMaxBP = [0.]
|
||||
try:
|
||||
max_bp = max(0., float(params.get("DragonToyotaSngResponse", encoding='utf8')))
|
||||
except (TypeError, ValueError):
|
||||
max_bp = 0.
|
||||
ret.gasMaxBP = [max_bp]
|
||||
ret.gasMaxV = [0.5]
|
||||
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
|
||||
ret.longitudinalTuning.kiV = [0.54, 0.36]
|
||||
@@ -283,6 +319,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# returns a car.CarState
|
||||
def update(self, c, can_strings):
|
||||
self.dp_load_params('toyota')
|
||||
# ******************* do can recv *******************
|
||||
self.cp.update_strings(can_strings)
|
||||
self.cp_cam.update_strings(can_strings)
|
||||
|
||||
@@ -36,6 +36,9 @@ class CAR:
|
||||
LEXUS_CTH = "LEXUS CT 200H 2018"
|
||||
RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019"
|
||||
LEXUS_NXH = "LEXUS NX300H 2018"
|
||||
LEXUS_ISH = "LEXUS IS300h 2017"
|
||||
LEXUS_GSH = "LEXUS GS450h 2017"
|
||||
LEXUS_NXT = "LEXUS NX200T 2015"
|
||||
|
||||
|
||||
# addr: (ecu, cars, bus, 1/freq*100, vl)
|
||||
@@ -80,6 +83,10 @@ FINGERPRINTS = {
|
||||
CAR.PRIUS: [{
|
||||
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 814: 8, 824: 2, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2,898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
},
|
||||
# Taiwan Prius 4.5
|
||||
{
|
||||
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 800: 8, 810: 2, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
},
|
||||
#2019 LE
|
||||
{
|
||||
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
@@ -108,6 +115,10 @@ FINGERPRINTS = {
|
||||
# 2016 Lexus RX 350
|
||||
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 812: 3, 818: 8, 819: 8, 820: 8, 821: 8, 822: 8, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1349: 8, 1350: 8, 1351: 8, 1413: 8, 1414: 8, 1415: 8, 1416: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
|
||||
},
|
||||
{
|
||||
# RX300 China
|
||||
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 742: 8, 743: 8, 744: 8, 800: 8, 810: 2, 812: 3, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
},
|
||||
# 2017 Lexus RX 350
|
||||
{
|
||||
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 5, 643: 7, 658: 8, 705: 8, 740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 812: 3, 814: 8, 818: 8, 819: 8, 820: 8, 821: 8, 822: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1349: 8, 1350: 8, 1351: 8, 1413: 8, 1414: 8, 1415: 8, 1416: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
@@ -149,6 +160,10 @@ FINGERPRINTS = {
|
||||
{
|
||||
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 888: 8, 889: 8, 891: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
},
|
||||
# China 2018 Camry 2.5 from superdongle
|
||||
{
|
||||
36: 8, 37: 8, 119: 6, 170: 8, 180: 8, 186: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 818: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1235: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
},
|
||||
{
|
||||
# 2019 XSE
|
||||
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 942: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1792: 8, 1767:4, 1808: 8, 1816: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1937: 8, 1945: 8, 1953: 8, 1961: 8, 1968: 8, 1976: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
|
||||
@@ -180,6 +195,10 @@ FINGERPRINTS = {
|
||||
# 2018 Highlander Limited Platinum
|
||||
{
|
||||
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 767:4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1263: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1585: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1779: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1988: 8, 1990: 8, 1996: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
|
||||
},
|
||||
# 2018 China Highlander from toyboxZ
|
||||
{
|
||||
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
|
||||
}],
|
||||
CAR.HIGHLANDER_TSS2: [{
|
||||
# 2020 highlander limited
|
||||
@@ -199,6 +218,10 @@ FINGERPRINTS = {
|
||||
36: 8, 37: 8, 170: 8, 180: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 550: 8, 552: 4, 562: 6, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 767:4, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 905: 8, 911: 1, 916: 2, 921: 8, 933: 6, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 1005: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1206: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
}],
|
||||
CAR.RAV4_TSS2: [
|
||||
# China 2020 RAV4 from superdongle
|
||||
{
|
||||
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 896: 8, 898: 8, 918: 7, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1112: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1263: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8
|
||||
},
|
||||
# LE
|
||||
{
|
||||
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 355: 5, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8,1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553:8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
@@ -208,11 +231,27 @@ FINGERPRINTS = {
|
||||
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
|
||||
}],
|
||||
CAR.COROLLA_TSS2: [
|
||||
#2020 AURIS with LTA, number of messages:
|
||||
{
|
||||
36: 8, 37: 8, 114: 5, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 896: 8, 898: 8, 921: 8, 942: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1745: 8, 1775: 8, 1779: 8
|
||||
},
|
||||
{
|
||||
# 2019 Taiwan Altis
|
||||
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 918: 7, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1082: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1745: 8, 1775: 8, 1779: 8
|
||||
},
|
||||
{
|
||||
# 2019 Chinese Levin (Petrol) from Shell
|
||||
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 355: 5, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1600: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1984: 8, 1992: 8, 2002: 8
|
||||
},
|
||||
# hatch 2019+ and sedan 2020+
|
||||
{
|
||||
36: 8, 37: 8, 114: 5, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1809: 8, 1816: 8, 1817: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1960: 8, 1981: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8
|
||||
}],
|
||||
CAR.COROLLAH_TSS2: [
|
||||
# Taiwan Altis Hybrid by Fish
|
||||
{
|
||||
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 918: 7, 921: 8, 942: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1082: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1745: 8, 1775: 8, 1779: 8
|
||||
},
|
||||
# 2019 Taiwan Altis Hybrid
|
||||
{
|
||||
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 767:4, 800: 8, 810: 2, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 918: 7, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1082: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1745: 8, 1775: 8, 1779: 8
|
||||
@@ -224,6 +263,10 @@ FINGERPRINTS = {
|
||||
],
|
||||
CAR.LEXUS_ES_TSS2: [{
|
||||
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8,
|
||||
},
|
||||
# 2019 Lexus ES200 from Shell
|
||||
{
|
||||
36: 8, 37: 8, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 355: 5, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
}],
|
||||
CAR.LEXUS_ESH_TSS2: [
|
||||
{
|
||||
@@ -233,18 +276,22 @@ FINGERPRINTS = {
|
||||
{
|
||||
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 548: 8, 550: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 764: 8, 767:4, 800: 8, 824: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 888: 8, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 918: 7, 921: 8, 933: 8, 944: 6, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1212: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1656: 8, 1664: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
},
|
||||
{
|
||||
# Canada 2018 Sienna LTD
|
||||
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 548: 8, 550: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 764: 8, 800: 8, 818: 8, 822: 8, 824: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 891: 8, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 918: 7, 921: 8, 933: 8, 944: 6, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1212: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
},
|
||||
# XLE AWD 2018
|
||||
{
|
||||
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 548: 8, 550: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 764: 8, 767:4, 800: 8, 824: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 921: 8, 933: 8, 944: 6, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1656: 8, 1664: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
}],
|
||||
CAR.LEXUS_IS: [
|
||||
# IS200T 2017 TW
|
||||
{
|
||||
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 355: 5, 400: 6, 426: 6, 452: 8, 464: 8, 466: 8, 467: 5, 544: 4, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1009: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1208: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1728: 8, 1745: 8, 1779: 8
|
||||
},
|
||||
# IS300 2018
|
||||
{
|
||||
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 400: 6, 426: 6, 452: 8, 464: 8, 466: 8, 467: 5, 544: 4, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 767:4, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1009: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1590: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1648: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
},
|
||||
# IS300H 2017
|
||||
{
|
||||
36: 8, 37: 8, 170: 8, 180: 8, 295: 8, 296: 8, 400: 6, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 767:4, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 7, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1009: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
}],
|
||||
CAR.RAV4H_TSS2: [
|
||||
#Hybrid Limited
|
||||
@@ -252,16 +299,34 @@ FINGERPRINTS = {
|
||||
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 658: 8, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913:8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
},
|
||||
],
|
||||
CAR.LEXUS_CTH: [{
|
||||
CAR.LEXUS_CTH: [
|
||||
# Taiwan CT200h FP from CloudJ
|
||||
{
|
||||
36: 8, 37: 8, 170: 8, 180: 8, 288: 8, 426: 6, 452: 8, 466: 8, 467: 8, 548: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 810: 2, 832: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 918: 7, 921: 8, 933: 8, 944: 6, 945: 8, 950: 8, 951: 8, 953: 3, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1112: 8, 1114: 8, 1116: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1664: 8, 1728: 8, 1779: 8
|
||||
},
|
||||
{
|
||||
36: 8, 37: 8, 170: 8, 180: 8, 288: 8, 426: 6, 452: 8, 466: 8, 467: 8, 548: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 810: 2, 832: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 921: 8, 933: 8, 944: 6, 945: 8, 950: 8, 951: 8, 953: 3, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1116: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
}],
|
||||
CAR.LEXUS_NXH: [{
|
||||
36: 8, 37: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 800: 8, 810: 2, 812: 3, 818: 8, 822: 8, 824: 8, 835: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 889: 8, 891: 8, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 987: 8, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1006: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1195: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1228: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
}]
|
||||
}],
|
||||
CAR.LEXUS_ISH: [
|
||||
# IS300H 2017
|
||||
{
|
||||
36: 8, 37: 8, 170: 8, 180: 8, 295: 8, 296: 8, 400: 6, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 767:4, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 7, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1009: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
}],
|
||||
CAR.LEXUS_GSH: [
|
||||
# GS450H 2017
|
||||
{
|
||||
36: 8, 37: 8, 38: 8, 42: 8, 44: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 548: 8, 550: 2, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 744: 8, 800: 8, 810: 2, 812: 3, 832: 8, 836: 8, 845: 5, 849: 4, 864: 1, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 2, 917: 4, 918: 7, 919: 1, 921: 7, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1009: 8, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 8, 1059: 1, 1112: 8, 1114: 8, 1116: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1188: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1193: 8, 1195: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1200: 8, 1201: 8, 1206: 8, 1208: 8, 1226: 8, 1227: 8, 1235: 8, 1237: 8, 1250: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1599: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
}],
|
||||
CAR.LEXUS_NXT: [{
|
||||
36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 426: 6, 452: 8, 464: 8, 466: 7, 544: 4, 550: 8, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 810: 2, 812: 3, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1009: 8, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1112: 8, 1114: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1184: 8, 1185: 8, 1186: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1195: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1263: 8, 1552: 8, 1553: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1656: 8, 1728: 8, 1745: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
}],
|
||||
}
|
||||
|
||||
# Don't use theses fingerprints for fingerprinting, they are still needed for ECU detection
|
||||
IGNORED_FINGERPRINTS = [CAR.RAV4H_TSS2, CAR.HIGHLANDERH_TSS2]
|
||||
IGNORED_FINGERPRINTS = [CAR.HIGHLANDERH_TSS2]
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.AVALON: {
|
||||
@@ -321,17 +386,20 @@ FW_VERSIONS = {
|
||||
b'\x028966306R5000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
|
||||
b'\x028966306R6000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
|
||||
b'\x028966306S0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
|
||||
b'\x018966306N9000\x00\x00\x00\x00', # from a358063504 @wechat
|
||||
],
|
||||
(Ecu.esp, 0x7b0, None): [
|
||||
b'F152633712\x00\x00\x00\x00\x00\x00',
|
||||
b'F152633713\x00\x00\x00\x00\x00\x00',
|
||||
b'F152633B51\x00\x00\x00\x00\x00\x00',
|
||||
b'F152633214\x00\x00\x00\x00\x00\x00', # from a358063504 @wechat
|
||||
],
|
||||
(Ecu.dsu, 0x791, None): [
|
||||
b'8821F0601200 ',
|
||||
b'8821F0601300 ',
|
||||
b'8821F0607200 ',
|
||||
b'8821F0608000 ',
|
||||
b'8821F0603600 ', # from a358063504 @wechat
|
||||
],
|
||||
(Ecu.eps, 0x7a1, None): [
|
||||
b'8965B33540\x00\x00\x00\x00\x00\x00',
|
||||
@@ -342,11 +410,13 @@ FW_VERSIONS = {
|
||||
b'8821F0601300 ',
|
||||
b'8821F0607200 ',
|
||||
b'8821F0608000 ',
|
||||
b'8821F0603600 ', # from a358063504 @wechat
|
||||
],
|
||||
(Ecu.fwdCamera, 0x750, 0x6d): [
|
||||
b'8646F0601200 ',
|
||||
b'8646F0601300 ',
|
||||
b'8646F0605000 ',
|
||||
b'8646F0603500 ', # from a358063504 @wechat
|
||||
],
|
||||
},
|
||||
CAR.CHR: {
|
||||
@@ -474,6 +544,8 @@ FW_VERSIONS = {
|
||||
b'\x02896630ZR2000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
|
||||
b'\x028966312Q4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
|
||||
b'\x038966312N1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
|
||||
b'\x02896630ZN8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
|
||||
|
||||
],
|
||||
(Ecu.eps, 0x7a1, None): [
|
||||
b'8965B12361\x00\x00\x00\x00\x00\x00',
|
||||
@@ -483,6 +555,8 @@ FW_VERSIONS = {
|
||||
b'\x018965B12470\x00\x00\x00\x00\x00\x00',
|
||||
b'\x018965B12500\x00\x00\x00\x00\x00\x00',
|
||||
b'\x018965B12530\x00\x00\x00\x00\x00\x00',
|
||||
b'\x018965B12490\x00\x00\x00\x00\x00\x00',
|
||||
|
||||
],
|
||||
(Ecu.esp, 0x7b0, None): [
|
||||
b'F152612590\x00\x00\x00\x00\x00\x00',
|
||||
@@ -493,6 +567,7 @@ FW_VERSIONS = {
|
||||
b'F152612840\x00\x00\x00\x00\x00\x00',
|
||||
b'F152612A10\x00\x00\x00\x00\x00\x00',
|
||||
b'F152642540\x00\x00\x00\x00\x00\x00',
|
||||
b'F152612820\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x750, 0xf): [
|
||||
b'\x018821F3301100\x00\x00\x00\x00',
|
||||
@@ -776,8 +851,14 @@ FW_VERSIONS = {
|
||||
b'\x01896630842000\x00\x00\x00\x00',
|
||||
b'\x01896630851100\x00\x00\x00\x00',
|
||||
b'\x01896630860000\x00\x00\x00\x00',
|
||||
b'\x01896630852000\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.esp, 0x7b0, None): [b'F152608130\x00\x00\x00\x00\x00\x00'],
|
||||
(Ecu.dsu, 0x791, None): [b'881510801100\x00\x00\x00\x00'],
|
||||
(Ecu.eps, 0x7a1, None): [
|
||||
b'8965B45070\x00\x00\x00\x00\x00\x00',
|
||||
b'8965B45070\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x7a1, None): [b'8965B45070\x00\x00\x00\x00\x00\x00'],
|
||||
(Ecu.fwdRadar, 0x750, 0xf): [
|
||||
b'8821F4702100\x00\x00\x00\x00',
|
||||
b'8821F4702300\x00\x00\x00\x00',
|
||||
@@ -875,8 +956,11 @@ DBC = {
|
||||
CAR.LEXUS_CTH: dbc_dict('lexus_ct200h_2018_pt_generated', 'toyota_adas'),
|
||||
CAR.RAV4H_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
|
||||
CAR.LEXUS_NXH: dbc_dict('lexus_nx300h_2018_pt_generated', 'toyota_adas'),
|
||||
CAR.LEXUS_ISH: dbc_dict('lexus_is300h_2017_pt_generated', 'toyota_adas'),
|
||||
CAR.LEXUS_GSH: dbc_dict('lexus_is300h_2017_pt_generated', 'toyota_adas'),
|
||||
CAR.LEXUS_NXT: dbc_dict('lexus_nxt_2015_pt_generated', 'toyota_adas'),
|
||||
}
|
||||
|
||||
NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]
|
||||
NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.LEXUS_NXT]
|
||||
TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]
|
||||
NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2] # no resume button press required
|
||||
NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.LEXUS_NXT] # no resume button press required
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
from cereal import car
|
||||
from selfdrive.car import apply_std_steer_torque_limits
|
||||
from selfdrive.car.volkswagen import volkswagencan
|
||||
from selfdrive.car.volkswagen.values import DBC, CANBUS, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams
|
||||
from selfdrive.car.volkswagen.values import DBC, CANBUS, NWL, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams
|
||||
from opendbc.can.packer import CANPacker
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
@@ -12,6 +12,16 @@ class CarController():
|
||||
self.apply_steer_last = 0
|
||||
|
||||
self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt'])
|
||||
self.acc_bus = CANBUS.pt if CP.networkLocation == NWL.fwdCamera else CANBUS.cam
|
||||
|
||||
if CP.safetyModel == car.CarParams.SafetyModel.volkswagen:
|
||||
self.create_steering_control = volkswagencan.create_mqb_steering_control
|
||||
self.create_acc_buttons_control = volkswagencan.create_mqb_acc_buttons_control
|
||||
self.create_hud_control = volkswagencan.create_mqb_hud_control
|
||||
elif CP.safetyModel == car.CarParams.SafetyModel.volkswagenPq:
|
||||
self.create_steering_control = volkswagencan.create_pq_steering_control
|
||||
self.create_acc_buttons_control = volkswagencan.create_pq_acc_buttons_control
|
||||
self.create_hud_control = volkswagencan.create_pq_hud_control
|
||||
|
||||
self.hcaSameTorqueCount = 0
|
||||
self.hcaEnabledFrameCount = 0
|
||||
@@ -98,7 +108,7 @@ class CarController():
|
||||
|
||||
self.apply_steer_last = apply_steer
|
||||
idx = (frame / P.HCA_STEP) % 16
|
||||
can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer,
|
||||
can_sends.append(self.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer,
|
||||
idx, hcaEnabled))
|
||||
|
||||
#--------------------------------------------------------------------------
|
||||
@@ -119,7 +129,7 @@ class CarController():
|
||||
else:
|
||||
hud_alert = MQB_LDW_MESSAGES["none"]
|
||||
|
||||
can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, hcaEnabled,
|
||||
can_sends.append(self.create_hud_control(self.packer_pt, CANBUS.pt, hcaEnabled,
|
||||
CS.out.steeringPressed, hud_alert, leftLaneVisible,
|
||||
rightLaneVisible))
|
||||
|
||||
@@ -178,7 +188,7 @@ class CarController():
|
||||
if self.graMsgSentCount == 0:
|
||||
self.graMsgStartFramePrev = frame
|
||||
idx = (CS.graMsgBusCounter + 1) % 16
|
||||
can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, CANBUS.pt, self.graButtonStatesToSend, CS, idx))
|
||||
can_sends.append(self.create_acc_buttons_control(self.packer_pt, self.acc_bus, self.graButtonStatesToSend, CS, idx))
|
||||
self.graMsgSentCount += 1
|
||||
if self.graMsgSentCount >= P.GRA_VBP_COUNT:
|
||||
self.graButtonStatesToSend = None
|
||||
|
||||
@@ -4,16 +4,34 @@ from selfdrive.config import Conversions as CV
|
||||
from selfdrive.car.interfaces import CarStateBase
|
||||
from opendbc.can.parser import CANParser
|
||||
from opendbc.can.can_define import CANDefine
|
||||
from selfdrive.car.volkswagen.values import DBC, CANBUS, BUTTON_STATES, CarControllerParams
|
||||
from selfdrive.car.volkswagen.values import DBC, CANBUS, NWL, TRANS, GEAR, BUTTON_STATES, CarControllerParams
|
||||
|
||||
|
||||
class CarState(CarStateBase):
|
||||
def __init__(self, CP):
|
||||
super().__init__(CP)
|
||||
can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
|
||||
self.shifter_values = can_define.dv["Getriebe_11"]['GE_Fahrstufe']
|
||||
|
||||
if CP.safetyModel == car.CarParams.SafetyModel.volkswagenPq:
|
||||
# Configure for PQ35/PQ46/NMS network messaging
|
||||
self.get_can_parser = self.get_pq_can_parser
|
||||
self.get_cam_can_parser = self.get_pq_cam_can_parser
|
||||
self.update = self.update_pq
|
||||
if CP.transmissionType == TRANS.automatic:
|
||||
self.shifter_values = can_define.dv["Getriebe_1"]['Waehlhebelposition__Getriebe_1_']
|
||||
else:
|
||||
# Configure for MQB network messaging (default)
|
||||
self.get_can_parser = self.get_mqb_can_parser
|
||||
self.get_cam_can_parser = self.get_mqb_cam_can_parser
|
||||
self.update = self.update_mqb
|
||||
if CP.transmissionType == TRANS.automatic:
|
||||
self.shifter_values = can_define.dv["Getriebe_11"]['GE_Fahrstufe']
|
||||
elif CP.transmissionType == TRANS.direct:
|
||||
self.shifter_values = can_define.dv["EV_Gearshift"]['GearPosition']
|
||||
|
||||
self.buttonStates = BUTTON_STATES.copy()
|
||||
|
||||
def update(self, pt_cp):
|
||||
def update_mqb(self, pt_cp, cam_cp, acc_cp, trans_type):
|
||||
ret = car.CarState.new_message()
|
||||
# Update vehicle speed and acceleration from ABS wheel speeds.
|
||||
ret.wheelSpeeds.fl = pt_cp.vl["ESP_19"]['ESP_VL_Radgeschw_02'] * CV.KPH_TO_MS
|
||||
@@ -28,22 +46,43 @@ class CarState(CarStateBase):
|
||||
|
||||
# Update steering angle, rate, yaw rate, and driver input torque. VW send
|
||||
# the sign/direction in a separate signal so they must be recombined.
|
||||
ret.steeringAngle = pt_cp.vl["LWI_01"]['LWI_Lenkradwinkel'] * (1,-1)[int(pt_cp.vl["LWI_01"]['LWI_VZ_Lenkradwinkel'])]
|
||||
ret.steeringRate = pt_cp.vl["LWI_01"]['LWI_Lenkradw_Geschw'] * (1,-1)[int(pt_cp.vl["LWI_01"]['LWI_VZ_Lenkradwinkel'])]
|
||||
ret.steeringTorque = pt_cp.vl["EPS_01"]['Driver_Strain'] * (1,-1)[int(pt_cp.vl["EPS_01"]['Driver_Strain_VZ'])]
|
||||
ret.steeringAngle = pt_cp.vl["LWI_01"]['LWI_Lenkradwinkel'] * (1, -1)[int(pt_cp.vl["LWI_01"]['LWI_VZ_Lenkradwinkel'])]
|
||||
ret.steeringRate = pt_cp.vl["LWI_01"]['LWI_Lenkradw_Geschw'] * (1, -1)[int(pt_cp.vl["LWI_01"]['LWI_VZ_Lenkradwinkel'])]
|
||||
ret.steeringTorque = pt_cp.vl["EPS_01"]['Driver_Strain'] * (1, -1)[int(pt_cp.vl["EPS_01"]['Driver_Strain_VZ'])]
|
||||
ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE
|
||||
ret.yawRate = pt_cp.vl["ESP_02"]['ESP_Gierrate'] * (1,-1)[int(pt_cp.vl["ESP_02"]['ESP_VZ_Gierrate'])] * CV.DEG_TO_RAD
|
||||
ret.yawRate = pt_cp.vl["ESP_02"]['ESP_Gierrate'] * (1, -1)[int(pt_cp.vl["ESP_02"]['ESP_VZ_Gierrate'])] * CV.DEG_TO_RAD
|
||||
|
||||
# Update gas, brakes, and gearshift.
|
||||
ret.gas = pt_cp.vl["Motor_20"]['MO_Fahrpedalrohwert_01'] / 100.0
|
||||
ret.gasPressed = ret.gas > 0
|
||||
ret.brake = pt_cp.vl["ESP_05"]['ESP_Bremsdruck'] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
|
||||
ret.brake = pt_cp.vl["ESP_05"]['ESP_Bremsdruck'] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
|
||||
ret.brakePressed = bool(pt_cp.vl["ESP_05"]['ESP_Fahrer_bremst'])
|
||||
ret.brakeLights = bool(pt_cp.vl["ESP_05"]['ESP_Status_Bremsdruck'])
|
||||
|
||||
# Additional safety checks performed in CarInterface.
|
||||
self.parkingBrakeSet = bool(pt_cp.vl["Kombi_01"]['KBI_Handbremse']) # FIXME: need to include an EPB check as well
|
||||
ret.espDisabled = pt_cp.vl["ESP_21"]['ESP_Tastung_passiv'] != 0
|
||||
|
||||
# Update gear and/or clutch position data.
|
||||
can_gear_shifter = int(pt_cp.vl["Getriebe_11"]['GE_Fahrstufe'])
|
||||
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear_shifter, None))
|
||||
if trans_type == TRANS.automatic:
|
||||
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["Getriebe_11"]['GE_Fahrstufe'], None))
|
||||
elif trans_type == TRANS.direct:
|
||||
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["EV_Gearshift"]['GearPosition'], None))
|
||||
elif trans_type == TRANS.manual:
|
||||
ret.clutchPressed = not pt_cp.vl["Motor_14"]['MO_Kuppl_schalter']
|
||||
reverse_light = bool(pt_cp.vl["Gateway_72"]['BCM1_Rueckfahrlicht_Schalter'])
|
||||
# TODO: verify this synthesis has the desired behavior.
|
||||
# In particular, should we neutral disengage during normal gear changes?
|
||||
# Also, what happens if we're rolling backwards with the clutch pressed
|
||||
# in a gear other than reverse?
|
||||
if reverse_light:
|
||||
ret.gearShifter = GEAR.reverse
|
||||
elif ret.standstill and self.parkingBrakeSet:
|
||||
ret.gearShifter = GEAR.park
|
||||
elif ret.clutchPressed:
|
||||
ret.gearShifter = GEAR.neutral
|
||||
else:
|
||||
ret.gearShifter = GEAR.drive
|
||||
|
||||
# Update door and trunk/hatch lid open status.
|
||||
ret.doorOpen = any([pt_cp.vl["Gateway_72"]['ZV_FT_offen'],
|
||||
@@ -77,7 +116,7 @@ class CarState(CarStateBase):
|
||||
|
||||
# Update ACC setpoint. When the setpoint is zero or there's an error, the
|
||||
# radar sends a set-speed of ~90.69 m/s / 203mph.
|
||||
ret.cruiseState.speed = pt_cp.vl["ACC_02"]['SetSpeed']
|
||||
ret.cruiseState.speed = acc_cp.vl["ACC_02"]['SetSpeed']
|
||||
if ret.cruiseState.speed > 90:
|
||||
ret.cruiseState.speed = 0
|
||||
|
||||
@@ -98,6 +137,7 @@ class CarState(CarStateBase):
|
||||
self.graTypHauptschalter = pt_cp.vl["GRA_ACC_01"]['GRA_Typ_Hauptschalter']
|
||||
self.graButtonTypeInfo = pt_cp.vl["GRA_ACC_01"]['GRA_ButtonTypeInfo']
|
||||
self.graTipStufe2 = pt_cp.vl["GRA_ACC_01"]['GRA_Tip_Stufe_2']
|
||||
self.graTyp468 = pt_cp.vl["GRA_ACC_01"]['GRA_Typ468']
|
||||
# Pick up the GRA_ACC_01 CAN message counter so we can sync to it for
|
||||
# later cruise-control button spamming.
|
||||
self.graMsgBusCounter = pt_cp.vl["GRA_ACC_01"]['COUNTER']
|
||||
@@ -106,15 +146,113 @@ class CarState(CarStateBase):
|
||||
# accept and respond to HCA_01 messages and has not encountered a fault.
|
||||
self.steeringFault = not pt_cp.vl["EPS_01"]["HCA_Ready"]
|
||||
|
||||
return ret
|
||||
|
||||
def update_pq(self, pt_cp, cam_cp, acc_cp, trans_type):
|
||||
ret = car.CarState.new_message()
|
||||
# Update vehicle speed and acceleration from ABS wheel speeds.
|
||||
ret.wheelSpeeds.fl = pt_cp.vl["Bremse_3"]['Radgeschw__VL_4_1'] * CV.KPH_TO_MS
|
||||
ret.wheelSpeeds.fr = pt_cp.vl["Bremse_3"]['Radgeschw__VR_4_1'] * CV.KPH_TO_MS
|
||||
ret.wheelSpeeds.rl = pt_cp.vl["Bremse_3"]['Radgeschw__HL_4_1'] * CV.KPH_TO_MS
|
||||
ret.wheelSpeeds.rr = pt_cp.vl["Bremse_3"]['Radgeschw__HR_4_1'] * CV.KPH_TO_MS
|
||||
|
||||
ret.vEgoRaw = float(np.mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]))
|
||||
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
|
||||
|
||||
ret.standstill = ret.vEgoRaw < 0.1
|
||||
|
||||
# Update steering angle, rate, yaw rate, and driver input torque. VW send
|
||||
# the sign/direction in a separate signal so they must be recombined.
|
||||
ret.steeringAngle = pt_cp.vl["Lenkhilfe_3"]['LH3_BLW'] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]['LH3_BLWSign'])]
|
||||
ret.steeringRate = pt_cp.vl["Lenkwinkel_1"]['Lenkradwinkel_Geschwindigkeit'] * (1, -1)[int(pt_cp.vl["Lenkwinkel_1"]['Lenkradwinkel_Geschwindigkeit_S'])]
|
||||
ret.steeringTorque = pt_cp.vl["Lenkhilfe_3"]['LH3_LM'] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]['LH3_LMSign'])]
|
||||
ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE
|
||||
ret.yawRate = pt_cp.vl["Bremse_5"]['Giergeschwindigkeit'] * (1, -1)[int(pt_cp.vl["Bremse_5"]['Vorzeichen_der_Giergeschwindigk'])] * CV.DEG_TO_RAD
|
||||
|
||||
# Update gas, brakes, and gearshift.
|
||||
ret.gas = pt_cp.vl["Motor_3"]['Fahrpedal_Rohsignal'] / 100.0
|
||||
ret.gasPressed = ret.gas > 0
|
||||
ret.brake = pt_cp.vl["Bremse_5"]['Bremsdruck'] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
|
||||
ret.brakePressed = bool(pt_cp.vl["Motor_2"]['Bremstestschalter'])
|
||||
ret.brakeLights = bool(pt_cp.vl["Motor_2"]['Bremslichtschalter'])
|
||||
|
||||
# Additional safety checks performed in CarInterface.
|
||||
self.parkingBrakeSet = bool(pt_cp.vl["Kombi_01"]['KBI_Handbremse']) # FIXME: need to include an EPB check as well
|
||||
ret.espDisabled = pt_cp.vl["ESP_21"]['ESP_Tastung_passiv'] != 0
|
||||
self.parkingBrakeSet = bool(pt_cp.vl["Kombi_1"]['Bremsinfo']) # FIXME: need to include an EPB check as well
|
||||
ret.espDisabled = bool(pt_cp.vl["Bremse_1"]['ESP_Passiv_getastet'])
|
||||
|
||||
# Update gear and/or clutch position data.
|
||||
if trans_type == TRANS.automatic:
|
||||
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["Getriebe_1"]['Waehlhebelposition__Getriebe_1_'], None))
|
||||
elif trans_type == TRANS.manual:
|
||||
ret.clutchPressed = not pt_cp.vl["Motor_1"]['Kupplungsschalter']
|
||||
reverse_light = bool(pt_cp.vl["Gate_Komf_1"]['GK1_Rueckfahr'])
|
||||
# TODO: verify this synthesis has the desired behavior.
|
||||
# In particular, should we neutral disengage during normal gear changes?
|
||||
# Also, what happens if we're rolling backwards with the clutch pressed
|
||||
# in a gear other than reverse?
|
||||
if reverse_light:
|
||||
ret.gearShifter = GEAR.reverse
|
||||
elif ret.standstill and self.parkingBrakeSet:
|
||||
ret.gearShifter = GEAR.park
|
||||
elif ret.clutchPressed:
|
||||
ret.gearShifter = GEAR.neutral
|
||||
else:
|
||||
ret.gearShifter = GEAR.drive
|
||||
|
||||
# Update door and trunk/hatch lid open status.
|
||||
# TODO: need to locate signals for other three doors if possible
|
||||
ret.doorOpen = bool(pt_cp.vl["Gate_Komf_1"]['GK1_Fa_Tuerkont'])
|
||||
|
||||
# Update seatbelt fastened status.
|
||||
ret.seatbeltUnlatched = not bool(pt_cp.vl["Airbag_1"]["Gurtschalter_Fahrer"])
|
||||
|
||||
# Update driver preference for metric. VW stores many different unit
|
||||
# preferences, including separate units for for distance vs. speed.
|
||||
# We use the speed preference for OP.
|
||||
self.displayMetricUnits = not pt_cp.vl["Einheiten_1"]["MFA_v_Einheit_02"]
|
||||
|
||||
# Update ACC radar status.
|
||||
# FIXME: This is unfinished and not fully correct, need to improve further
|
||||
ret.cruiseState.available = bool(pt_cp.vl["GRA_neu"]['Hauptschalter'])
|
||||
ret.cruiseState.enabled = True if pt_cp.vl["Motor_2"]['GRA_Status'] in [1, 2] else False
|
||||
|
||||
# Update ACC setpoint. When the setpoint reads as 255, the driver has not
|
||||
# yet established an ACC setpoint, so treat it as zero.
|
||||
ret.cruiseState.speed = acc_cp.vl["ACC_GRA_Anziege"]['ACA_V_Wunsch'] * CV.KPH_TO_MS
|
||||
if ret.cruiseState.speed > 70: # 255 kph in m/s == no current setpoint
|
||||
ret.cruiseState.speed = 0
|
||||
|
||||
# Update control button states for turn signals and ACC controls.
|
||||
self.buttonStates["accelCruise"] = bool(pt_cp.vl["GRA_neu"]['Kurz_Tip_up']) or bool(pt_cp.vl["GRA_neu"]['Lang_Tip_up'])
|
||||
self.buttonStates["decelCruise"] = bool(pt_cp.vl["GRA_neu"]['Kurz_Tip_down']) or bool(pt_cp.vl["GRA_neu"]['Lang_Tip_down'])
|
||||
self.buttonStates["cancel"] = bool(pt_cp.vl["GRA_neu"]['Abbrechen'])
|
||||
self.buttonStates["setCruise"] = bool(pt_cp.vl["GRA_neu"]['Setzen'])
|
||||
self.buttonStates["resumeCruise"] = bool(pt_cp.vl["GRA_neu"]['Wiederaufnahme'])
|
||||
self.buttonStates["gapAdjustCruise"] = bool(pt_cp.vl["GRA_neu"]['Zeitlueckenverstellung'])
|
||||
ret.leftBlinker = bool(pt_cp.vl["Gate_Komf_1"]['GK1_Blinker_li'])
|
||||
ret.rightBlinker = bool(pt_cp.vl["Gate_Komf_1"]['GK1_Blinker_re'])
|
||||
|
||||
# Read ACC hardware button type configuration info that has to pass thru
|
||||
# to the radar. Ends up being different for steering wheel buttons vs
|
||||
# third stalk type controls.
|
||||
# TODO: Check to see what info we need to passthru and spoof on PQ
|
||||
self.graHauptschalter = pt_cp.vl["GRA_neu"]['Hauptschalter']
|
||||
self.graTypHauptschalter = False
|
||||
self.graButtonTypeInfo = False
|
||||
self.graTipStufe2 = False
|
||||
# Pick up the GRA_ACC_01 CAN message counter so we can sync to it for
|
||||
# later cruise-control button spamming.
|
||||
# FIXME: will need msg counter and checksum algo to spoof GRA_neu
|
||||
self.graMsgBusCounter = 0
|
||||
|
||||
# Check to make sure the electric power steering rack is configured to
|
||||
# accept and respond to HCA_01 messages and has not encountered a fault.
|
||||
self.steeringFault = pt_cp.vl["Lenkhilfe_2"]['LH2_Sta_HCA'] not in [3, 5]
|
||||
|
||||
return ret
|
||||
|
||||
@staticmethod
|
||||
def get_can_parser(CP):
|
||||
# this function generates lists for signal, messages and initial values
|
||||
def get_mqb_can_parser(CP):
|
||||
signals = [
|
||||
# sig_name, sig_address, default
|
||||
("LWI_Lenkradwinkel", "LWI_01", 0), # Absolute steering angle
|
||||
@@ -134,14 +272,12 @@ class CarState(CarStateBase):
|
||||
("ZV_HD_offen", "Gateway_72", 0), # Trunk or hatch open
|
||||
("BH_Blinker_li", "Gateway_72", 0), # Left turn signal on
|
||||
("BH_Blinker_re", "Gateway_72", 0), # Right turn signal on
|
||||
("GE_Fahrstufe", "Getriebe_11", 0), # Auto trans gear selector position
|
||||
("AB_Gurtschloss_FA", "Airbag_02", 0), # Seatbelt status, driver
|
||||
("AB_Gurtschloss_BF", "Airbag_02", 0), # Seatbelt status, passenger
|
||||
("ESP_Fahrer_bremst", "ESP_05", 0), # Brake pedal pressed
|
||||
("ESP_Status_Bremsdruck", "ESP_05", 0), # Brakes applied
|
||||
("ESP_Bremsdruck", "ESP_05", 0), # Brake pressure applied
|
||||
("MO_Fahrpedalrohwert_01", "Motor_20", 0), # Accelerator pedal value
|
||||
("MO_Kuppl_schalter", "Motor_14", 0), # Clutch switch
|
||||
("Driver_Strain", "EPS_01", 0), # Absolute driver torque input
|
||||
("Driver_Strain_VZ", "EPS_01", 0), # Driver torque input sign
|
||||
("HCA_Ready", "EPS_01", 0), # Steering rack HCA support configured
|
||||
@@ -149,60 +285,150 @@ class CarState(CarStateBase):
|
||||
("KBI_MFA_v_Einheit_02", "Einheiten_01", 0), # MPH vs KMH speed display
|
||||
("KBI_Handbremse", "Kombi_01", 0), # Manual handbrake applied
|
||||
("TSK_Status", "TSK_06", 0), # ACC engagement status from drivetrain coordinator
|
||||
("TSK_Fahrzeugmasse_02", "Motor_16", 0), # Estimated vehicle mass from drivetrain coordinator
|
||||
("ACC_Status_ACC", "ACC_06", 0), # ACC engagement status
|
||||
("ACC_Typ", "ACC_06", 0), # ACC type (follow to stop, stop&go)
|
||||
("SetSpeed", "ACC_02", 0), # ACC set speed
|
||||
("GRA_Hauptschalter", "GRA_ACC_01", 0), # ACC button, on/off
|
||||
("GRA_Abbrechen", "GRA_ACC_01", 0), # ACC button, cancel
|
||||
("GRA_Tip_Setzen", "GRA_ACC_01", 0), # ACC button, set
|
||||
("GRA_Tip_Hoch", "GRA_ACC_01", 0), # ACC button, increase or accel
|
||||
("GRA_Tip_Runter", "GRA_ACC_01", 0), # ACC button, decrease or decel
|
||||
("GRA_Tip_Wiederaufnahme", "GRA_ACC_01", 0), # ACC button, resume
|
||||
("GRA_Verstellung_Zeitluecke", "GRA_ACC_01", 0), # ACC button, time gap adj
|
||||
("GRA_Verstellung_Zeitluecke", "GRA_ACC_01", 0), # ACC button, time gap adj
|
||||
("GRA_Typ_Hauptschalter", "GRA_ACC_01", 0), # ACC main button type
|
||||
("GRA_Tip_Stufe_2", "GRA_ACC_01", 0), # unknown related to stalk type
|
||||
("GRA_Typ468", "GRA_ACC_01", 0), # Set/Resume button behavior as overloaded coast/accel??
|
||||
("GRA_ButtonTypeInfo", "GRA_ACC_01", 0), # unknown related to stalk type
|
||||
("COUNTER", "GRA_ACC_01", 0), # GRA_ACC_01 CAN message counter
|
||||
]
|
||||
|
||||
checks = [
|
||||
# sig_address, frequency
|
||||
("LWI_01", 100), # From J500 Steering Assist with integrated sensors
|
||||
("EPS_01", 100), # From J500 Steering Assist with integrated sensors
|
||||
("ESP_19", 100), # From J104 ABS/ESP controller
|
||||
("ESP_05", 50), # From J104 ABS/ESP controller
|
||||
("ESP_21", 50), # From J104 ABS/ESP controller
|
||||
("ACC_06", 50), # From J428 ACC radar control module
|
||||
("Motor_20", 50), # From J623 Engine control module
|
||||
("TSK_06", 50), # From J623 Engine control module
|
||||
("GRA_ACC_01", 33), # From J??? steering wheel control buttons
|
||||
("ACC_02", 17), # From J428 ACC radar control module
|
||||
("Getriebe_11", 20), # From J743 Auto transmission control module
|
||||
("Gateway_72", 10), # From J533 CAN gateway (aggregated data)
|
||||
("Motor_14", 10), # From J623 Engine control module
|
||||
("Airbag_02", 5), # From J234 Airbag control module
|
||||
("Kombi_01", 2), # From J285 Instrument cluster
|
||||
("Motor_16", 2), # From J623 Engine control module
|
||||
("Einheiten_01", 1), # From J??? not known if gateway, cluster, or BCM
|
||||
("LWI_01", 100), # From J500 Steering Assist with integrated sensors
|
||||
("EPS_01", 100), # From J500 Steering Assist with integrated sensors
|
||||
("ESP_19", 100), # From J104 ABS/ESP controller
|
||||
("ESP_05", 50), # From J104 ABS/ESP controller
|
||||
("ESP_21", 50), # From J104 ABS/ESP controller
|
||||
("Motor_20", 50), # From J623 Engine control module
|
||||
("TSK_06", 50), # From J623 Engine control module
|
||||
("GRA_ACC_01", 33), # From J??? steering wheel control buttons
|
||||
("Gateway_72", 10), # From J533 CAN gateway (aggregated data)
|
||||
("Airbag_02", 5), # From J234 Airbag control module
|
||||
("Kombi_01", 2), # From J285 Instrument cluster
|
||||
("Einheiten_01", 1), # From J??? not known if gateway, cluster, or BCM
|
||||
]
|
||||
|
||||
if CP.transmissionType == TRANS.automatic:
|
||||
signals += [("GE_Fahrstufe", "Getriebe_11", 0)] # Auto trans gear selector position
|
||||
checks += [("Getriebe_11", 20)] # From J743 Auto transmission control module
|
||||
elif CP.transmissionType == TRANS.direct:
|
||||
signals += [("GearPosition", "EV_Gearshift", 0)] # EV gear selector position
|
||||
checks += [("EV_Gearshift", 10)] # From J??? unknown EV control module
|
||||
elif CP.transmissionType == TRANS.manual:
|
||||
signals += [("MO_Kuppl_schalter", "Motor_14", 0), # Clutch switch
|
||||
("BCM1_Rueckfahrlicht_Schalter", "Gateway_72", 0)] # Reverse light from BCM
|
||||
checks += [("Motor_14", 10)] # From J623 Engine control module
|
||||
|
||||
if CP.networkLocation == NWL.fwdCamera:
|
||||
# The ACC radar is here on CANBUS.pt
|
||||
signals += [("SetSpeed", "ACC_02", 0)] # ACC set speed
|
||||
checks += [("ACC_02", 17)] # From J428 ACC radar control module
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.pt)
|
||||
|
||||
# A single signal is monitored from the camera CAN bus, and then ignored,
|
||||
# so the presence of CAN traffic can be verified with cam_cp.valid.
|
||||
|
||||
@staticmethod
|
||||
def get_cam_can_parser(CP):
|
||||
|
||||
def get_pq_can_parser(CP):
|
||||
signals = [
|
||||
# sig_name, sig_address, default
|
||||
("Kombi_Lamp_Green", "LDW_02", 0), # Lane Assist status LED
|
||||
("LH3_BLW", "Lenkhilfe_3", 0), # Absolute steering angle
|
||||
("LH3_BLWSign", "Lenkhilfe_3", 0), # Steering angle sign
|
||||
("LH3_LM", "Lenkhilfe_3", 0), # Absolute driver torque input
|
||||
("LH3_LMSign", "Lenkhilfe_3", 0), # Driver torque input sign
|
||||
("LH2_Sta_HCA", "Lenkhilfe_2", 0), # Steering rack HCA status
|
||||
("Lenkradwinkel_Geschwindigkeit", "Lenkwinkel_1", 0), # Absolute steering rate
|
||||
("Lenkradwinkel_Geschwindigkeit_S", "Lenkwinkel_1", 0), # Steering rate sign
|
||||
("Radgeschw__VL_4_1", "Bremse_3", 0), # ABS wheel speed, front left
|
||||
("Radgeschw__VR_4_1", "Bremse_3", 0), # ABS wheel speed, front right
|
||||
("Radgeschw__HL_4_1", "Bremse_3", 0), # ABS wheel speed, rear left
|
||||
("Radgeschw__HR_4_1", "Bremse_3", 0), # ABS wheel speed, rear right
|
||||
("Giergeschwindigkeit", "Bremse_5", 0), # Absolute yaw rate
|
||||
("Vorzeichen_der_Giergeschwindigk", "Bremse_5", 0), # Yaw rate sign
|
||||
("GK1_Fa_Tuerkont", "Gate_Komf_1", 0), # Door open, driver
|
||||
# TODO: locate passenger and rear door states
|
||||
("GK1_Blinker_li", "Gate_Komf_1", 0), # Left turn signal on
|
||||
("GK1_Blinker_re", "Gate_Komf_1", 0), # Right turn signal on
|
||||
("Gurtschalter_Fahrer", "Airbag_1", 0), # Seatbelt status, driver
|
||||
("Gurtschalter_Beifahrer", "Airbag_1", 0), # Seatbelt status, passenger
|
||||
("Bremstestschalter", "Motor_2", 0), # Brake pedal pressed (brake light test switch)
|
||||
("Bremslichtschalter", "Motor_2", 0), # Brakes applied (brake light switch)
|
||||
("Bremsdruck", "Bremse_5", 0), # Brake pressure applied
|
||||
("Vorzeichen_Bremsdruck", "Bremse_5", 0), # Brake pressure applied sign (???)
|
||||
("Fahrpedal_Rohsignal", "Motor_3", 0), # Accelerator pedal value
|
||||
("ESP_Passiv_getastet", "Bremse_1", 0), # Stability control disabled
|
||||
("MFA_v_Einheit_02", "Einheiten_1", 0), # MPH vs KMH speed display
|
||||
("Bremsinfo", "Kombi_1", 0), # Manual handbrake applied
|
||||
("GRA_Status", "Motor_2", 0), # ACC engagement status
|
||||
("Hauptschalter", "GRA_neu", 0), # ACC button, on/off
|
||||
("Abbrechen", "GRA_neu", 0), # ACC button, cancel
|
||||
("Setzen", "GRA_neu", 0), # ACC button, set
|
||||
("Lang_Tip_up", "GRA_neu", 0), # ACC button, increase or accel, long press
|
||||
("Lang_Tip_down", "GRA_neu", 0), # ACC button, decrease or decel, long press
|
||||
("Kurz_Tip_up", "GRA_neu", 0), # ACC button, increase or accel, short press
|
||||
("Kurz_Tip_down", "GRA_neu", 0), # ACC button, decrease or decel, short press
|
||||
("Wiederaufnahme", "GRA_neu", 0), # ACC button, resume
|
||||
("Zeitlueckenverstellung", "GRA_neu", 0), # ACC button, time gap adj
|
||||
]
|
||||
|
||||
checks = [
|
||||
# sig_address, frequency
|
||||
("LDW_02", 10) # From R242 Driver assistance camera
|
||||
("Bremse_3", 100), # From J104 ABS/ESP controller
|
||||
("Lenkhilfe_3", 100), # From J500 Steering Assist with integrated sensors
|
||||
("Lenkwinkel_1", 100), # From J500 Steering Assist with integrated sensors
|
||||
("Motor_3", 100), # From J623 Engine control module
|
||||
("Airbag_1", 50), # From J234 Airbag control module
|
||||
("Bremse_5", 50), # From J104 ABS/ESP controller
|
||||
("GRA_neu", 50), # From J??? steering wheel control buttons
|
||||
("Kombi_1", 50), # From J285 Instrument cluster
|
||||
("Motor_2", 50), # From J623 Engine control module
|
||||
("Lenkhilfe_2", 20), # From J500 Steering Assist with integrated sensors
|
||||
("Gate_Komf_1", 10), # From J533 CAN gateway
|
||||
("Einheiten_1", 1), # From J??? cluster or gateway
|
||||
]
|
||||
|
||||
if CP.transmissionType == TRANS.automatic:
|
||||
signals += [("Waehlhebelposition__Getriebe_1_", "Getriebe_1", 0)] # Auto trans gear selector position
|
||||
checks += [("Getriebe_1", 100)] # From J743 Auto transmission control module
|
||||
elif CP.transmissionType == TRANS.manual:
|
||||
signals += [("Kupplungsschalter", "Motor_1", 0), # Clutch switch
|
||||
("GK1_Rueckfahr", "Gate_Komf_1", 0)] # Reverse light from BCM
|
||||
checks += [("Motor_1", 100)] # From J623 Engine control module
|
||||
|
||||
if CP.networkLocation == NWL.fwdCamera:
|
||||
# The ACC radar is here on CANBUS.pt
|
||||
signals += [("ACA_V_Wunsch", "ACC_GRA_Anziege", 0)] # ACC set speed
|
||||
checks += [("ACC_GRA_Anziege", 25)] # From J428 ACC radar control module
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.pt)
|
||||
|
||||
@staticmethod
|
||||
def get_mqb_cam_can_parser(CP):
|
||||
# TODO: Need to monitor LKAS camera, if present, for TLC/DLC/warning signals for passthru to SWA
|
||||
signals = []
|
||||
checks = []
|
||||
|
||||
if CP.networkLocation == NWL.gateway:
|
||||
# The ACC radar is here on CANBUS.cam
|
||||
signals += [("SetSpeed", "ACC_02", 0)] # ACC set speed
|
||||
checks += [("ACC_02", 17)] # From J428 ACC radar control module
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.cam)
|
||||
|
||||
@staticmethod
|
||||
def get_pq_cam_can_parser(CP):
|
||||
# TODO: Need to monitor LKAS camera, if present, for TLC/DLC/warning signals for passthru to SWA
|
||||
signals = []
|
||||
checks = []
|
||||
|
||||
if CP.networkLocation == NWL.gateway:
|
||||
# The ACC radar is here on CANBUS.cam
|
||||
signals += [("ACA_V_Wunsch", "ACC_GRA_Anziege", 0)] # ACC set speed
|
||||
checks += [("ACC_GRA_Anziege", 25)] # From J428 ACC radar control module
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.cam)
|
||||
|
||||
@@ -1,20 +1,25 @@
|
||||
from cereal import car
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.swaglog import cloudlog
|
||||
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
|
||||
from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES
|
||||
from common.params import put_nonblocking
|
||||
from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES, NWL, TRANS, GEAR, MQB_CARS, PQ_CARS
|
||||
from common.params import Params
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
GEAR = car.CarState.GearShifter
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
def __init__(self, CP, CarController, CarState):
|
||||
super().__init__(CP, CarController, CarState)
|
||||
|
||||
self.displayMetricUnitsPrev = None
|
||||
self.gas_pressed_prev = False
|
||||
self.brake_pressed_prev = False
|
||||
self.cruise_enabled_prev = False
|
||||
self.low_speed_alert = False
|
||||
self.buttonStatesPrev = BUTTON_STATES.copy()
|
||||
|
||||
# Set up an alias to PT/CAM parser for ACC depending on its detected network location
|
||||
self.cp_acc = self.cp if CP.networkLocation == NWL.fwdCamera else self.cp_cam
|
||||
|
||||
@staticmethod
|
||||
def compute_gb(accel, speed):
|
||||
return float(accel) / 4.0
|
||||
@@ -23,46 +28,67 @@ class CarInterface(CarInterfaceBase):
|
||||
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
|
||||
|
||||
# VW port is a community feature, since we don't own one to test
|
||||
ret.communityFeature = True
|
||||
# Set global default parameters
|
||||
ret.radarOffCan = True
|
||||
ret.enableCamera = True # Stock camera detection doesn't apply to VW
|
||||
ret.steerRateCost = 1.0
|
||||
ret.steerActuatorDelay = 0.05 # Hopefully all racks are similar here
|
||||
ret.steerLimitTimer = 0.4
|
||||
|
||||
if candidate == CAR.GOLF:
|
||||
# Set common MQB parameters that will apply globally
|
||||
# Override these per-car as necessary
|
||||
ret.lateralTuning.pid.kpBP = [0.]
|
||||
ret.lateralTuning.pid.kiBP = [0.]
|
||||
ret.lateralTuning.pid.kpV = [0.6]
|
||||
ret.lateralTuning.pid.kiV = [0.2]
|
||||
ret.lateralTuning.pid.kf = 0.00006
|
||||
|
||||
# PER-PLATFORM PARAMETERS - DO NOT EDIT HERE TO TUNE INDIVIDUAL VEHICLES
|
||||
|
||||
if candidate in MQB_CARS:
|
||||
# Configurations shared between all MQB vehicles
|
||||
ret.carName = "volkswagen"
|
||||
ret.radarOffCan = True
|
||||
ret.safetyModel = car.CarParams.SafetyModel.volkswagen
|
||||
|
||||
# Additional common MQB parameters that may be overridden per-vehicle
|
||||
ret.steerRateCost = 0.5
|
||||
ret.steerActuatorDelay = 0.05 # Hopefully all MQB racks are similar here
|
||||
ret.steerLimitTimer = 0.4
|
||||
# Determine installed network location and trans type from fingerprint
|
||||
ret.networkLocation = NWL.fwdCamera if 0x122 in fingerprint[0] else NWL.gateway
|
||||
if 0xAD in fingerprint[0]: # Getriebe_11
|
||||
ret.transmissionType = TRANS.automatic
|
||||
elif 0x187 in fingerprint[0]: # EV_Gearshift
|
||||
ret.transmissionType = TRANS.direct
|
||||
else: # No trans at all
|
||||
ret.transmissionType = TRANS.manual
|
||||
|
||||
# As a starting point for speed-adjusted lateral tuning, use the example
|
||||
# map speed breakpoints from a VW Tiguan (SSP 399 page 9). It's unclear
|
||||
# whether the driver assist map breakpoints have any direct bearing on
|
||||
# HCA assist torque, but if they're good breakpoints for the driver,
|
||||
# they're probably good breakpoints for HCA as well. OP won't be driving
|
||||
# 250kph/155mph but it provides interpolation scaling above 100kmh/62mph.
|
||||
ret.lateralTuning.pid.kpBP = [0., 15 * CV.KPH_TO_MS, 50 * CV.KPH_TO_MS]
|
||||
ret.lateralTuning.pid.kiBP = [0., 15 * CV.KPH_TO_MS, 50 * CV.KPH_TO_MS]
|
||||
elif candidate in PQ_CARS:
|
||||
# Configurations shared between all PQ35/PQ46/NMS vehicles
|
||||
ret.carName = "volkswagen"
|
||||
ret.safetyModel = car.CarParams.SafetyModel.volkswagenPq
|
||||
|
||||
# FIXME: Per-vehicle parameters need to be reintegrated.
|
||||
# For the time being, per-vehicle stuff is being archived since we
|
||||
# can't auto-detect very well yet. Now that tuning is figured out,
|
||||
# averaged params should work reasonably on a range of cars. Owners
|
||||
# can tweak here, as needed, until we have car type auto-detection.
|
||||
# Determine installed network location and trans type from fingerprint
|
||||
ret.networkLocation = NWL.fwdCamera if 0x368 in fingerprint[0] else NWL.gateway
|
||||
if 0x440 in fingerprint[0]: # Getriebe_1
|
||||
ret.transmissionType = TRANS.automatic
|
||||
else: # No trans at all
|
||||
ret.transmissionType = TRANS.manual
|
||||
|
||||
ret.mass = 1700 + STD_CARGO_KG
|
||||
ret.wheelbase = 2.75
|
||||
ret.centerToFront = ret.wheelbase * 0.45
|
||||
cloudlog.warning("Detected network location: %s", ret.networkLocation)
|
||||
cloudlog.warning("Detected transmission type: %s", ret.transmissionType)
|
||||
|
||||
# PER-VEHICLE PARAMETERS - EDIT HERE TO TUNE INDIVIDUAL VEHICLES
|
||||
|
||||
if candidate == CAR.GENERICMQB:
|
||||
# FIXME: Defaulting to VW Golf Mk7 as a baseline.
|
||||
ret.mass = 1500 + STD_CARGO_KG # Average, varies on trim/package
|
||||
ret.wheelbase = 2.64
|
||||
ret.centerToFront = ret.wheelbase * 0.45 # Estimated
|
||||
ret.steerRatio = 15.6
|
||||
ret.lateralTuning.pid.kf = 0.00006
|
||||
ret.lateralTuning.pid.kpV = [0.15, 0.25, 0.60]
|
||||
ret.lateralTuning.pid.kiV = [0.05, 0.05, 0.05]
|
||||
tire_stiffness_factor = 0.6
|
||||
tire_stiffness_factor = 1.0
|
||||
|
||||
ret.enableCamera = True # Stock camera detection doesn't apply to VW
|
||||
ret.transmissionType = car.CarParams.TransmissionType.automatic
|
||||
elif candidate == CAR.GENERICPQ:
|
||||
ret.mass = 1375 + STD_CARGO_KG # Average, varies on trim/package
|
||||
ret.wheelbase = 2.58
|
||||
ret.centerToFront = ret.wheelbase * 0.45 # Estimated
|
||||
ret.steerRatio = 15.6
|
||||
tire_stiffness_factor = 1.0
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
# civic and scaling by mass and wheelbase
|
||||
@@ -79,6 +105,7 @@ class CarInterface(CarInterfaceBase):
|
||||
def update(self, c, can_strings):
|
||||
canMonoTimes = []
|
||||
buttonEvents = []
|
||||
params = Params()
|
||||
|
||||
# Process the most recent CAN message traffic, and check for validity
|
||||
# The camera CAN has no signals we use at this time, but we process it
|
||||
@@ -86,14 +113,14 @@ class CarInterface(CarInterfaceBase):
|
||||
self.cp.update_strings(can_strings)
|
||||
self.cp_cam.update_strings(can_strings)
|
||||
|
||||
ret = self.CS.update(self.cp)
|
||||
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
|
||||
ret = self.CS.update(self.cp, self.cp_cam, self.cp_acc, self.CP.transmissionType)
|
||||
ret.canValid = self.cp.can_valid # FIXME: Restore cp_cam valid check after proper LKAS camera detect
|
||||
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
|
||||
|
||||
# Update the EON metric configuration to match the car at first startup,
|
||||
# or if there's been a change.
|
||||
if self.CS.displayMetricUnits != self.displayMetricUnitsPrev:
|
||||
put_nonblocking("IsMetric", "1" if self.CS.displayMetricUnits else "0")
|
||||
params.put("IsMetric", "1" if self.CS.displayMetricUnits else "0")
|
||||
|
||||
# Check for and process state-change events (button press or release) from
|
||||
# the turn stalk switch or ACC steering wheel/control stalk buttons.
|
||||
@@ -112,11 +139,22 @@ class CarInterface(CarInterfaceBase):
|
||||
if self.CS.steeringFault:
|
||||
events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
|
||||
|
||||
# Engagement and longitudinal control using stock ACC. Make sure OP is
|
||||
# disengaged if stock ACC is disengaged.
|
||||
if not ret.cruiseState.enabled:
|
||||
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
|
||||
# Attempt OP engagement only on rising edge of stock ACC engagement.
|
||||
elif not self.cruise_enabled_prev:
|
||||
events.append(create_event('pcmEnable', [ET.ENABLE]))
|
||||
|
||||
ret.events = events
|
||||
ret.buttonEvents = buttonEvents
|
||||
ret.canMonoTimes = canMonoTimes
|
||||
|
||||
# update previous car states
|
||||
self.gas_pressed_prev = ret.gasPressed
|
||||
self.brake_pressed_prev = ret.brakePressed
|
||||
self.cruise_enabled_prev = ret.cruiseState.enabled
|
||||
self.displayMetricUnitsPrev = self.CS.displayMetricUnits
|
||||
self.buttonStatesPrev = self.CS.buttonStates.copy()
|
||||
|
||||
|
||||
@@ -1,8 +1,22 @@
|
||||
# --------------------------------------------------------------------------- #
|
||||
# #
|
||||
# from: https://github.com/jyoung8607/openpilot/tree/vw-community-private-pq #
|
||||
# verify: dinglx@uincore.net(https://shop442817640.taobao.com) #
|
||||
# Date: 2020-05-22 #
|
||||
# #
|
||||
# --------------------------------------------------------------------------- #
|
||||
|
||||
|
||||
from cereal import car
|
||||
from selfdrive.car import dbc_dict
|
||||
|
||||
class CarControllerParams:
|
||||
HCA_STEP = 2 # HCA_01 message frequency 50Hz
|
||||
LDW_STEP = 10 # LDW_02 message frequency 10Hz
|
||||
# FIXME: testing HCA at 100Hz on PQ to verify timebomb behavior
|
||||
# HCA_STEP = 2 # HCA_01 message frequency 50Hz
|
||||
HCA_STEP = 1 # HCA_01 message frequency 100Hz
|
||||
# FIXME: LDW is sent at 20Hz on PQ, need to make this conditional
|
||||
# LDW_STEP = 10 # LDW_02 message frequency 10Hz
|
||||
LDW_STEP = 5 # LDW_02 message frequency 20Hz
|
||||
GRA_ACC_STEP = 3 # GRA_ACC_01 message frequency 33Hz
|
||||
|
||||
GRA_VBP_STEP = 100 # Send ACC virtual button presses once a second
|
||||
@@ -12,8 +26,11 @@ class CarControllerParams:
|
||||
# Limiting rate-of-change based on real-world testing and Comma's safety
|
||||
# requirements for minimum time to lane departure.
|
||||
STEER_MAX = 300 # Max heading control assist torque 3.00 Nm
|
||||
STEER_DELTA_UP = 4 # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50))
|
||||
STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
|
||||
# FIXME: testing steering rate hax for PQ
|
||||
# STEER_DELTA_UP = 4 # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50))
|
||||
# STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
|
||||
STEER_DELTA_UP = 2 # Max HCA reached in 1.50s (STEER_MAX / (100Hz * 1.50))
|
||||
STEER_DELTA_DOWN = 5 # Min HCA reached in 0.60s (STEER_MAX / (100Hz * 0.60))
|
||||
STEER_DRIVER_ALLOWANCE = 80
|
||||
STEER_DRIVER_MULTIPLIER = 3 # weight driver torque heavily
|
||||
STEER_DRIVER_FACTOR = 1 # from dbc
|
||||
@@ -22,6 +39,10 @@ class CANBUS:
|
||||
pt = 0
|
||||
cam = 2
|
||||
|
||||
NWL = car.CarParams.NetworkLocation
|
||||
TRANS = car.CarParams.TransmissionType
|
||||
GEAR = car.CarState.GearShifter
|
||||
|
||||
BUTTON_STATES = {
|
||||
"accelCruise": False,
|
||||
"decelCruise": False,
|
||||
@@ -44,15 +65,52 @@ MQB_LDW_MESSAGES = {
|
||||
}
|
||||
|
||||
class CAR:
|
||||
GOLF = "Volkswagen Golf"
|
||||
GENERICMQB = "Generic Volkswagen MQB Platform Vehicle"
|
||||
GENERICPQ = "Generic Volkswagen PQ35/PQ46/NMS Platform Vehicle"
|
||||
|
||||
# Mega-fingerprint used to identify any and all MQB platform vehicles. Specific
|
||||
# make and model characteristics are looked up from the VIN later.
|
||||
# Note: 1471:8 observed as 1471:4 on a 2019 Jetta, and we can't carry both in one FP, effect TBD
|
||||
FINGERPRINTS = {
|
||||
CAR.GOLF: [
|
||||
# 76b83eb0245de90e|2019-10-21--17-40-42 - jyoung8607 car
|
||||
{64: 8, 134: 8, 159: 8, 173: 8, 178: 8, 253: 8, 257: 8, 260: 8, 262: 8, 264: 8, 278: 8, 279: 8, 283: 8, 286: 8, 288: 8, 289: 8, 290: 8, 294: 8, 299: 8, 302: 8, 346: 8, 385: 8, 418: 8, 427: 8, 668: 8, 679: 8, 681: 8, 695: 8, 779: 8, 780: 8, 783: 8, 792: 8, 795: 8, 804: 8, 806: 8, 807: 8, 808: 8, 809: 8, 870: 8, 896: 8, 897: 8, 898: 8, 901: 8, 917: 8, 919: 8, 949: 8, 958: 8, 960: 4, 981: 8, 987: 8, 988: 8, 991: 8, 997: 8, 1000: 8, 1019: 8, 1120: 8, 1122: 8, 1123: 8, 1124: 8, 1153: 8, 1162: 8, 1175: 8, 1312: 8, 1385: 8, 1413: 8, 1440: 5, 1514: 8, 1515: 8, 1520: 8, 1600: 8, 1601: 8, 1603: 8, 1605: 8, 1624: 8, 1626: 8, 1629: 8, 1631: 8, 1646: 8, 1648: 8, 1712: 6, 1714: 8, 1716: 8, 1717: 8, 1719: 8, 1720: 8, 1721: 8
|
||||
}],
|
||||
|
||||
CAR.GENERICMQB: [
|
||||
{178: 8, 1600: 8, 1601: 8, 1603: 8, 1605: 8, 695: 8, 1624: 8, 1626: 8, 1629: 8, 1631: 8, 1122: 8, 1123: 8,
|
||||
1124: 8, 1646: 8, 1648: 8, 1153: 8, 134: 8, 1162: 8, 1175: 8, 159: 8, 795: 8, 679: 8, 681: 8, 173: 8, 1712: 6,
|
||||
1714: 8, 1716: 8, 1717: 8, 1719: 8, 1720: 8, 1721: 8, 1312: 8, 806: 8, 253: 8, 1792: 8, 257: 8, 260: 8, 262: 8,
|
||||
897: 8, 264: 8, 779: 8, 780: 8, 783: 8, 278: 8, 279: 8, 792: 8, 283: 8, 285: 8, 286: 8, 901: 8, 288: 8, 289: 8,
|
||||
290: 8, 804: 8, 294: 8, 807: 8, 808: 8, 809: 8, 299: 8, 302: 8, 1351: 8, 346: 8, 870: 8, 1385: 8, 896: 8, 64: 8,
|
||||
898: 8, 1413: 8, 917: 8, 919: 8, 927: 8, 1440: 5, 929: 8, 930: 8, 427: 8, 949: 8, 958: 8, 960: 4, 418: 8, 981: 8,
|
||||
987: 8, 988: 8, 991: 8, 997: 8, 1000: 8, 1514: 8, 1515: 8, 1520: 8, 1019: 8, 385: 8, 668: 8, 1120: 8,
|
||||
1438: 8, 1461: 8, 391: 8, 1511: 8, 1516: 8, 568: 8, 569: 8, 826: 8, 827: 8, 1156: 8, 1157: 8, 1158: 8, 1471: 8,
|
||||
1635: 8, 376: 8},
|
||||
# 2018 skoda kodiaq from @Gold
|
||||
{64: 8, 134: 8, 159: 8, 173: 8, 178: 8, 253: 8, 257: 8, 260: 8, 262: 8, 278: 8, 279: 8, 283: 8, 286: 8, 288: 8, 289: 8, 290: 8, 294: 8, 299: 8, 302: 8, 346: 8, 385: 8, 418: 8, 427: 8, 573: 8, 668: 8, 679: 8, 681: 8, 684: 8, 695: 8, 779: 8, 780: 8, 783: 8, 792: 8, 795: 8, 804: 8, 806: 8, 807: 8, 808: 8, 809: 8, 828: 8, 870: 8, 896: 8, 897: 8, 898: 8, 901: 8, 917: 8, 919: 8, 949: 8, 958: 8, 960: 4, 981: 8, 987: 8, 988: 8, 991: 8, 997: 8, 1000: 8, 1019: 8, 1120: 8, 1153: 8, 1162: 8, 1175: 8, 1312: 8, 1385: 8, 1413: 8, 1440: 5, 1514: 8, 1515: 8, 1520: 8, 1529: 8, 1600: 8, 1601: 8, 1603: 8, 1605: 8, 1624: 8, 1626: 8, 1629: 8, 1631: 8, 1646: 8, 1648: 8, 1712: 6, 1714: 8, 1716: 8, 1717: 8, 1719: 8, 1720: 8, 1721: 8 }
|
||||
],
|
||||
|
||||
CAR.GENERICPQ: [
|
||||
# kamold, Edgy, austinc3030, Roy_001
|
||||
{80: 4, 194: 8, 208: 6, 210: 5, 294: 8, 416: 8, 428: 8, 640: 8, 648: 8, 800: 8, 835: 3, 870: 8, 872: 8, 878: 8,
|
||||
896: 8, 906: 4, 912: 8, 914: 8, 919: 8, 928: 8, 978: 7, 1056: 8, 1088: 8, 1152: 8, 1175: 8, 1184: 8, 1192: 8,
|
||||
1312: 8, 1386: 8, 1392: 5, 1394: 1, 1408: 8, 1440: 8, 1463: 8, 1470: 5, 1472: 8, 1488: 8, 1490: 8, 1500: 8,
|
||||
1550: 2, 1651: 3, 1652: 8, 1654: 2, 1658: 4, 1691: 3, 1736: 2, 1757: 8, 1824: 7, 1845: 7, 2000: 8, 1420: 8},
|
||||
# cd (powertrain CAN direct)
|
||||
{16: 7, 17: 7, 80: 4, 174: 8, 194: 8, 208: 6, 416: 8, 428: 8, 640: 8, 648: 8, 672: 8, 800: 8, 896: 8, 906: 4,
|
||||
912: 8, 914: 8, 915: 8, 919: 8, 928: 8, 946: 8, 976: 6, 978: 7, 1056: 8, 1152: 8, 1160: 8, 1162: 8, 1164: 8,
|
||||
1175: 8, 1184: 8, 1192: 8, 1306: 8, 1312: 8, 1344: 8, 1360: 8, 1386: 8, 1392: 5, 1394: 1, 1408: 8, 1416: 8,
|
||||
1420: 8, 1423: 8, 1440: 8, 1463: 8, 1488: 8, 1490: 8, 1494: 2, 1500: 8, 1504: 8, 1523: 8, 1527: 4, 1654: 2,
|
||||
1658: 2, 1754: 8, 1824: 7, 1827: 7, 2000: 8},
|
||||
{80: 4, 194: 8, 208: 6, 210: 5, 416: 8, 428: 8, 640: 8, 648: 8, 695: 8, 800: 8, 835: 3, 870: 8, 872: 8, 878: 8, 896: 8, 906: 4, 912: 8, 914: 8, 928: 8, 954: 8, 978: 7, 1056: 8, 1088: 8, 1152: 8, 1175: 8, 1184: 8, 1192: 8, 1312: 8, 1386: 8, 1392: 5, 1394: 1, 1408: 8, 1440: 8, 1463: 8, 1470: 5, 1472: 8, 1488: 8, 1490: 8, 1500: 8, 1550: 2, 1650: 8, 1651: 4, 1652: 8, 1691: 4, 1757: 3, 1824: 7, 1845: 7, 2000: 8},
|
||||
{80: 4, 194: 8, 208: 6, 210: 5, 416: 8, 428: 8, 640: 8, 648: 8, 695: 8, 800: 8, 835: 3, 870: 8, 872: 8, 878: 8, 896: 8, 906: 4, 912: 8, 914: 8, 928: 8, 954: 8, 978: 7, 1056: 8, 1088: 8, 1152: 8, 1175: 8, 1184: 8, 1192: 8, 1312: 8, 1386: 8, 1392: 5, 1394: 1, 1408: 8, 1440: 8, 1463: 8, 1470: 5, 1472: 8, 1488: 8, 1490: 8, 1500: 8, 1550: 2, 1650: 5, 1651: 3, 1652: 8, 1691: 3, 1736: 2, 1757: 8, 1824: 7, 1845: 7, 2000: 8
|
||||
},
|
||||
{80: 4, 194: 8, 208: 6, 210: 5, 416: 8, 428: 8, 640: 8, 648: 8, 695: 8, 800: 8, 835: 3, 870: 8, 872: 8, 878: 8, 896: 8, 906: 4, 912: 8, 914: 8, 928: 8, 954: 8, 978: 7, 1056: 8, 1088: 8, 1152: 8, 1175: 8, 1184: 8, 1192: 8, 1312: 8, 1386: 8, 1392: 5, 1394: 1, 1408: 8, 1440: 8, 1463: 8, 1470: 5, 1472: 8, 1488: 8, 1490: 8, 1500: 8, 1550: 2, 1650: 4, 1651: 3, 1652: 8, 1691: 2, 1736: 2, 1757: 3, 1824: 7, 1845: 7, 2000: 8
|
||||
}
|
||||
],
|
||||
}
|
||||
|
||||
MQB_CARS = [CAR.GENERICMQB]
|
||||
PQ_CARS = [CAR.GENERICPQ]
|
||||
|
||||
DBC = {
|
||||
CAR.GOLF: dbc_dict('vw_mqb_2010', None),
|
||||
CAR.GENERICMQB: dbc_dict('vw_mqb_2010', None),
|
||||
CAR.GENERICPQ: dbc_dict('vw_golf_mk4', None),
|
||||
}
|
||||
|
||||
@@ -1,5 +1,8 @@
|
||||
# CAN controls for MQB platform Volkswagen, Audi, Skoda and SEAT.
|
||||
# PQ35/PQ46/NMS, and any future MLB, to come later.
|
||||
# ----------------------------------------------------------------------- #
|
||||
# #
|
||||
# CAN message packing for MQB vehicles #
|
||||
# #
|
||||
# ----------------------------------------------------------------------- #
|
||||
|
||||
def create_mqb_steering_control(packer, bus, apply_steer, idx, lkas_enabled):
|
||||
values = {
|
||||
@@ -46,7 +49,49 @@ def create_mqb_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx):
|
||||
"GRA_Typ_Hauptschalter": CS.graTypHauptschalter,
|
||||
"GRA_Codierung": 2,
|
||||
"GRA_Tip_Stufe_2": CS.graTipStufe2,
|
||||
"GRA_Typ468": CS.graTyp468,
|
||||
"GRA_ButtonTypeInfo": CS.graButtonTypeInfo
|
||||
}
|
||||
|
||||
return packer.make_can_msg("GRA_ACC_01", bus, values, idx)
|
||||
|
||||
# ----------------------------------------------------------------------- #
|
||||
# #
|
||||
# CAN message packing for PQ35/PQ46/NMS vehicles #
|
||||
# #
|
||||
# ----------------------------------------------------------------------- #
|
||||
|
||||
def create_pq_steering_control(packer, bus, apply_steer, idx, lkas_enabled):
|
||||
values = {
|
||||
"HCA_Zaehler": idx,
|
||||
"LM_Offset": abs(apply_steer),
|
||||
"LM_OffSign": 1 if apply_steer < 0 else 0,
|
||||
"HCA_Status": 5 if (lkas_enabled and apply_steer != 0) else 3,
|
||||
"Vib_Freq": 16,
|
||||
}
|
||||
|
||||
dat = packer.make_can_msg("HCA_1", bus, values)[2]
|
||||
values["HCA_Checksumme"] = dat[1] ^ dat[2] ^ dat[3] ^ dat[4]
|
||||
return packer.make_can_msg("HCA_1", bus, values)
|
||||
|
||||
def create_pq_hud_control(packer, bus, hca_enabled, steering_pressed, hud_alert, leftLaneVisible, rightLaneVisible):
|
||||
if hca_enabled:
|
||||
leftlanehud = 3 if leftLaneVisible else 1
|
||||
rightlanehud = 3 if rightLaneVisible else 1
|
||||
else:
|
||||
leftlanehud = 2 if leftLaneVisible else 1
|
||||
rightlanehud = 2 if rightLaneVisible else 1
|
||||
|
||||
values = {
|
||||
"Right_Lane_Status": rightlanehud,
|
||||
"Left_Lane_Status": leftlanehud,
|
||||
"SET_ME_X1": 1,
|
||||
"Kombi_Lamp_Orange": 1 if hca_enabled and steering_pressed else 0,
|
||||
"Kombi_Lamp_Green": 1 if hca_enabled and not steering_pressed else 0,
|
||||
}
|
||||
return packer.make_can_msg("LDW_1", bus, values)
|
||||
|
||||
pass
|
||||
|
||||
def create_pq_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx):
|
||||
pass
|
||||
|
||||
@@ -143,3 +143,13 @@ extern "C" void framebuffer_swap(FramebufferState *s) {
|
||||
assert(glGetError() == GL_NO_ERROR);
|
||||
}
|
||||
|
||||
extern "C" void framebuffer_swap_layer(FramebufferState *s, int32_t layer) {
|
||||
status_t status;
|
||||
SurfaceComposerClient::openGlobalTransaction();
|
||||
status = s->control->setLayer(layer);
|
||||
SurfaceComposerClient::closeGlobalTransaction();
|
||||
assert(status == 0);
|
||||
|
||||
s->s = s->control->getSurface();
|
||||
assert(s->s != NULL);
|
||||
}
|
||||
@@ -13,6 +13,7 @@ FramebufferState* framebuffer_init(
|
||||
|
||||
void framebuffer_set_power(FramebufferState *s, int mode);
|
||||
void framebuffer_swap(FramebufferState *s);
|
||||
void framebuffer_swap_layer(FramebufferState *s, int32_t layer);
|
||||
|
||||
/* Display power modes */
|
||||
enum {
|
||||
|
||||
@@ -0,0 +1,12 @@
|
||||
import gettext
|
||||
from common import android
|
||||
from common.params import put_nonblocking
|
||||
is_android = android.ANDROID
|
||||
locale_dir = '/data/openpilot/selfdrive/assets/locales'
|
||||
supported_language = ['en-US', 'zh-TW', 'zh-CN']
|
||||
locale = android.getprop("persist.sys.locale") if is_android else 'en-US'
|
||||
|
||||
def alerts():
|
||||
i18n = gettext.translation('alerts', localedir=locale_dir, fallback=True, languages=[locale])
|
||||
i18n.install()
|
||||
return i18n.gettext
|
||||
+11
-11
@@ -118,17 +118,17 @@ int spin(int argc, char** argv) {
|
||||
nvgFill(vg);
|
||||
|
||||
// spin track
|
||||
nvgSave(vg);
|
||||
nvgTranslate(vg, spinner_img_xc, spinner_img_yc);
|
||||
nvgRotate(vg, (3.75*M_PI * cnt/120.0));
|
||||
nvgTranslate(vg, -spinner_img_xc, -spinner_img_yc);
|
||||
NVGpaint spinner_imgPaint = nvgImagePattern(vg, spinner_img_x, spinner_img_y,
|
||||
spinner_img_s, spinner_img_s, 0, spinner_img, 0.6f);
|
||||
nvgBeginPath(vg);
|
||||
nvgFillPaint(vg, spinner_imgPaint);
|
||||
nvgRect(vg, spinner_img_x, spinner_img_y, spinner_img_s, spinner_img_s);
|
||||
nvgFill(vg);
|
||||
nvgRestore(vg);
|
||||
// nvgSave(vg);
|
||||
// nvgTranslate(vg, spinner_img_xc, spinner_img_yc);
|
||||
// nvgRotate(vg, (3.75*M_PI * cnt/120.0));
|
||||
// nvgTranslate(vg, -spinner_img_xc, -spinner_img_yc);
|
||||
// NVGpaint spinner_imgPaint = nvgImagePattern(vg, spinner_img_x, spinner_img_y,
|
||||
// spinner_img_s, spinner_img_s, 0, spinner_img, 0.6f);
|
||||
// nvgBeginPath(vg);
|
||||
// nvgFillPaint(vg, spinner_imgPaint);
|
||||
// nvgRect(vg, spinner_img_x, spinner_img_y, spinner_img_s, spinner_img_s);
|
||||
// nvgFill(vg);
|
||||
// nvgRestore(vg);
|
||||
|
||||
// comma
|
||||
NVGpaint comma_imgPaint = nvgImagePattern(vg, spinner_img_x, spinner_img_y,
|
||||
|
||||
@@ -25,6 +25,8 @@ from selfdrive.controls.lib.alertmanager import AlertManager
|
||||
from selfdrive.controls.lib.vehicle_model import VehicleModel
|
||||
from selfdrive.controls.lib.planner import LON_MPC_STEP
|
||||
from selfdrive.locationd.calibration_helpers import Calibration, Filter
|
||||
# dp
|
||||
from common.dp import get_last_modified
|
||||
|
||||
LANE_DEPARTURE_THRESHOLD = 0.1
|
||||
STEER_ANGLE_SATURATION_TIMEOUT = 1.0 / DT_CTRL
|
||||
@@ -37,15 +39,15 @@ HwType = log.HealthData.HwType
|
||||
LaneChangeState = log.PathPlan.LaneChangeState
|
||||
LaneChangeDirection = log.PathPlan.LaneChangeDirection
|
||||
|
||||
|
||||
def add_lane_change_event(events, path_plan):
|
||||
postfix = 'ALC' if path_plan.alcAllowed else ''
|
||||
if path_plan.laneChangeState == LaneChangeState.preLaneChange:
|
||||
if path_plan.laneChangeDirection == LaneChangeDirection.left:
|
||||
events.append(create_event('preLaneChangeLeft', [ET.WARNING]))
|
||||
events.append(create_event(f"preLaneChangeLeft{postfix}", [ET.WARNING]))
|
||||
else:
|
||||
events.append(create_event('preLaneChangeRight', [ET.WARNING]))
|
||||
events.append(create_event(f"preLaneChangeRight{postfix}", [ET.WARNING]))
|
||||
elif path_plan.laneChangeState in [LaneChangeState.laneChangeStarting, LaneChangeState.laneChangeFinishing]:
|
||||
events.append(create_event('laneChange', [ET.WARNING]))
|
||||
events.append(create_event(f"laneChange{postfix}", [ET.WARNING]))
|
||||
|
||||
|
||||
def isActive(state):
|
||||
@@ -69,7 +71,7 @@ def events_to_bytes(events):
|
||||
return ret
|
||||
|
||||
|
||||
def data_sample(CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter, params):
|
||||
def data_sample(CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter, params, dragon_toyota_stock_dsu, dp_max_speed_limit):
|
||||
"""Receive data from sockets and create events for battery, temperature and disk space"""
|
||||
|
||||
# Update carstate from CAN and create events
|
||||
@@ -116,7 +118,7 @@ def data_sample(CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter
|
||||
else:
|
||||
events.append(create_event('calibrationInvalid', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
|
||||
|
||||
if CS.vEgo > 92 * CV.MPH_TO_MS:
|
||||
if CS.vEgo > dp_max_speed_limit:
|
||||
events.append(create_event('speedTooHigh', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
|
||||
|
||||
# When the panda and controlsd do not agree on controls_allowed
|
||||
@@ -126,11 +128,12 @@ def data_sample(CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter
|
||||
if not enabled:
|
||||
mismatch_counter = 0
|
||||
|
||||
controls_allowed = sm['health'].controlsAllowed
|
||||
if not controls_allowed and enabled:
|
||||
mismatch_counter += 1
|
||||
if mismatch_counter >= 200:
|
||||
events.append(create_event('controlsMismatch', [ET.IMMEDIATE_DISABLE]))
|
||||
if not dragon_toyota_stock_dsu:
|
||||
controls_allowed = sm['health'].controlsAllowed
|
||||
if not controls_allowed and enabled:
|
||||
mismatch_counter += 1
|
||||
if mismatch_counter >= 200:
|
||||
events.append(create_event('controlsMismatch', [ET.IMMEDIATE_DISABLE]))
|
||||
|
||||
return CS, events, cal_perc, mismatch_counter, can_error_counter
|
||||
|
||||
@@ -223,7 +226,7 @@ def state_transition(frame, CS, CP, state, events, soft_disable_timer, v_cruise_
|
||||
|
||||
|
||||
def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
|
||||
AM, rk, LaC, LoC, read_only, is_metric, cal_perc, last_blinker_frame, saturated_count):
|
||||
AM, rk, LaC, LoC, read_only, is_metric, cal_perc, last_blinker_frame, saturated_count, dragon_lat_control, dragon_display_steering_limit_alert, dragon_lead_car_moving_alert):
|
||||
"""Given the state, this function returns an actuators packet"""
|
||||
|
||||
actuators = car.CarControl.Actuators.new_message()
|
||||
@@ -245,8 +248,13 @@ def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cr
|
||||
# State specific actions
|
||||
|
||||
if state in [State.preEnabled, State.disabled]:
|
||||
if dragon_lead_car_moving_alert:
|
||||
for e in get_events(events, [ET.WARNING]):
|
||||
extra_text = ""
|
||||
if e in ["leadCarDetected", "leadCarMoving"]:
|
||||
AM.add(frame, e, enabled, extra_text_2=extra_text)
|
||||
LaC.reset()
|
||||
LoC.reset(v_pid=CS.vEgo)
|
||||
LoC.reset(v_pid=plan.vTargetFuture)
|
||||
|
||||
elif state in [State.enabled, State.softDisabling]:
|
||||
# parse warnings from car specific interface
|
||||
@@ -266,7 +274,7 @@ def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cr
|
||||
v_acc_sol = plan.vStart + dt * (a_acc_sol + plan.aStart) / 2.0
|
||||
|
||||
# Gas/Brake PID loop
|
||||
actuators.gas, actuators.brake = LoC.update(active, CS.vEgo, CS.brakePressed, CS.standstill, CS.cruiseState.standstill,
|
||||
actuators.gas, actuators.brake = LoC.update(active, CS.vEgo, CS.gasPressed, CS.brakePressed, CS.standstill, CS.cruiseState.standstill,
|
||||
v_cruise_kph, v_acc_sol, plan.vTargetFuture, a_acc_sol, CP)
|
||||
# Steering PID loop and lateral MPC
|
||||
actuators.steer, actuators.steerAngle, lac_log = LaC.update(active, CS.vEgo, CS.steeringAngle, CS.steeringRate, CS.steeringTorqueEps, CS.steeringPressed, CS.steeringRateLimited, CP, path_plan)
|
||||
@@ -277,14 +285,15 @@ def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cr
|
||||
|
||||
saturated_count = saturated_count + 1 if angle_control_saturated and not CS.steeringPressed and active else 0
|
||||
|
||||
# Send a "steering required alert" if saturation count has reached the limit
|
||||
if (lac_log.saturated and not CS.steeringPressed) or (saturated_count > STEER_ANGLE_SATURATION_TIMEOUT):
|
||||
# Check if we deviated from the path
|
||||
left_deviation = actuators.steer > 0 and path_plan.dPoly[3] > 0.1
|
||||
right_deviation = actuators.steer < 0 and path_plan.dPoly[3] < -0.1
|
||||
if dragon_display_steering_limit_alert and dragon_lat_control:
|
||||
# Send a "steering required alert" if saturation count has reached the limit
|
||||
if (lac_log.saturated and not CS.steeringPressed) or (saturated_count > STEER_ANGLE_SATURATION_TIMEOUT):
|
||||
# Check if we deviated from the path
|
||||
left_deviation = actuators.steer > 0 and path_plan.dPoly[3] > 0.1
|
||||
right_deviation = actuators.steer < 0 and path_plan.dPoly[3] < -0.1
|
||||
|
||||
if left_deviation or right_deviation:
|
||||
AM.add(frame, "steerSaturated", enabled)
|
||||
if left_deviation or right_deviation:
|
||||
AM.add(frame, "steerSaturated", enabled)
|
||||
|
||||
# Parse permanent warnings to display constantly
|
||||
for e in get_events(events, [ET.PERMANENT]):
|
||||
@@ -302,7 +311,7 @@ def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cr
|
||||
|
||||
def data_send(sm, pm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, AM,
|
||||
LaC, LoC, read_only, start_time, v_acc, a_acc, lac_log, events_prev,
|
||||
last_blinker_frame, is_ldw_enabled, can_error_counter):
|
||||
last_blinker_frame, is_ldw_enabled, can_error_counter, dp_camera_offset):
|
||||
"""Send actuators and hud commands to the car, send controlsstate and MPC logging"""
|
||||
|
||||
CC = car.CarControl.new_message()
|
||||
@@ -336,8 +345,8 @@ def data_send(sm, pm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk
|
||||
l_lane_change_prob = md.meta.desirePrediction[log.PathPlan.Desire.laneChangeLeft - 1]
|
||||
r_lane_change_prob = md.meta.desirePrediction[log.PathPlan.Desire.laneChangeRight - 1]
|
||||
|
||||
l_lane_close = left_lane_visible and (sm['pathPlan'].lPoly[3] < (1.08 - CAMERA_OFFSET))
|
||||
r_lane_close = right_lane_visible and (sm['pathPlan'].rPoly[3] > -(1.08 + CAMERA_OFFSET))
|
||||
l_lane_close = left_lane_visible and (sm['pathPlan'].lPoly[3] < (1.08 - dp_camera_offset))
|
||||
r_lane_close = right_lane_visible and (sm['pathPlan'].rPoly[3] > -(1.08 + dp_camera_offset))
|
||||
|
||||
if ldw_allowed:
|
||||
CC.hudControl.leftLaneDepart = bool(l_lane_change_prob > LANE_DEPARTURE_THRESHOLD and l_lane_close)
|
||||
@@ -535,12 +544,47 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
|
||||
|
||||
prof = Profiler(False) # off by default
|
||||
|
||||
# dp
|
||||
ts_last_check = 0.
|
||||
dragon_toyota_stock_dsu = False
|
||||
dragon_lat_control = True
|
||||
dragon_display_steering_limit_alert = True
|
||||
dragon_stopped_has_lead_count = 0
|
||||
dragon_lead_car_moving_alert = False
|
||||
dp_last_modified = None
|
||||
dp_camera_offset = CAMERA_OFFSET
|
||||
dp_max_speed_limit = 92. * CV.MPH_TO_MS
|
||||
|
||||
while True:
|
||||
start_time = sec_since_boot()
|
||||
|
||||
# dp
|
||||
ts = start_time
|
||||
if ts - ts_last_check >= 5.:
|
||||
modified = get_last_modified()
|
||||
if dp_last_modified != modified:
|
||||
try:
|
||||
dp_camera_offset = int(params.get("DragonCameraOffset", encoding='utf8')) * 0.01
|
||||
except (TypeError, ValueError):
|
||||
dp_camera_offset = CAMERA_OFFSET
|
||||
try:
|
||||
dp_max_speed_limit = float(params.get("DragonMaxSpeedLimit", encoding='utf8')) * CV.MPH_TO_MS
|
||||
except (TypeError, ValueError):
|
||||
dp_max_speed_limit = 92. * CV.MPH_TO_MS
|
||||
dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False
|
||||
dragon_lat_control = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
|
||||
if dragon_lat_control:
|
||||
dragon_display_steering_limit_alert = False if params.get("DragonDisplaySteeringLimitAlert", encoding='utf8') == "0" else True
|
||||
else:
|
||||
dragon_display_steering_limit_alert = False
|
||||
dragon_lead_car_moving_alert = True if params.get("DragonEnableLeadCarMovingAlert", encoding='utf8') == "1" else False
|
||||
dp_last_modified = modified
|
||||
ts_last_check = ts
|
||||
|
||||
prof.checkpoint("Ratekeeper", ignore=True)
|
||||
|
||||
# Sample data and compute car events
|
||||
CS, events, cal_perc, mismatch_counter, can_error_counter = data_sample(CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter, params)
|
||||
CS, events, cal_perc, mismatch_counter, can_error_counter = data_sample(CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter, params, dragon_toyota_stock_dsu, dp_max_speed_limit)
|
||||
prof.checkpoint("Sample")
|
||||
|
||||
# Create alerts
|
||||
@@ -561,7 +605,10 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
|
||||
if sm['plan'].radarCanError:
|
||||
events.append(create_event('radarCanError', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
|
||||
if not CS.canValid:
|
||||
events.append(create_event('canError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
|
||||
if dragon_toyota_stock_dsu:
|
||||
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
|
||||
else:
|
||||
events.append(create_event('canError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
|
||||
if not sounds_available:
|
||||
events.append(create_event('soundsUnavailable', [ET.NO_ENTRY, ET.PERMANENT]))
|
||||
if internet_needed:
|
||||
@@ -575,9 +622,29 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
|
||||
|
||||
|
||||
# Only allow engagement with brake pressed when stopped behind another stopped car
|
||||
if CS.brakePressed and sm['plan'].vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:
|
||||
if not dragon_toyota_stock_dsu and CS.brakePressed and sm['plan'].vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:
|
||||
events.append(create_event('noTarget', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
|
||||
|
||||
# dp
|
||||
if dragon_lead_car_moving_alert:
|
||||
# when car has a lead and is standstill and lead is barely moving, we start counting
|
||||
if not CP.radarOffCan and sm['plan'].hasLead and CS.vEgo <= 0.01 and 0.3 >= abs(sm['plan'].vTarget) >= 0:
|
||||
dragon_stopped_has_lead_count += 1
|
||||
else:
|
||||
dragon_stopped_has_lead_count = 0
|
||||
|
||||
# when we detect lead car over 3 secs and the lead car is started moving, we are ready to send alerts
|
||||
# once the condition is triggered, we want to keep the trigger
|
||||
if dragon_stopped_has_lead_count >= 300:
|
||||
if abs(sm['plan'].vTargetFuture) >= 0.1:
|
||||
events.append(create_event('leadCarMoving', [ET.WARNING]))
|
||||
else:
|
||||
events.append(create_event('leadCarDetected', [ET.WARNING]))
|
||||
|
||||
# we remove alert once our car is moving
|
||||
if CS.vEgo > 0.:
|
||||
dragon_stopped_has_lead_count = 0
|
||||
|
||||
if not read_only:
|
||||
# update control state
|
||||
state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last = \
|
||||
@@ -587,14 +654,14 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
|
||||
# Compute actuators (runs PID loops and lateral MPC)
|
||||
actuators, v_cruise_kph, v_acc, a_acc, lac_log, last_blinker_frame, saturated_count = \
|
||||
state_control(sm.frame, sm.rcv_frame, sm['plan'], sm['pathPlan'], CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
|
||||
LaC, LoC, read_only, is_metric, cal_perc, last_blinker_frame, saturated_count)
|
||||
LaC, LoC, read_only, is_metric, cal_perc, last_blinker_frame, saturated_count, dragon_lat_control, dragon_display_steering_limit_alert, dragon_lead_car_moving_alert)
|
||||
|
||||
prof.checkpoint("State Control")
|
||||
|
||||
# Publish data
|
||||
CC, events_prev = data_send(sm, pm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, AM, LaC,
|
||||
LoC, read_only, start_time, v_acc, a_acc, lac_log, events_prev, last_blinker_frame,
|
||||
is_ldw_enabled, can_error_counter)
|
||||
is_ldw_enabled, can_error_counter, dp_camera_offset)
|
||||
prof.checkpoint("Sent")
|
||||
|
||||
rk.monitor_time()
|
||||
|
||||
@@ -1,11 +1,13 @@
|
||||
#!/usr/bin/env python3
|
||||
import gc
|
||||
from common.realtime import set_realtime_priority
|
||||
from common.realtime import set_realtime_priority, sec_since_boot
|
||||
from common.params import Params
|
||||
import cereal.messaging as messaging
|
||||
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
|
||||
from selfdrive.controls.lib.driver_monitor import DriverStatus, MAX_TERMINAL_ALERTS, MAX_TERMINAL_DURATION
|
||||
from selfdrive.locationd.calibration_helpers import Calibration
|
||||
params = Params()
|
||||
from common.dp import get_last_modified
|
||||
|
||||
def dmonitoringd_thread(sm=None, pm=None):
|
||||
gc.disable()
|
||||
@@ -40,8 +42,37 @@ def dmonitoringd_thread(sm=None, pm=None):
|
||||
v_cruise_last = 0
|
||||
driver_engaged = False
|
||||
|
||||
# dragonpilot
|
||||
last_ts = 0
|
||||
dp_last_modified = None
|
||||
dp_enable_driver_monitoring = True
|
||||
|
||||
# 10Hz <- dmonitoringmodeld
|
||||
while True:
|
||||
cur_time = sec_since_boot()
|
||||
if cur_time - last_ts >= 5.:
|
||||
modified = get_last_modified()
|
||||
if dp_last_modified != modified:
|
||||
dp_enable_driver_monitoring = False if params.get("DragonEnableDriverMonitoring", encoding='utf8') == "0" else True
|
||||
try:
|
||||
dp_awareness_time = int(params.get("DragonSteeringMonitorTimer", encoding='utf8'))
|
||||
except (TypeError, ValueError):
|
||||
dp_awareness_time = 70.
|
||||
driver_status.awareness_time = 86400 if dp_awareness_time <= 0. else dp_awareness_time * 60.
|
||||
dp_last_modified = modified
|
||||
last_ts = cur_time
|
||||
|
||||
# reset all awareness val and set to rhd region, this will enforce steering monitor.
|
||||
if not dp_enable_driver_monitoring:
|
||||
driver_status.active_monitoring_mode = False
|
||||
driver_status.awareness = 1.
|
||||
driver_status.awareness_active = 1.
|
||||
driver_status.awareness_passive = 1.
|
||||
driver_status.terminal_alert_cnt = 0
|
||||
driver_status.terminal_time = 0
|
||||
driver_status.face_detected = False
|
||||
driver_status.hi_stds = 0
|
||||
|
||||
sm.update()
|
||||
|
||||
# Handle calibration
|
||||
|
||||
+257
-205
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,353 @@
|
||||
import math
|
||||
import numpy as np
|
||||
from common.realtime import sec_since_boot
|
||||
from selfdrive.controls.lib.drive_helpers import MPC_COST_LONG
|
||||
from common.numpy_fast import interp, clip
|
||||
from selfdrive.config import Conversions as CV
|
||||
from cereal.messaging import SubMaster
|
||||
|
||||
from selfdrive.controls.lib.dynamic_follow.auto_df import predict
|
||||
from selfdrive.controls.lib.dynamic_follow.support import LeadData, CarData, dfData, dfProfiles
|
||||
travis = False
|
||||
|
||||
|
||||
# dp
|
||||
from common.dp import get_last_modified
|
||||
from common.params import Params
|
||||
PROFILE_AUTO = 4
|
||||
PROFILE_LONG = 3
|
||||
PROFILE_NORMAL = 2
|
||||
PROFILE_SHORT = 1
|
||||
PROFILE_OFF = 0
|
||||
|
||||
|
||||
class DynamicFollow:
|
||||
def __init__(self, mpc_id):
|
||||
self.mpc_id = mpc_id
|
||||
self.df_profiles = dfProfiles()
|
||||
|
||||
# Model variables
|
||||
mpc_rate = 1 / 20.
|
||||
self.model_scales = {'v_ego': [-0.06112159043550491, 37.96522521972656], 'a_lead': [-3.109330892562866, 3.3612186908721924], 'v_lead': [0.0, 35.27671432495117], 'x_lead': [2.4600000381469727, 141.44000244140625]}
|
||||
self.predict_rate = 1 / 4.
|
||||
self.skip_every = round(0.25 / mpc_rate)
|
||||
self.model_input_len = round(45 / mpc_rate)
|
||||
|
||||
# Dynamic follow variables
|
||||
self.default_TR = 1.8
|
||||
self.TR = 1.8
|
||||
# self.v_lead_retention = 2.0 # keep only last x seconds
|
||||
self.v_ego_retention = 2.5
|
||||
self.v_rel_retention = 1.5
|
||||
|
||||
self.sng_TR = 1.8 # reacceleration stop and go TR
|
||||
self.sng_speed = 18.0 * CV.MPH_TO_MS
|
||||
|
||||
# dp params
|
||||
self.last_ts = 0.
|
||||
self.dp_df_profile = PROFILE_OFF
|
||||
self.dp_last_modified = None
|
||||
self.params = Params()
|
||||
|
||||
self._setup_collector()
|
||||
self._setup_changing_variables()
|
||||
|
||||
def _setup_collector(self):
|
||||
self.sm = SubMaster(['liveTracks'])
|
||||
|
||||
def _setup_changing_variables(self):
|
||||
self.TR = self.default_TR
|
||||
self.model_profile = None
|
||||
|
||||
self.sng = False
|
||||
self.car_data = CarData()
|
||||
self.lead_data = LeadData()
|
||||
self.df_data = dfData() # dynamic follow data
|
||||
|
||||
self.last_cost = 0.0
|
||||
self.last_predict_time = 0.0
|
||||
self.auto_df_model_data = []
|
||||
self._get_live_params() # so they're defined just in case
|
||||
|
||||
def update(self, CS, libmpc):
|
||||
self._get_live_params()
|
||||
self._update_car(CS)
|
||||
self._get_profiles()
|
||||
|
||||
if self.mpc_id == 1:
|
||||
self._gather_data()
|
||||
|
||||
if not self.lead_data.status or self.dp_df_profile == PROFILE_OFF:
|
||||
self.TR = self.default_TR
|
||||
else:
|
||||
self._store_df_data()
|
||||
self.TR = self._get_TR()
|
||||
|
||||
if not travis:
|
||||
self._change_cost(libmpc)
|
||||
|
||||
return self.TR
|
||||
|
||||
def _get_profiles(self):
|
||||
# dp
|
||||
# update() gets call every time so we can read profile from param here
|
||||
# as usual, we update every 5 secs
|
||||
ts = sec_since_boot()
|
||||
if self.last_ts is None or ts - self.last_ts >= 5.:
|
||||
modified = get_last_modified()
|
||||
if self.dp_last_modified != modified:
|
||||
try:
|
||||
self.dp_df_profile = int(self.params.get("DragonDynamicFollow", encoding='utf8'))
|
||||
if self.dp_df_profile > 4 or self.dp_df_profile < 0:
|
||||
self.dp_df_profile = 0
|
||||
except (TypeError, ValueError):
|
||||
self.dp_df_profile = PROFILE_OFF
|
||||
self.dp_last_modified = modified
|
||||
self.last_ts = ts
|
||||
if self.dp_df_profile == PROFILE_AUTO:
|
||||
self._get_pred() # sets self.model_profile, all other checks are inside function
|
||||
|
||||
def _gather_data(self):
|
||||
self.sm.update(0)
|
||||
|
||||
def _norm(self, x, name):
|
||||
self.x = x
|
||||
return np.interp(x, self.model_scales[name], [0, 1])
|
||||
|
||||
def _change_cost(self, libmpc):
|
||||
TRs = [0.9, 1.8, 2.7]
|
||||
costs = [1.0, 0.115, 0.05]
|
||||
cost = interp(self.TR, TRs, costs)
|
||||
if self.last_cost != cost:
|
||||
libmpc.change_tr(MPC_COST_LONG.TTC, cost, MPC_COST_LONG.ACCELERATION, MPC_COST_LONG.JERK)
|
||||
self.last_cost = cost
|
||||
|
||||
def _store_df_data(self):
|
||||
cur_time = sec_since_boot()
|
||||
# Store custom relative accel over time
|
||||
if self.lead_data.status:
|
||||
if self.lead_data.new_lead:
|
||||
self.df_data.v_rels = [] # reset when new lead
|
||||
else:
|
||||
self.df_data.v_rels = self._remove_old_entries(self.df_data.v_rels, cur_time, self.v_rel_retention)
|
||||
self.df_data.v_rels.append({'v_ego': self.car_data.v_ego, 'v_lead': self.lead_data.v_lead, 'time': cur_time})
|
||||
|
||||
# Store our velocity for better sng
|
||||
self.df_data.v_egos = self._remove_old_entries(self.df_data.v_egos, cur_time, self.v_ego_retention)
|
||||
self.df_data.v_egos.append({'v_ego': self.car_data.v_ego, 'time': cur_time})
|
||||
|
||||
# Store data for auto-df model
|
||||
self.auto_df_model_data.append([self._norm(self.car_data.v_ego, 'v_ego'),
|
||||
self._norm(self.lead_data.v_lead, 'v_lead'),
|
||||
self._norm(self.lead_data.a_lead, 'a_lead'),
|
||||
self._norm(self.lead_data.x_lead, 'x_lead')])
|
||||
while len(self.auto_df_model_data) > self.model_input_len:
|
||||
del self.auto_df_model_data[0]
|
||||
|
||||
def _get_pred(self):
|
||||
cur_time = sec_since_boot()
|
||||
if self.car_data.cruise_enabled and self.lead_data.status:
|
||||
if cur_time - self.last_predict_time > self.predict_rate:
|
||||
if len(self.auto_df_model_data) == self.model_input_len:
|
||||
pred = predict(np.array(self.auto_df_model_data[::self.skip_every], dtype=np.float32).flatten())
|
||||
self.last_predict_time = cur_time
|
||||
self.model_profile = int(np.argmax(pred))
|
||||
|
||||
def _remove_old_entries(self, lst, cur_time, retention):
|
||||
return [sample for sample in lst if cur_time - sample['time'] <= retention]
|
||||
|
||||
def _calculate_relative_accel_new(self):
|
||||
# """
|
||||
# Moving window returning the following: (final relative velocity - initial relative velocity) / dT with a few extra mods
|
||||
# Output properties:
|
||||
# When the lead is starting to decelerate, and our car remains the same speed, the output decreases (and vice versa)
|
||||
# However when our car finally starts to decelerate at the same rate as the lead car, the output will move to near 0
|
||||
# >>> a = [(15 - 18), (14 - 17)]
|
||||
# >>> (a[-1] - a[0]) / 1
|
||||
# > 0.0
|
||||
# """
|
||||
min_consider_time = 0.5 # minimum amount of time required to consider calculation
|
||||
if len(self.df_data.v_rels) > 0: # if not empty
|
||||
elapsed_time = self.df_data.v_rels[-1]['time'] - self.df_data.v_rels[0]['time']
|
||||
if elapsed_time > min_consider_time:
|
||||
x = [-2.6822, -1.7882, -0.8941, -0.447, -0.2235, 0.0, 0.2235, 0.447, 0.8941, 1.7882, 2.6822]
|
||||
y = [0.3245, 0.277, 0.11075, 0.08106, 0.06325, 0.0, -0.09, -0.09375, -0.125, -0.3, -0.35]
|
||||
|
||||
v_lead_start = self.df_data.v_rels[0]['v_lead'] # setup common variables
|
||||
v_ego_start = self.df_data.v_rels[0]['v_ego']
|
||||
v_lead_end = self.df_data.v_rels[-1]['v_lead']
|
||||
v_ego_end = self.df_data.v_rels[-1]['v_ego']
|
||||
|
||||
v_ego_change = v_ego_end - v_ego_start
|
||||
v_lead_change = v_lead_end - v_lead_start
|
||||
|
||||
if v_lead_change - v_ego_change == 0 or v_lead_change + v_ego_change == 0:
|
||||
return None
|
||||
|
||||
initial_v_rel = v_lead_start - v_ego_start
|
||||
cur_v_rel = v_lead_end - v_ego_end
|
||||
delta_v_rel = (cur_v_rel - initial_v_rel) / elapsed_time
|
||||
|
||||
neg_pos = False
|
||||
if v_ego_change == 0 or v_lead_change == 0: # FIXME: this all is a mess, but works. need to simplify
|
||||
lead_factor = v_lead_change / (v_lead_change - v_ego_change)
|
||||
|
||||
elif (v_ego_change < 0) != (v_lead_change < 0): # one is negative and one is positive, or ^ = XOR
|
||||
lead_factor = v_lead_change / (v_lead_change - v_ego_change)
|
||||
if v_ego_change > 0 > v_lead_change:
|
||||
delta_v_rel = -delta_v_rel # switch when appropriate
|
||||
neg_pos = True
|
||||
|
||||
elif v_ego_change * v_lead_change > 0: # both are negative or both are positive
|
||||
lead_factor = v_lead_change / (v_lead_change + v_ego_change)
|
||||
if v_ego_change > 0 and v_lead_change > 0: # both are positive
|
||||
if v_ego_change < v_lead_change:
|
||||
delta_v_rel = -delta_v_rel # switch when appropriate
|
||||
elif v_ego_change > v_lead_change: # both are negative and v_ego_change > v_lead_change
|
||||
delta_v_rel = -delta_v_rel
|
||||
|
||||
else:
|
||||
raise Exception('Uncovered case! Should be impossible to be be here')
|
||||
|
||||
if not neg_pos: # negative and positive require different mod code to be correct
|
||||
rel_vel_mod = (-delta_v_rel * abs(lead_factor)) + (delta_v_rel * (1 - abs(lead_factor)))
|
||||
else:
|
||||
rel_vel_mod = math.copysign(delta_v_rel, v_lead_change - v_ego_change) * lead_factor
|
||||
|
||||
calc_mod = np.interp(rel_vel_mod, x, y)
|
||||
if v_lead_end > v_ego_end and calc_mod >= 0:
|
||||
# if we're accelerating quicker than lead but lead is still faster, reduce mod
|
||||
# todo: could remove this since we restrict this mod where called
|
||||
x = np.array([0, 2, 4, 8]) * CV.MPH_TO_MS
|
||||
y = [1.0, -0.25, -0.65, -0.95]
|
||||
v_rel_mod = np.interp(v_lead_end - v_ego_end, x, y)
|
||||
calc_mod *= v_rel_mod
|
||||
return calc_mod
|
||||
return None
|
||||
|
||||
def global_profile_mod(self, profile_mod_x, profile_mod_pos, profile_mod_neg, x_vel, y_dist):
|
||||
"""
|
||||
This function modifies the y_dist list used by dynamic follow in accordance with global_df_mod
|
||||
It also intelligently adjusts the profile mods at each breakpoint based on the change in TR
|
||||
"""
|
||||
if self.global_df_mod is None:
|
||||
return profile_mod_pos, profile_mod_neg, y_dist
|
||||
global_df_mod = 1 - self.global_df_mod
|
||||
|
||||
# Calculate new TRs
|
||||
speeds = [0, self.sng_speed, 18, x_vel[-1]] # [0, 18 mph, ~40 mph, highest profile mod speed (~78 mph)]
|
||||
mods = [0, 0.1, 0.7, 1] # how much to limit global_df_mod at each speed, 1 is full effect
|
||||
y_dist_new = [y - (y * global_df_mod * np.interp(x, speeds, mods)) for x, y in zip(x_vel, y_dist)]
|
||||
|
||||
# Calculate how to change profile mods based on change in TR
|
||||
# eg. if df mod is 0.7, then increase positive mod and decrease negative mod
|
||||
calc_profile_mods = [(np.interp(mod_x, x_vel, y_dist) - np.interp(mod_x, x_vel, y_dist_new) + 1) for mod_x in profile_mod_x]
|
||||
profile_mod_pos = [mod_pos * mod for mod_pos, mod in zip(profile_mod_pos, calc_profile_mods)]
|
||||
profile_mod_neg = [mod_neg * ((1 - mod) + 1) for mod_neg, mod in zip(profile_mod_neg, calc_profile_mods)]
|
||||
|
||||
return profile_mod_pos, profile_mod_neg, y_dist_new
|
||||
|
||||
def _get_TR(self):
|
||||
x_vel = [0.0, 1.8627, 3.7253, 5.588, 7.4507, 9.3133, 11.5598, 13.645, 22.352, 31.2928, 33.528, 35.7632, 40.2336] # velocities
|
||||
profile_mod_x = [2.2352, 13.4112, 24.5872, 35.7632] # profile mod speeds, mph: [5., 30., 55., 80.]
|
||||
|
||||
if self.dp_df_profile == PROFILE_AUTO: # decide which profile to use, model profile will be updated before this
|
||||
# df is 0 = traffic, 1 = relaxed, 2 = roadtrip, 3 = auto
|
||||
# dp is 0 = off, 1 = short, 2 = normal, 3 = long, 4 = auto
|
||||
# if it's model profile, we need to convert it
|
||||
if self.model_profile is None:
|
||||
# when its none, we use normal instead
|
||||
df_profile = PROFILE_NORMAL
|
||||
else:
|
||||
df_profile = self.model_profile + 1
|
||||
else:
|
||||
df_profile = self.dp_df_profile
|
||||
|
||||
if df_profile == PROFILE_LONG:
|
||||
y_dist = [1.3978, 1.4132, 1.4318, 1.4536, 1.485, 1.5229, 1.5819, 1.6203, 1.7238, 1.8231, 1.8379, 1.8495, 1.8535] # TRs
|
||||
profile_mod_pos = [0.92, 0.7, 0.25, 0.15]
|
||||
profile_mod_neg = [1.1, 1.3, 2.0, 2.3]
|
||||
elif df_profile == PROFILE_SHORT: # for in congested traffic
|
||||
x_vel = [0.0, 1.892, 3.7432, 5.8632, 8.0727, 10.7301, 14.343, 17.6275, 22.4049, 28.6752, 34.8858, 40.35]
|
||||
# y_dist = [1.3781, 1.3791, 1.3802, 1.3825, 1.3984, 1.4249, 1.4194, 1.3162, 1.1916, 1.0145, 0.9855, 0.9562] # original
|
||||
# y_dist = [1.3781, 1.3791, 1.3112, 1.2442, 1.2306, 1.2112, 1.2775, 1.1977, 1.0963, 0.9435, 0.9067, 0.8749] # avg. 7.3 ft closer from 18 to 90 mph
|
||||
y_dist = [1.3781, 1.3791, 1.3457, 1.3134, 1.3145, 1.318, 1.3485, 1.257, 1.144, 0.979, 0.9461, 0.9156]
|
||||
profile_mod_pos = [1.05, 1.55, 2.6, 3.75]
|
||||
profile_mod_neg = [0.84, .275, 0.1, 0.05]
|
||||
elif df_profile == PROFILE_NORMAL: # default to relaxed/stock
|
||||
y_dist = [1.385, 1.394, 1.406, 1.421, 1.444, 1.474, 1.516, 1.534, 1.546, 1.568, 1.579, 1.593, 1.614]
|
||||
profile_mod_pos = [1.0] * 4
|
||||
profile_mod_neg = [1.0] * 4
|
||||
else:
|
||||
raise Exception('Unknown profile type: {}'.format(df_profile))
|
||||
|
||||
# Global df mod
|
||||
profile_mod_pos, profile_mod_neg, y_dist = self.global_profile_mod(profile_mod_x, profile_mod_pos, profile_mod_neg, x_vel, y_dist)
|
||||
|
||||
# Profile modifications - Designed so that each profile reacts similarly to changing lead dynamics
|
||||
profile_mod_pos = interp(self.car_data.v_ego, profile_mod_x, profile_mod_pos)
|
||||
profile_mod_neg = interp(self.car_data.v_ego, profile_mod_x, profile_mod_neg)
|
||||
|
||||
if self.car_data.v_ego > self.sng_speed: # keep sng distance until we're above sng speed again
|
||||
self.sng = False
|
||||
|
||||
if (self.car_data.v_ego >= self.sng_speed or self.df_data.v_egos[0]['v_ego'] >= self.car_data.v_ego) and not self.sng:
|
||||
# if above 15 mph OR we're decelerating to a stop, keep shorter TR. when we reaccelerate, use sng_TR and slowly decrease
|
||||
TR = interp(self.car_data.v_ego, x_vel, y_dist)
|
||||
else: # this allows us to get closer to the lead car when stopping, while being able to have smooth stop and go when reaccelerating
|
||||
self.sng = True
|
||||
x = [self.sng_speed * 0.7, self.sng_speed] # decrease TR between 12.6 and 18 mph from 1.8s to defined TR above at 18mph while accelerating
|
||||
y = [self.sng_TR, interp(self.sng_speed, x_vel, y_dist)]
|
||||
TR = interp(self.car_data.v_ego, x, y)
|
||||
|
||||
TR_mods = []
|
||||
# Dynamic follow modifications (the secret sauce)
|
||||
x = [-26.8224, -20.0288, -15.6871, -11.1965, -7.8645, -4.9472, -3.0541, -2.2244, -1.5045, -0.7908, -0.3196, 0.0, 0.5588, 1.3682, 1.898, 2.7316, 4.4704] # relative velocity values
|
||||
y = [.76, 0.62323, 0.49488, 0.40656, 0.32227, 0.23914, 0.12269, 0.10483, 0.08074, 0.04886, 0.0072, 0.0, -0.05648, -0.0792, -0.15675, -0.23289, -0.315] # modification values
|
||||
TR_mods.append(interp(self.lead_data.v_lead - self.car_data.v_ego, x, y))
|
||||
|
||||
x = [-4.4795, -2.8122, -1.5727, -1.1129, -0.6611, -0.2692, 0.0, 0.1466, 0.5144, 0.6903, 0.9302] # lead acceleration values
|
||||
y = [0.24, 0.16, 0.092, 0.0515, 0.0305, 0.022, 0.0, -0.0153, -0.042, -0.053, -0.059] # modification values
|
||||
TR_mods.append(interp(self.lead_data.a_lead, x, y))
|
||||
|
||||
rel_accel_mod = self._calculate_relative_accel_new()
|
||||
if rel_accel_mod is not None: # if available
|
||||
deadzone = 2 * CV.MPH_TO_MS
|
||||
if self.lead_data.v_lead - deadzone > self.car_data.v_ego:
|
||||
TR_mods.append(rel_accel_mod)
|
||||
|
||||
x = [self.sng_speed / 5.0, self.sng_speed] # as we approach 0, apply x% more distance
|
||||
y = [1.05, 1.0]
|
||||
profile_mod_pos *= interp(self.car_data.v_ego, x, y) # but only for currently positive mods
|
||||
|
||||
TR_mod = sum([mod * profile_mod_neg if mod < 0 else mod * profile_mod_pos for mod in TR_mods]) # alter TR modification according to profile
|
||||
TR += TR_mod
|
||||
|
||||
if self.car_data.left_blinker or self.car_data.right_blinker and df_profile != self.df_profiles.traffic:
|
||||
x = [8.9408, 22.352, 31.2928] # 20, 50, 70 mph
|
||||
y = [1.0, .75, .65]
|
||||
TR *= interp(self.car_data.v_ego, x, y) # reduce TR when changing lanes
|
||||
|
||||
return float(clip(TR, self.min_TR, 2.7))
|
||||
|
||||
def update_lead(self, v_lead=None, a_lead=None, x_lead=None, status=False, new_lead=False):
|
||||
self.lead_data.v_lead = v_lead
|
||||
self.lead_data.a_lead = a_lead
|
||||
self.lead_data.x_lead = x_lead
|
||||
|
||||
self.lead_data.status = status
|
||||
self.lead_data.new_lead = new_lead
|
||||
|
||||
def _update_car(self, CS):
|
||||
self.car_data.v_ego = CS.vEgo
|
||||
self.car_data.a_ego = CS.aEgo
|
||||
|
||||
self.car_data.left_blinker = CS.leftBlinker
|
||||
self.car_data.right_blinker = CS.rightBlinker
|
||||
self.car_data.cruise_enabled = CS.cruiseState.enabled
|
||||
|
||||
def _get_live_params(self):
|
||||
self.global_df_mod = None #self.op_params.get('global_df_mod', None)
|
||||
if self.global_df_mod is not None:
|
||||
self.global_df_mod = clip(self.global_df_mod, 0.85, 1.2)
|
||||
self.min_TR = 0.9 # default
|
||||
@@ -0,0 +1,20 @@
|
||||
"""
|
||||
Generated using Konverter: https://github.com/ShaneSmiskol/Konverter
|
||||
"""
|
||||
|
||||
import numpy as np
|
||||
|
||||
wb = np.load('/data/openpilot/selfdrive/controls/lib/dynamic_follow/auto_df_weights.npz', allow_pickle=True)
|
||||
w, b = wb['wb']
|
||||
|
||||
def softmax(x):
|
||||
return np.exp(x) / np.sum(np.exp(x), axis=0)
|
||||
|
||||
def predict(x):
|
||||
l0 = np.dot(x, w[0]) + b[0]
|
||||
l0 = np.maximum(0, l0)
|
||||
l1 = np.dot(l0, w[1]) + b[1]
|
||||
l1 = np.maximum(0, l1)
|
||||
l2 = np.dot(l1, w[2]) + b[2]
|
||||
l2 = softmax(l2)
|
||||
return l2
|
||||
Binary file not shown.
@@ -0,0 +1,31 @@
|
||||
class LeadData:
|
||||
v_lead = None
|
||||
x_lead = None
|
||||
a_lead = None
|
||||
status = False
|
||||
new_lead = False
|
||||
|
||||
|
||||
class CarData:
|
||||
v_ego = 0.0
|
||||
a_ego = 0.0
|
||||
|
||||
left_blinker = False
|
||||
right_blinker = False
|
||||
cruise_enabled = True
|
||||
|
||||
|
||||
class dfData:
|
||||
v_egos = []
|
||||
v_rels = []
|
||||
|
||||
|
||||
class dfProfiles:
|
||||
traffic = 0
|
||||
relaxed = 1
|
||||
roadtrip = 2
|
||||
auto = 3
|
||||
to_profile = {0: 'traffic', 1: 'relaxed', 2: 'roadtrip', 3: 'auto'}
|
||||
to_idx = {v: k for k, v in to_profile.items()}
|
||||
|
||||
default = relaxed
|
||||
@@ -1,6 +1,10 @@
|
||||
from common.numpy_fast import interp
|
||||
import numpy as np
|
||||
from cereal import log
|
||||
from common.dp import get_last_modified
|
||||
from common.realtime import sec_since_boot
|
||||
from common.params import Params
|
||||
params = Params()
|
||||
|
||||
CAMERA_OFFSET = 0.06 # m from center car to camera
|
||||
|
||||
@@ -65,6 +69,11 @@ class LanePlanner():
|
||||
self._path_pinv = compute_path_pinv()
|
||||
self.x_points = np.arange(50)
|
||||
|
||||
# dp
|
||||
self.last_ts = 0.
|
||||
self.last_modified = 0.
|
||||
self.camera_offset = 0.06
|
||||
|
||||
def parse_model(self, md):
|
||||
if len(md.leftLane.poly):
|
||||
self.l_poly = np.array(md.leftLane.poly)
|
||||
@@ -82,9 +91,19 @@ class LanePlanner():
|
||||
self.r_lane_change_prob = md.meta.desireState[log.PathPlan.Desire.laneChangeRight - 1]
|
||||
|
||||
def update_d_poly(self, v_ego):
|
||||
ts = sec_since_boot()
|
||||
if ts - self.last_ts >= 5.:
|
||||
modified = get_last_modified()
|
||||
if self.last_modified != modified:
|
||||
try:
|
||||
self.camera_offset = int(params.get("DragonCameraOffset", encoding='utf8')) * 0.01
|
||||
except (TypeError, ValueError):
|
||||
self.camera_offset = CAMERA_OFFSET
|
||||
self.last_modified = modified
|
||||
self.last_ts = ts
|
||||
# only offset left and right lane lines; offsetting p_poly does not make sense
|
||||
self.l_poly[3] += CAMERA_OFFSET
|
||||
self.r_poly[3] += CAMERA_OFFSET
|
||||
self.l_poly[3] += self.camera_offset
|
||||
self.r_poly[3] += self.camera_offset
|
||||
|
||||
# Find current lanewidth
|
||||
self.lane_width_certainty += 0.05 * (self.l_prob * self.r_prob - self.lane_width_certainty)
|
||||
|
||||
@@ -7,6 +7,7 @@ from common.realtime import sec_since_boot
|
||||
from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU
|
||||
from selfdrive.controls.lib.longitudinal_mpc import libmpc_py
|
||||
from selfdrive.controls.lib.drive_helpers import MPC_COST_LONG
|
||||
from selfdrive.controls.lib.dynamic_follow import DynamicFollow
|
||||
|
||||
LOG_MPC = os.environ.get('LOG_MPC', False)
|
||||
|
||||
@@ -14,7 +15,7 @@ LOG_MPC = os.environ.get('LOG_MPC', False)
|
||||
class LongitudinalMpc():
|
||||
def __init__(self, mpc_id):
|
||||
self.mpc_id = mpc_id
|
||||
|
||||
self.dynamic_follow = DynamicFollow(mpc_id)
|
||||
self.setup_mpc()
|
||||
self.v_mpc = 0.0
|
||||
self.v_mpc_future = 0.0
|
||||
@@ -77,11 +78,13 @@ class LongitudinalMpc():
|
||||
self.libmpc.init_with_simulation(self.v_mpc, x_lead, v_lead, a_lead, self.a_lead_tau)
|
||||
self.new_lead = True
|
||||
|
||||
self.dynamic_follow.update_lead(v_lead, a_lead, x_lead, lead.status, self.new_lead)
|
||||
self.prev_lead_status = True
|
||||
self.prev_lead_x = x_lead
|
||||
self.cur_state[0].x_l = x_lead
|
||||
self.cur_state[0].v_l = v_lead
|
||||
else:
|
||||
self.dynamic_follow.update_lead(new_lead=self.new_lead)
|
||||
self.prev_lead_status = False
|
||||
# Fake a fast lead car, so mpc keeps running
|
||||
self.cur_state[0].x_l = 50.0
|
||||
@@ -91,7 +94,8 @@ class LongitudinalMpc():
|
||||
|
||||
# Calculate mpc
|
||||
t = sec_since_boot()
|
||||
n_its = self.libmpc.run_mpc(self.cur_state, self.mpc_solution, self.a_lead_tau, a_lead)
|
||||
TR = self.dynamic_follow.update(CS, self.libmpc) # update dynamic follow
|
||||
n_its = self.libmpc.run_mpc(self.cur_state, self.mpc_solution, self.a_lead_tau, a_lead, TR)
|
||||
duration = int((sec_since_boot() - t) * 1e9)
|
||||
|
||||
if LOG_MPC:
|
||||
|
||||
@@ -71,7 +71,7 @@ class LongControl():
|
||||
self.pid.reset()
|
||||
self.v_pid = v_pid
|
||||
|
||||
def update(self, active, v_ego, brake_pressed, standstill, cruise_standstill, v_cruise, v_target, v_target_future, a_target, CP):
|
||||
def update(self, active, v_ego, gas_pressed, brake_pressed, standstill, cruise_standstill, v_cruise, v_target, v_target_future, a_target, CP):
|
||||
"""Update longitudinal control. This updates the state machine and runs a PID loop"""
|
||||
# Actuation limits
|
||||
gas_max = interp(v_ego, CP.gasMaxBP, CP.gasMaxV)
|
||||
@@ -85,7 +85,7 @@ class LongControl():
|
||||
|
||||
v_ego_pid = max(v_ego, MIN_CAN_SPEED) # Without this we get jumps, CAN bus reports 0 when speed < 0.3
|
||||
|
||||
if self.long_control_state == LongCtrlState.off:
|
||||
if self.long_control_state == LongCtrlState.off or gas_pressed or brake_pressed:
|
||||
self.v_pid = v_ego_pid
|
||||
self.pid.reset()
|
||||
output_gb = 0.
|
||||
|
||||
@@ -68,7 +68,7 @@ acadoWorkspace.evGu[lRun1 * 3 + 2] = acadoWorkspace.state[14];
|
||||
return ret;
|
||||
}
|
||||
|
||||
void acado_evaluateLSQ(const real_t* in, real_t* out)
|
||||
void acado_evaluateLSQ(const real_t* in, real_t* out, double TR)
|
||||
{
|
||||
const real_t* xd = in;
|
||||
const real_t* u = in + 3;
|
||||
@@ -78,29 +78,29 @@ real_t* a = acadoWorkspace.objAuxVar;
|
||||
|
||||
/* Compute intermediate quantities: */
|
||||
a[0] = (sqrt((xd[1]+(real_t)(5.0000000000000000e-01))));
|
||||
a[1] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01))))));
|
||||
a[1] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(TR))-((od[1]-xd[1])*(real_t)(TR)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01))))));
|
||||
a[2] = ((real_t)(1.0000000000000000e+00)/(a[0]+(real_t)(1.0000000000000001e-01)));
|
||||
a[3] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01))))));
|
||||
a[3] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(TR))-((od[1]-xd[1])*(real_t)(TR)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01))))));
|
||||
a[4] = (((real_t)(2.9999999999999999e-01)*(((real_t)(0.0000000000000000e+00)-((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)))*a[2]))*a[3]);
|
||||
a[5] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
|
||||
a[6] = (1.0/sqrt((xd[1]+(real_t)(5.0000000000000000e-01))));
|
||||
a[7] = (a[6]*(real_t)(5.0000000000000000e-01));
|
||||
a[8] = (a[2]*a[2]);
|
||||
a[9] = (((real_t)(2.9999999999999999e-01)*(((((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[5]))*a[2])-((((((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))*a[7])*a[8])))*a[3]);
|
||||
a[9] = (((real_t)(2.9999999999999999e-01)*(((((real_t)(TR)-((real_t)(-TR)))+((xd[1]+xd[1])*a[5]))*a[2])-((((((((xd[1]*(real_t)(TR))-((od[1]-xd[1])*(real_t)(TR)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))*a[7])*a[8])))*a[3]);
|
||||
a[10] = ((real_t)(1.0000000000000000e+00)/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01)));
|
||||
a[11] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
|
||||
a[12] = (a[10]*a[10]);
|
||||
|
||||
/* Compute outputs: */
|
||||
out[0] = (a[1]-(real_t)(1.0000000000000000e+00));
|
||||
out[1] = (((od[0]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))))/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01)));
|
||||
out[1] = (((od[0]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(TR))-((od[1]-xd[1])*(real_t)(TR)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))))/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01)));
|
||||
out[2] = (xd[2]*(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)));
|
||||
out[3] = (u[0]*(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)));
|
||||
out[4] = a[4];
|
||||
out[5] = a[9];
|
||||
out[6] = (real_t)(0.0000000000000000e+00);
|
||||
out[7] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[10]);
|
||||
out[8] = ((((real_t)(0.0000000000000000e+00)-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[11])))*a[10])-((((od[0]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))))*(real_t)(5.0000000000000003e-02))*a[12]));
|
||||
out[8] = ((((real_t)(0.0000000000000000e+00)-(((real_t)(TR)-((real_t)(-TR)))+((xd[1]+xd[1])*a[11])))*a[10])-((((od[0]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(TR))-((od[1]-xd[1])*(real_t)(TR)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))))*(real_t)(5.0000000000000003e-02))*a[12]));
|
||||
out[9] = (real_t)(0.0000000000000000e+00);
|
||||
out[10] = (real_t)(0.0000000000000000e+00);
|
||||
out[11] = (xd[2]*(real_t)(1.0000000000000001e-01));
|
||||
@@ -114,7 +114,7 @@ out[18] = (real_t)(0.0000000000000000e+00);
|
||||
out[19] = (((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00));
|
||||
}
|
||||
|
||||
void acado_evaluateLSQEndTerm(const real_t* in, real_t* out)
|
||||
void acado_evaluateLSQEndTerm(const real_t* in, real_t* out, double TR)
|
||||
{
|
||||
const real_t* xd = in;
|
||||
const real_t* od = in + 3;
|
||||
@@ -123,28 +123,28 @@ real_t* a = acadoWorkspace.objAuxVar;
|
||||
|
||||
/* Compute intermediate quantities: */
|
||||
a[0] = (sqrt((xd[1]+(real_t)(5.0000000000000000e-01))));
|
||||
a[1] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01))))));
|
||||
a[1] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(TR))-((od[1]-xd[1])*(real_t)(TR)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01))))));
|
||||
a[2] = ((real_t)(1.0000000000000000e+00)/(a[0]+(real_t)(1.0000000000000001e-01)));
|
||||
a[3] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01))))));
|
||||
a[3] = (exp(((real_t)(2.9999999999999999e-01)*(((((((xd[1]*(real_t)(TR))-((od[1]-xd[1])*(real_t)(TR)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))/(a[0]+(real_t)(1.0000000000000001e-01))))));
|
||||
a[4] = (((real_t)(2.9999999999999999e-01)*(((real_t)(0.0000000000000000e+00)-((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00)))*a[2]))*a[3]);
|
||||
a[5] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
|
||||
a[6] = (1.0/sqrt((xd[1]+(real_t)(5.0000000000000000e-01))));
|
||||
a[7] = (a[6]*(real_t)(5.0000000000000000e-01));
|
||||
a[8] = (a[2]*a[2]);
|
||||
a[9] = (((real_t)(2.9999999999999999e-01)*(((((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[5]))*a[2])-((((((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))*a[7])*a[8])))*a[3]);
|
||||
a[9] = (((real_t)(2.9999999999999999e-01)*(((((real_t)(TR)-((real_t)(-TR)))+((xd[1]+xd[1])*a[5]))*a[2])-((((((((xd[1]*(real_t)(TR))-((od[1]-xd[1])*(real_t)(TR)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))+(real_t)(4.0000000000000000e+00))-(od[0]-xd[0]))*a[7])*a[8])))*a[3]);
|
||||
a[10] = ((real_t)(1.0000000000000000e+00)/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01)));
|
||||
a[11] = ((real_t)(1.0000000000000000e+00)/(real_t)(1.9620000000000001e+01));
|
||||
a[12] = (a[10]*a[10]);
|
||||
|
||||
/* Compute outputs: */
|
||||
out[0] = (a[1]-(real_t)(1.0000000000000000e+00));
|
||||
out[1] = (((od[0]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))))/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01)));
|
||||
out[1] = (((od[0]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(TR))-((od[1]-xd[1])*(real_t)(TR)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))))/(((real_t)(5.0000000000000003e-02)*xd[1])+(real_t)(5.0000000000000000e-01)));
|
||||
out[2] = (xd[2]*(((real_t)(1.0000000000000001e-01)*xd[1])+(real_t)(1.0000000000000000e+00)));
|
||||
out[3] = a[4];
|
||||
out[4] = a[9];
|
||||
out[5] = (real_t)(0.0000000000000000e+00);
|
||||
out[6] = (((real_t)(0.0000000000000000e+00)-(real_t)(1.0000000000000000e+00))*a[10]);
|
||||
out[7] = ((((real_t)(0.0000000000000000e+00)-(((real_t)(1.8000000000000000e+00)-((real_t)(-1.8000000000000000e+00)))+((xd[1]+xd[1])*a[11])))*a[10])-((((od[0]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(1.8000000000000000e+00))-((od[1]-xd[1])*(real_t)(1.8000000000000000e+00)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))))*(real_t)(5.0000000000000003e-02))*a[12]));
|
||||
out[7] = ((((real_t)(0.0000000000000000e+00)-(((real_t)(TR)-((real_t)(-TR)))+((xd[1]+xd[1])*a[11])))*a[10])-((((od[0]-xd[0])-((real_t)(4.0000000000000000e+00)+((((xd[1]*(real_t)(TR))-((od[1]-xd[1])*(real_t)(TR)))+((xd[1]*xd[1])/(real_t)(1.9620000000000001e+01)))-((od[1]*od[1])/(real_t)(1.9620000000000001e+01)))))*(real_t)(5.0000000000000003e-02))*a[12]));
|
||||
out[8] = (real_t)(0.0000000000000000e+00);
|
||||
out[9] = (real_t)(0.0000000000000000e+00);
|
||||
out[10] = (xd[2]*(real_t)(1.0000000000000001e-01));
|
||||
@@ -207,7 +207,7 @@ tmpQN1[7] = + tmpQN2[6]*tmpFx[1] + tmpQN2[7]*tmpFx[4] + tmpQN2[8]*tmpFx[7];
|
||||
tmpQN1[8] = + tmpQN2[6]*tmpFx[2] + tmpQN2[7]*tmpFx[5] + tmpQN2[8]*tmpFx[8];
|
||||
}
|
||||
|
||||
void acado_evaluateObjective( )
|
||||
void acado_evaluateObjective( double TR )
|
||||
{
|
||||
int runObj;
|
||||
for (runObj = 0; runObj < 20; ++runObj)
|
||||
@@ -219,7 +219,7 @@ acadoWorkspace.objValueIn[3] = acadoVariables.u[runObj];
|
||||
acadoWorkspace.objValueIn[4] = acadoVariables.od[runObj * 2];
|
||||
acadoWorkspace.objValueIn[5] = acadoVariables.od[runObj * 2 + 1];
|
||||
|
||||
acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
|
||||
acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut, TR );
|
||||
acadoWorkspace.Dy[runObj * 4] = acadoWorkspace.objValueOut[0];
|
||||
acadoWorkspace.Dy[runObj * 4 + 1] = acadoWorkspace.objValueOut[1];
|
||||
acadoWorkspace.Dy[runObj * 4 + 2] = acadoWorkspace.objValueOut[2];
|
||||
@@ -235,7 +235,7 @@ acadoWorkspace.objValueIn[1] = acadoVariables.x[61];
|
||||
acadoWorkspace.objValueIn[2] = acadoVariables.x[62];
|
||||
acadoWorkspace.objValueIn[3] = acadoVariables.od[40];
|
||||
acadoWorkspace.objValueIn[4] = acadoVariables.od[41];
|
||||
acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
|
||||
acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut, TR );
|
||||
|
||||
acadoWorkspace.DyN[0] = acadoWorkspace.objValueOut[0];
|
||||
acadoWorkspace.DyN[1] = acadoWorkspace.objValueOut[1];
|
||||
@@ -4589,12 +4589,12 @@ acado_multEDu( &(acadoWorkspace.E[ 624 ]), &(acadoWorkspace.x[ 21 ]), &(acadoVar
|
||||
acado_multEDu( &(acadoWorkspace.E[ 627 ]), &(acadoWorkspace.x[ 22 ]), &(acadoVariables.x[ 60 ]) );
|
||||
}
|
||||
|
||||
int acado_preparationStep( )
|
||||
int acado_preparationStep( double TR )
|
||||
{
|
||||
int ret;
|
||||
|
||||
ret = acado_modelSimulation();
|
||||
acado_evaluateObjective( );
|
||||
acado_evaluateObjective( TR );
|
||||
acado_condensePrep( );
|
||||
return ret;
|
||||
}
|
||||
@@ -4726,7 +4726,7 @@ kkt += fabs(acadoWorkspace.ubA[index] * prd);
|
||||
return kkt;
|
||||
}
|
||||
|
||||
real_t acado_getObjective( )
|
||||
real_t acado_getObjective( TR )
|
||||
{
|
||||
real_t objVal;
|
||||
|
||||
@@ -4746,7 +4746,7 @@ acadoWorkspace.objValueIn[3] = acadoVariables.u[lRun1];
|
||||
acadoWorkspace.objValueIn[4] = acadoVariables.od[lRun1 * 2];
|
||||
acadoWorkspace.objValueIn[5] = acadoVariables.od[lRun1 * 2 + 1];
|
||||
|
||||
acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
|
||||
acado_evaluateLSQ( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut, TR );
|
||||
acadoWorkspace.Dy[lRun1 * 4] = acadoWorkspace.objValueOut[0] - acadoVariables.y[lRun1 * 4];
|
||||
acadoWorkspace.Dy[lRun1 * 4 + 1] = acadoWorkspace.objValueOut[1] - acadoVariables.y[lRun1 * 4 + 1];
|
||||
acadoWorkspace.Dy[lRun1 * 4 + 2] = acadoWorkspace.objValueOut[2] - acadoVariables.y[lRun1 * 4 + 2];
|
||||
@@ -4757,7 +4757,7 @@ acadoWorkspace.objValueIn[1] = acadoVariables.x[61];
|
||||
acadoWorkspace.objValueIn[2] = acadoVariables.x[62];
|
||||
acadoWorkspace.objValueIn[3] = acadoVariables.od[40];
|
||||
acadoWorkspace.objValueIn[4] = acadoVariables.od[41];
|
||||
acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut );
|
||||
acado_evaluateLSQEndTerm( acadoWorkspace.objValueIn, acadoWorkspace.objValueOut, TR );
|
||||
acadoWorkspace.DyN[0] = acadoWorkspace.objValueOut[0] - acadoVariables.yN[0];
|
||||
acadoWorkspace.DyN[1] = acadoWorkspace.objValueOut[1] - acadoVariables.yN[1];
|
||||
acadoWorkspace.DyN[2] = acadoWorkspace.objValueOut[2] - acadoVariables.yN[2];
|
||||
|
||||
@@ -29,8 +29,9 @@ def _get_libmpc(mpc_id):
|
||||
|
||||
void init(double ttcCost, double distanceCost, double accelerationCost, double jerkCost);
|
||||
void init_with_simulation(double v_ego, double x_l, double v_l, double a_l, double l);
|
||||
void change_tr(double ttcCost, double distanceCost, double accelerationCost, double jerkCost);
|
||||
int run_mpc(state_t * x0, log_t * solution,
|
||||
double l, double a_l_0);
|
||||
double l, double a_l_0, double TR);
|
||||
""")
|
||||
|
||||
return (ffi, ffi.dlopen(libmpc_fn))
|
||||
|
||||
@@ -68,6 +68,25 @@ void init(double ttcCost, double distanceCost, double accelerationCost, double j
|
||||
|
||||
}
|
||||
|
||||
void change_tr(double ttcCost, double distanceCost, double accelerationCost, double jerkCost){
|
||||
int i;
|
||||
const int STEP_MULTIPLIER = 3;
|
||||
|
||||
for (i = 0; i < N; i++) {
|
||||
int f = 1;
|
||||
if (i > 4){
|
||||
f = STEP_MULTIPLIER;
|
||||
}
|
||||
acadoVariables.W[16 * i + 0] = ttcCost * f; // exponential cost for time-to-collision (ttc)
|
||||
acadoVariables.W[16 * i + 5] = distanceCost * f; // desired distance
|
||||
acadoVariables.W[16 * i + 10] = accelerationCost * f; // acceleration
|
||||
acadoVariables.W[16 * i + 15] = jerkCost * f; // jerk
|
||||
}
|
||||
acadoVariables.WN[0] = ttcCost * STEP_MULTIPLIER; // exponential cost for danger zone
|
||||
acadoVariables.WN[4] = distanceCost * STEP_MULTIPLIER; // desired distance
|
||||
acadoVariables.WN[8] = accelerationCost * STEP_MULTIPLIER; // acceleration
|
||||
}
|
||||
|
||||
void init_with_simulation(double v_ego, double x_l_0, double v_l_0, double a_l_0, double l){
|
||||
int i;
|
||||
|
||||
@@ -112,7 +131,7 @@ void init_with_simulation(double v_ego, double x_l_0, double v_l_0, double a_l_0
|
||||
for (i = 0; i < NYN; ++i) acadoVariables.yN[ i ] = 0.0;
|
||||
}
|
||||
|
||||
int run_mpc(state_t * x0, log_t * solution, double l, double a_l_0){
|
||||
int run_mpc(state_t * x0, log_t * solution, double l, double a_l_0, double TR){
|
||||
// Calculate lead vehicle predictions
|
||||
int i;
|
||||
double t = 0.;
|
||||
@@ -152,7 +171,7 @@ int run_mpc(state_t * x0, log_t * solution, double l, double a_l_0){
|
||||
acadoVariables.x[1] = acadoVariables.x0[1] = x0->v_ego;
|
||||
acadoVariables.x[2] = acadoVariables.x0[2] = x0->a_ego;
|
||||
|
||||
acado_preparationStep();
|
||||
acado_preparationStep(TR);
|
||||
acado_feedbackStep();
|
||||
|
||||
for (i = 0; i <= N; i++){
|
||||
@@ -164,7 +183,7 @@ int run_mpc(state_t * x0, log_t * solution, double l, double a_l_0){
|
||||
solution->j_ego[i] = acadoVariables.u[i];
|
||||
}
|
||||
}
|
||||
solution->cost = acado_getObjective();
|
||||
solution->cost = acado_getObjective(TR);
|
||||
|
||||
// Dont shift states here. Current solution is closer to next timestep than if
|
||||
// we shift by 0.2 seconds.
|
||||
|
||||
@@ -6,9 +6,12 @@ from selfdrive.controls.lib.lateral_mpc import libmpc_py
|
||||
from selfdrive.controls.lib.drive_helpers import MPC_COST_LAT
|
||||
from selfdrive.controls.lib.lane_planner import LanePlanner
|
||||
from selfdrive.config import Conversions as CV
|
||||
from common.params import Params
|
||||
from common.params import Params, put_nonblocking
|
||||
import cereal.messaging as messaging
|
||||
from cereal import log
|
||||
# dragonpilot
|
||||
from common.dp import get_last_modified
|
||||
from common.numpy_fast import interp
|
||||
|
||||
LaneChangeState = log.PathPlan.LaneChangeState
|
||||
LaneChangeDirection = log.PathPlan.LaneChangeDirection
|
||||
@@ -62,6 +65,24 @@ class PathPlanner():
|
||||
self.lane_change_ll_prob = 1.0
|
||||
self.prev_one_blinker = False
|
||||
|
||||
# dragonpilot
|
||||
self.params = Params()
|
||||
self.dragon_auto_lc_enabled = False
|
||||
self.dragon_auto_lc_allowed = False
|
||||
self.dragon_auto_lc_timer = None
|
||||
self.dragon_assisted_lc_min_mph = LANE_CHANGE_SPEED_MIN
|
||||
self.dragon_auto_lc_min_mph = 60 * CV.MPH_TO_MS
|
||||
self.dragon_auto_lc_delay = 2.
|
||||
self.last_ts = 0.
|
||||
self.dp_last_modified = None
|
||||
self.dp_enable_sr_boost = False
|
||||
self.dp_continuous_auto_lc = False
|
||||
self.dp_did_auto_lc = False
|
||||
|
||||
self.dp_steer_ratio = 0.
|
||||
self.dp_sr_boost_bp = None
|
||||
self.dp_sr_boost_range = None
|
||||
|
||||
def setup_mpc(self):
|
||||
self.libmpc = libmpc_py.libmpc
|
||||
self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, self.steer_rate_cost)
|
||||
@@ -79,6 +100,65 @@ class PathPlanner():
|
||||
self.angle_steers_des_time = 0.0
|
||||
|
||||
def update(self, sm, pm, CP, VM):
|
||||
# dragonpilot
|
||||
cur_time = sec_since_boot()
|
||||
if cur_time - self.last_ts >= 5.:
|
||||
modified = get_last_modified()
|
||||
if self.dp_last_modified != modified:
|
||||
self.lane_change_enabled = True if self.params.get("LaneChangeEnabled", encoding='utf8') == "1" else False
|
||||
if self.lane_change_enabled:
|
||||
self.dragon_auto_lc_enabled = True if self.params.get("DragonEnableAutoLC", encoding='utf8') == "1" else False
|
||||
# adjustable assisted lc min speed
|
||||
try:
|
||||
self.dragon_assisted_lc_min_mph = float(self.params.get("DragonAssistedLCMinMPH", encoding='utf8'))
|
||||
except (TypeError, ValueError):
|
||||
self.dragon_assisted_lc_min_mph = 45
|
||||
self.dragon_assisted_lc_min_mph *= CV.MPH_TO_MS
|
||||
if self.dragon_assisted_lc_min_mph < 0:
|
||||
self.dragon_assisted_lc_min_mph = 0
|
||||
if self.dragon_auto_lc_enabled:
|
||||
self.dp_continuous_auto_lc = True if self.params.get("DragonEnableContALC", encoding='utf8') == "1" else False
|
||||
# adjustable auto lc min speed
|
||||
try:
|
||||
self.dragon_auto_lc_min_mph = float(self.params.get("DragonAutoLCMinMPH", encoding='utf8'))
|
||||
except (TypeError, ValueError):
|
||||
self.dragon_auto_lc_min_mph = 60
|
||||
self.dragon_auto_lc_min_mph *= CV.MPH_TO_MS
|
||||
if self.dragon_auto_lc_min_mph < 0:
|
||||
self.dragon_auto_lc_min_mph = 0
|
||||
# when auto lc is smaller than assisted lc, we set assisted lc to the same speed as auto lc
|
||||
if self.dragon_auto_lc_min_mph < self.dragon_assisted_lc_min_mph:
|
||||
self.dragon_assisted_lc_min_mph = self.dragon_auto_lc_min_mph
|
||||
# adjustable auto lc delay
|
||||
try:
|
||||
self.dragon_auto_lc_delay = float(self.params.get("DragonAutoLCDelay", encoding='utf8'))
|
||||
except (TypeError, ValueError):
|
||||
self.dragon_auto_lc_delay = 2.
|
||||
if self.dragon_auto_lc_delay < 0:
|
||||
self.dragon_auto_lc_delay = 0
|
||||
else:
|
||||
self.dragon_auto_lc_enabled = False
|
||||
|
||||
self.dp_enable_sr_boost = True if self.params.get("DragonEnableSteerBoost", encoding='utf8') == "1" else False
|
||||
if self.dp_enable_sr_boost:
|
||||
try:
|
||||
sr_boost_min = float(self.params.get("DragonSteerBoostMin", encoding='utf8'))
|
||||
sr_boost_Max = float(self.params.get("DragonSteerBoostMax", encoding='utf8'))
|
||||
self.dp_sr_boost_range = [sr_boost_min, sr_boost_Max]
|
||||
|
||||
boost_min_at = float(self.params.get("DragonSteerBoostMinAt", encoding='utf8'))
|
||||
boost_max_at = float(self.params.get("DragonSteerBoostMaxAt", encoding='utf8'))
|
||||
self.dp_sr_boost_bp = [boost_min_at, boost_max_at]
|
||||
except (TypeError, ValueError):
|
||||
put_nonblocking("DragonEnableSteerBoost", '0')
|
||||
self.dp_enable_sr_boost = False
|
||||
if not self.dp_enable_sr_boost:
|
||||
self.dp_sr_boost_range = [0., 0.]
|
||||
self.dp_sr_boost_bp = [0., 0.]
|
||||
|
||||
self.dp_last_modified = modified
|
||||
self.last_ts = cur_time
|
||||
|
||||
v_ego = sm['carState'].vEgo
|
||||
angle_steers = sm['carState'].steeringAngle
|
||||
active = sm['controlsState'].active
|
||||
@@ -89,12 +169,14 @@ class PathPlanner():
|
||||
self.angle_steers_des_prev = self.angle_steers_des_mpc
|
||||
VM.update_params(sm['liveParameters'].stiffnessFactor, sm['liveParameters'].steerRatio)
|
||||
curvature_factor = VM.curvature_factor(v_ego)
|
||||
boost_rate = (1 + (interp(abs(angle_steers), self.dp_sr_boost_bp, self.dp_sr_boost_range) / 100)) if self.dp_enable_sr_boost else 1
|
||||
self.dp_steer_ratio = VM.sR * boost_rate
|
||||
|
||||
self.LP.parse_model(sm['model'])
|
||||
|
||||
# Lane change logic
|
||||
one_blinker = sm['carState'].leftBlinker != sm['carState'].rightBlinker
|
||||
below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
|
||||
below_lane_change_speed = v_ego < self.dragon_assisted_lc_min_mph
|
||||
|
||||
if sm['carState'].leftBlinker:
|
||||
self.lane_change_direction = LaneChangeDirection.left
|
||||
@@ -111,6 +193,33 @@ class PathPlanner():
|
||||
|
||||
lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob
|
||||
|
||||
# dragonpilot auto lc
|
||||
if not below_lane_change_speed and self.dragon_auto_lc_enabled and v_ego >= self.dragon_auto_lc_min_mph:
|
||||
# we allow auto lc when speed reached dragon_auto_lc_min_mph
|
||||
self.dragon_auto_lc_allowed = True
|
||||
else:
|
||||
# if too slow, we reset all the variables
|
||||
self.dragon_auto_lc_allowed = False
|
||||
self.dragon_auto_lc_timer = None
|
||||
|
||||
# disable auto lc when continuous is off and already did auto lc once
|
||||
if self.dragon_auto_lc_allowed and not self.dp_continuous_auto_lc and self.dp_did_auto_lc:
|
||||
self.dragon_auto_lc_allowed = False
|
||||
|
||||
if self.dragon_auto_lc_allowed:
|
||||
if self.dragon_auto_lc_timer is None:
|
||||
# we only set timer when in preLaneChange state, dragon_auto_lc_delay delay
|
||||
if self.lane_change_state == LaneChangeState.preLaneChange:
|
||||
self.dragon_auto_lc_timer = cur_time + self.dragon_auto_lc_delay
|
||||
elif cur_time >= self.dragon_auto_lc_timer:
|
||||
# if timer is up, we set torque_applied to True to fake user input
|
||||
torque_applied = True
|
||||
self.dp_did_auto_lc = True
|
||||
|
||||
# we reset the timers when torque is applied regardless
|
||||
if torque_applied:
|
||||
self.dragon_auto_lc_timer = None
|
||||
|
||||
# State transitions
|
||||
# off
|
||||
if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
|
||||
@@ -141,11 +250,17 @@ class PathPlanner():
|
||||
elif self.lane_change_ll_prob > 0.99:
|
||||
self.lane_change_state = LaneChangeState.off
|
||||
|
||||
# when finishing, we reset timer to none.
|
||||
self.dragon_auto_lc_timer = None
|
||||
|
||||
if self.lane_change_state in [LaneChangeState.off, LaneChangeState.preLaneChange]:
|
||||
self.lane_change_timer = 0.0
|
||||
else:
|
||||
self.lane_change_timer += DT_MDL
|
||||
|
||||
if self.prev_one_blinker and not one_blinker:
|
||||
self.dp_did_auto_lc = False
|
||||
|
||||
self.prev_one_blinker = one_blinker
|
||||
|
||||
desire = DESIRES[self.lane_change_direction][self.lane_change_state]
|
||||
@@ -157,7 +272,7 @@ class PathPlanner():
|
||||
self.LP.update_d_poly(v_ego)
|
||||
|
||||
# account for actuation delay
|
||||
self.cur_state = calc_states_after_delay(self.cur_state, v_ego, angle_steers - angle_offset, curvature_factor, VM.sR, CP.steerActuatorDelay)
|
||||
self.cur_state = calc_states_after_delay(self.cur_state, v_ego, angle_steers - angle_offset, curvature_factor, self.dp_steer_ratio, CP.steerActuatorDelay)
|
||||
|
||||
v_ego_mpc = max(v_ego, 5.0) # avoid mpc roughness due to low speed
|
||||
self.libmpc.run_mpc(self.cur_state, self.mpc_solution,
|
||||
@@ -167,21 +282,21 @@ class PathPlanner():
|
||||
# reset to current steer angle if not active or overriding
|
||||
if active:
|
||||
delta_desired = self.mpc_solution[0].delta[1]
|
||||
rate_desired = math.degrees(self.mpc_solution[0].rate[0] * VM.sR)
|
||||
rate_desired = math.degrees(self.mpc_solution[0].rate[0] * self.dp_steer_ratio)
|
||||
else:
|
||||
delta_desired = math.radians(angle_steers - angle_offset) / VM.sR
|
||||
delta_desired = math.radians(angle_steers - angle_offset) / self.dp_steer_ratio
|
||||
rate_desired = 0.0
|
||||
|
||||
self.cur_state[0].delta = delta_desired
|
||||
|
||||
self.angle_steers_des_mpc = float(math.degrees(delta_desired * VM.sR) + angle_offset)
|
||||
self.angle_steers_des_mpc = float(math.degrees(delta_desired * self.dp_steer_ratio) + angle_offset)
|
||||
|
||||
# Check for infeasable MPC solution
|
||||
mpc_nans = any(math.isnan(x) for x in self.mpc_solution[0].delta)
|
||||
t = sec_since_boot()
|
||||
if mpc_nans:
|
||||
self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, CP.steerRateCost)
|
||||
self.cur_state[0].delta = math.radians(angle_steers - angle_offset) / VM.sR
|
||||
self.cur_state[0].delta = math.radians(angle_steers - angle_offset) / self.dp_steer_ratio
|
||||
|
||||
if t > self.last_cloudlog_t + 5.0:
|
||||
self.last_cloudlog_t = t
|
||||
@@ -213,6 +328,7 @@ class PathPlanner():
|
||||
plan_send.pathPlan.desire = desire
|
||||
plan_send.pathPlan.laneChangeState = self.lane_change_state
|
||||
plan_send.pathPlan.laneChangeDirection = self.lane_change_direction
|
||||
plan_send.pathPlan.alcAllowed = self.dragon_auto_lc_allowed
|
||||
|
||||
pm.send('pathPlan', plan_send)
|
||||
|
||||
|
||||
@@ -10,10 +10,11 @@ def apply_deadzone(error, deadzone):
|
||||
error = 0.
|
||||
return error
|
||||
|
||||
class PIController():
|
||||
|
||||
class PIController:
|
||||
def __init__(self, k_p, k_i, k_f=1., pos_limit=None, neg_limit=None, rate=100, sat_limit=0.8, convert=None):
|
||||
self._k_p = k_p # proportional gain
|
||||
self._k_i = k_i # integral gain
|
||||
self._k_p = k_p # proportional gain
|
||||
self._k_i = k_i # integral gain
|
||||
self.k_f = k_f # feedforward gain
|
||||
|
||||
self.pos_limit = pos_limit
|
||||
@@ -86,3 +87,101 @@ class PIController():
|
||||
|
||||
self.control = clip(control, self.neg_limit, self.pos_limit)
|
||||
return self.control
|
||||
|
||||
|
||||
class PIDController:
|
||||
def __init__(self, k_p, k_i, k_d, k_f=1., pos_limit=None, neg_limit=None, rate=100, sat_limit=0.8, convert=None):
|
||||
self.enable_long_derivative = False # self.op_params.get('enable_long_derivative', False)
|
||||
self._k_p = k_p # proportional gain
|
||||
self._k_i = k_i # integral gain
|
||||
self._k_d = k_d # derivative gain
|
||||
self.k_f = k_f # feedforward gain
|
||||
|
||||
self.max_accel_d = 0.22352 # 0.5 mph/s
|
||||
|
||||
self.pos_limit = pos_limit
|
||||
self.neg_limit = neg_limit
|
||||
|
||||
self.sat_count_rate = 1.0 / rate
|
||||
self.i_unwind_rate = 0.3 / rate
|
||||
self.rate = 1.0 / rate
|
||||
self.sat_limit = sat_limit
|
||||
self.convert = convert
|
||||
|
||||
self.reset()
|
||||
|
||||
@property
|
||||
def k_p(self):
|
||||
return interp(self.speed, self._k_p[0], self._k_p[1])
|
||||
|
||||
@property
|
||||
def k_i(self):
|
||||
return interp(self.speed, self._k_i[0], self._k_i[1])
|
||||
|
||||
@property
|
||||
def k_d(self):
|
||||
return interp(self.speed, self._k_d[0], self._k_d[1])
|
||||
|
||||
def _check_saturation(self, control, check_saturation, error):
|
||||
saturated = (control < self.neg_limit) or (control > self.pos_limit)
|
||||
|
||||
if saturated and check_saturation and abs(error) > 0.1:
|
||||
self.sat_count += self.sat_count_rate
|
||||
else:
|
||||
self.sat_count -= self.sat_count_rate
|
||||
|
||||
self.sat_count = clip(self.sat_count, 0.0, 1.0)
|
||||
|
||||
return self.sat_count > self.sat_limit
|
||||
|
||||
def reset(self):
|
||||
self.p = 0.0
|
||||
self.id = 0.0
|
||||
self.f = 0.0
|
||||
self.sat_count = 0.0
|
||||
self.saturated = False
|
||||
self.control = 0
|
||||
self.last_setpoint = 0.0
|
||||
self.last_error = 0.0
|
||||
|
||||
def update(self, setpoint, measurement, speed=0.0, check_saturation=True, override=False, feedforward=0., deadzone=0., freeze_integrator=False):
|
||||
self.speed = speed
|
||||
|
||||
error = float(apply_deadzone(setpoint - measurement, deadzone))
|
||||
|
||||
self.p = error * self.k_p
|
||||
self.f = feedforward * self.k_f
|
||||
|
||||
if override:
|
||||
self.id -= self.i_unwind_rate * float(np.sign(self.id))
|
||||
else:
|
||||
i = self.id + error * self.k_i * self.rate
|
||||
control = self.p + self.f + i
|
||||
|
||||
if self.convert is not None:
|
||||
control = self.convert(control, speed=self.speed)
|
||||
|
||||
# Update when changing i will move the control away from the limits
|
||||
# or when i will move towards the sign of the error
|
||||
if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or \
|
||||
(error <= 0 and (control >= self.neg_limit or i > 0.0))) and \
|
||||
not freeze_integrator:
|
||||
self.id = i
|
||||
|
||||
if self.enable_long_derivative:
|
||||
if abs(setpoint - self.last_setpoint) / self.rate < self.max_accel_d: # if setpoint isn't changing much
|
||||
d = self.k_d * (error - self.last_error)
|
||||
if (self.id > 0 and self.id + d >= 0) or (self.id < 0 and self.id + d <= 0): # if changing integral doesn't make it cross zero
|
||||
self.id += d
|
||||
|
||||
control = self.p + self.f + self.id
|
||||
if self.convert is not None:
|
||||
control = self.convert(control, speed=self.speed)
|
||||
|
||||
self.saturated = self._check_saturation(control, check_saturation, error)
|
||||
|
||||
self.last_setpoint = float(setpoint)
|
||||
self.last_error = float(error)
|
||||
|
||||
self.control = clip(control, self.neg_limit, self.pos_limit)
|
||||
return self.control
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
#!/usr/bin/env python3
|
||||
import math
|
||||
import numpy as np
|
||||
from common.params import Params
|
||||
from common.params import Params, put_nonblocking
|
||||
from common.numpy_fast import interp
|
||||
|
||||
import cereal.messaging as messaging
|
||||
@@ -13,6 +13,7 @@ from selfdrive.controls.lib.speed_smoother import speed_smoother
|
||||
from selfdrive.controls.lib.longcontrol import LongCtrlState, MIN_CAN_SPEED
|
||||
from selfdrive.controls.lib.fcw import FCWChecker
|
||||
from selfdrive.controls.lib.long_mpc import LongitudinalMpc
|
||||
from common.dp import get_last_modified
|
||||
|
||||
MAX_SPEED = 255.0
|
||||
|
||||
@@ -39,23 +40,64 @@ _A_TOTAL_MAX_BP = [20., 40.]
|
||||
SPEED_PERCENTILE_IDX = 7
|
||||
|
||||
|
||||
def calc_cruise_accel_limits(v_ego, following):
|
||||
a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
|
||||
# dp
|
||||
# accel profile by @arne182
|
||||
_AP_CRUISE_MIN_V = [-2.0, -1.5, -1.0, -0.7, -0.5]
|
||||
_AP_CRUISE_MIN_V_ECO = [-1.0, -0.7, -0.6, -0.5, -0.3]
|
||||
_AP_CRUISE_MIN_V_SPORT = [-3.0, -2.6, -2.3, -2.0, -1.0]
|
||||
_AP_CRUISE_MIN_V_FOLLOWING = [-4.0, -4.0, -3.5, -2.5, -2.0]
|
||||
_AP_CRUISE_MIN_BP = [0.0, 5.0, 10.0, 20.0, 55.0]
|
||||
|
||||
if following:
|
||||
a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V_FOLLOWING)
|
||||
_AP_CRUISE_MAX_V = [2.0, 2.0, 1.5, .5, .3]
|
||||
_AP_CRUISE_MAX_V_ECO = [0.8, 0.9, 1.0, 0.4, 0.2]
|
||||
_AP_CRUISE_MAX_V_SPORT = [3.0, 3.5, 3.0, 2.0, 2.0]
|
||||
_AP_CRUISE_MAX_V_FOLLOWING = [1.6, 1.4, 1.4, .7, .3]
|
||||
_AP_CRUISE_MAX_BP = [0., 5., 10., 20., 55.]
|
||||
|
||||
# Lookup table for turns
|
||||
_AP_TOTAL_MAX_V = [3.3, 3.0, 3.9]
|
||||
_AP_TOTAL_MAX_BP = [0., 25., 55.]
|
||||
|
||||
AP_OFF = 0
|
||||
AP_ECO = 1
|
||||
AP_NORMAL = 2
|
||||
AP_SPORT = 3
|
||||
|
||||
|
||||
def calc_cruise_accel_limits(v_ego, following, accel_profile):
|
||||
if accel_profile == AP_OFF:
|
||||
a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
|
||||
|
||||
if following:
|
||||
a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V_FOLLOWING)
|
||||
else:
|
||||
a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V)
|
||||
else:
|
||||
a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V)
|
||||
if following:
|
||||
a_cruise_min = interp(v_ego, _AP_CRUISE_MIN_BP, _AP_CRUISE_MIN_V_FOLLOWING)
|
||||
a_cruise_max = interp(v_ego, _AP_CRUISE_MAX_BP, _AP_CRUISE_MAX_V_FOLLOWING)
|
||||
else:
|
||||
if accel_profile == AP_ECO:
|
||||
a_cruise_min = interp(v_ego, _AP_CRUISE_MIN_BP, _AP_CRUISE_MIN_V_ECO)
|
||||
a_cruise_max = interp(v_ego, _AP_CRUISE_MAX_BP, _AP_CRUISE_MAX_V_ECO)
|
||||
elif accel_profile == AP_SPORT:
|
||||
a_cruise_min = interp(v_ego, _AP_CRUISE_MIN_BP, _AP_CRUISE_MIN_V_SPORT)
|
||||
a_cruise_max = interp(v_ego, _AP_CRUISE_MAX_BP, _AP_CRUISE_MAX_V_SPORT)
|
||||
else:
|
||||
a_cruise_min = interp(v_ego, _AP_CRUISE_MIN_BP, _AP_CRUISE_MIN_V)
|
||||
a_cruise_max = interp(v_ego, _AP_CRUISE_MAX_BP, _AP_CRUISE_MAX_V)
|
||||
return np.vstack([a_cruise_min, a_cruise_max])
|
||||
|
||||
|
||||
def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
|
||||
def limit_accel_in_turns(v_ego, angle_steers, a_target, CP, accel_profile):
|
||||
"""
|
||||
This function returns a limited long acceleration allowed, depending on the existing lateral acceleration
|
||||
this should avoid accelerating when losing the target in turns
|
||||
"""
|
||||
|
||||
a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
|
||||
if accel_profile == AP_OFF:
|
||||
a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
|
||||
else:
|
||||
a_total_max = interp(v_ego, _AP_TOTAL_MAX_BP, _AP_TOTAL_MAX_V)
|
||||
a_y = v_ego**2 * angle_steers * CV.DEG_TO_RAD / (CP.steerRatio * CP.wheelbase)
|
||||
a_x_allowed = math.sqrt(max(a_total_max**2 - a_y**2, 0.))
|
||||
|
||||
@@ -87,6 +129,14 @@ class Planner():
|
||||
self.params = Params()
|
||||
self.first_loop = True
|
||||
|
||||
# dp
|
||||
self.dragon_slow_on_curve = True
|
||||
self.dragon_alt_accel_profile = False
|
||||
self.dragon_fast_accel = False
|
||||
self.dragon_accel_profile = AP_OFF
|
||||
self.last_ts = 0.
|
||||
self.dp_last_modified = None
|
||||
|
||||
def choose_solution(self, v_cruise_setpoint, enabled):
|
||||
if enabled:
|
||||
solutions = {'model': self.v_model, 'cruise': self.v_cruise}
|
||||
@@ -119,6 +169,20 @@ class Planner():
|
||||
cur_time = sec_since_boot()
|
||||
v_ego = sm['carState'].vEgo
|
||||
|
||||
# dp
|
||||
# update variable status every 5 secs
|
||||
if cur_time - self.last_ts >= 5.:
|
||||
modified = get_last_modified()
|
||||
if self.dp_last_modified != modified:
|
||||
self.dragon_slow_on_curve = False if self.params.get("DragonEnableSlowOnCurve", encoding='utf8') == "0" else True
|
||||
try:
|
||||
self.dragon_accel_profile = int(self.params.get("DragonAccelProfile", encoding='utf8').rstrip('\x00'))
|
||||
except (TypeError, ValueError):
|
||||
self.dragon_accel_profile = AP_OFF
|
||||
put_nonblocking('DragonAccelProfile', AP_OFF)
|
||||
self.dp_last_modified = modified
|
||||
self.last_ts = cur_time
|
||||
|
||||
long_control_state = sm['controlsState'].longControlState
|
||||
v_cruise_kph = sm['controlsState'].vCruise
|
||||
force_slow_decel = sm['controlsState'].forceDecel
|
||||
@@ -130,7 +194,7 @@ class Planner():
|
||||
enabled = (long_control_state == LongCtrlState.pid) or (long_control_state == LongCtrlState.stopping)
|
||||
following = lead_1.status and lead_1.dRel < 45.0 and lead_1.vLeadK > v_ego and lead_1.aLeadK > 0.0
|
||||
|
||||
if len(sm['model'].path.poly):
|
||||
if self.dragon_slow_on_curve and len(sm['model'].path.poly):
|
||||
path = list(sm['model'].path.poly)
|
||||
|
||||
# Curvature of polynomial https://en.wikipedia.org/wiki/Curvature#Curvature_of_the_graph_of_a_function
|
||||
@@ -150,9 +214,9 @@ class Planner():
|
||||
|
||||
# Calculate speed for normal cruise control
|
||||
if enabled and not self.first_loop:
|
||||
accel_limits = [float(x) for x in calc_cruise_accel_limits(v_ego, following)]
|
||||
accel_limits = [float(x) for x in calc_cruise_accel_limits(v_ego, following, self.dragon_accel_profile)]
|
||||
jerk_limits = [min(-0.1, accel_limits[0]), max(0.1, accel_limits[1])] # TODO: make a separate lookup for jerk tuning
|
||||
accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngle, accel_limits, self.CP)
|
||||
accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngle, accel_limits, self.CP, self.dragon_accel_profile)
|
||||
|
||||
if force_slow_decel:
|
||||
# if required so, force a smooth deceleration
|
||||
|
||||
+51
-12
@@ -3,53 +3,92 @@ import os
|
||||
import sys
|
||||
import threading
|
||||
import capnp
|
||||
from selfdrive.version import version, dirty
|
||||
from datetime import datetime
|
||||
import traceback
|
||||
from selfdrive.version import version, dirty, origin, branch
|
||||
from common.params import Params
|
||||
import requests
|
||||
from common.dp import is_online
|
||||
CRASHES_DIR = '/sdcard/crash_logs/'
|
||||
|
||||
from selfdrive.swaglog import cloudlog
|
||||
from common.android import ANDROID
|
||||
|
||||
if os.getenv("NOLOG") or os.getenv("NOCRASH") or not ANDROID:
|
||||
def capture_exception(*exc_info):
|
||||
def capture_exception(*args, **kwargs):
|
||||
pass
|
||||
|
||||
def bind_user(**kwargs):
|
||||
pass
|
||||
|
||||
def bind_extra(**kwargs):
|
||||
pass
|
||||
|
||||
def install():
|
||||
pass
|
||||
else:
|
||||
from raven import Client
|
||||
from raven.transport.http import HTTPTransport
|
||||
client = Client('https://1994756b5e6f41cf939a4c65de45f4f2:cefebaf3a8aa40d182609785f7189bd7@app.getsentry.com/77924',
|
||||
install_sys_hook=False, transport=HTTPTransport, release=version, tags={'dirty': dirty})
|
||||
params = Params()
|
||||
try:
|
||||
dongle_id = params.get("DongleId").decode('utf8')
|
||||
except AttributeError:
|
||||
dongle_id = "None"
|
||||
try:
|
||||
ip = requests.get('https://checkip.amazonaws.com/', timeout=3).text.strip() if is_online() else '255.255.255.255'
|
||||
except:
|
||||
ip = "255.255.255.255"
|
||||
error_tags = {'dirty': dirty, 'username': dongle_id, 'dongle_id': dongle_id, 'branch': branch, 'remote': origin}
|
||||
|
||||
client = Client('http://7107f046f45b4b4f9b277d0684bc9281@sentry.dragonpilot.cn:9000/2',
|
||||
install_sys_hook=False, transport=HTTPTransport, release=version, tags=error_tags)
|
||||
|
||||
def capture_exception(*args, **kwargs):
|
||||
save_exception(traceback.format_exc())
|
||||
exc_info = sys.exc_info()
|
||||
if not exc_info[0] is capnp.lib.capnp.KjException:
|
||||
client.captureException(*args, **kwargs)
|
||||
cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1))
|
||||
|
||||
# dp - from @ShaneSmiskol, save log into local directory
|
||||
def save_exception(exc_text):
|
||||
if not os.path.exists(CRASHES_DIR):
|
||||
os.mkdir(CRASHES_DIR)
|
||||
log_file = '{}/{}'.format(CRASHES_DIR, datetime.now().strftime('%Y-%m-%d--%H-%M-%S.%f.log')[:-3])
|
||||
with open(log_file, 'w') as f:
|
||||
f.write(exc_text)
|
||||
print('Logged current crash to {}'.format(log_file))
|
||||
|
||||
def bind_user(**kwargs):
|
||||
client.user_context(kwargs)
|
||||
|
||||
def capture_warning(warning_string):
|
||||
bind_user(id=dongle_id, ip_address=ip)
|
||||
client.captureMessage(warning_string, level='warning')
|
||||
|
||||
def capture_info(info_string):
|
||||
bind_user(id=dongle_id, ip_address=ip)
|
||||
client.captureMessage(info_string, level='info')
|
||||
|
||||
def bind_extra(**kwargs):
|
||||
client.extra_context(kwargs)
|
||||
|
||||
def install():
|
||||
# installs a sys.excepthook
|
||||
__excepthook__ = sys.excepthook
|
||||
def handle_exception(*exc_info):
|
||||
if exc_info[0] not in (KeyboardInterrupt, SystemExit):
|
||||
capture_exception()
|
||||
__excepthook__(*exc_info)
|
||||
sys.excepthook = handle_exception
|
||||
|
||||
"""
|
||||
Workaround for `sys.excepthook` thread bug from:
|
||||
http://bugs.python.org/issue1230540
|
||||
Call once from the main thread before creating any threads.
|
||||
Source: https://stackoverflow.com/a/31622038
|
||||
"""
|
||||
# installs a sys.excepthook
|
||||
__excepthook__ = sys.excepthook
|
||||
|
||||
def handle_exception(*exc_info):
|
||||
if exc_info[0] not in (KeyboardInterrupt, SystemExit):
|
||||
capture_exception()
|
||||
__excepthook__(*exc_info)
|
||||
sys.excepthook = handle_exception
|
||||
|
||||
init_original = threading.Thread.__init__
|
||||
|
||||
def init(self, *args, **kwargs):
|
||||
|
||||
@@ -0,0 +1,21 @@
|
||||
The MIT License
|
||||
|
||||
Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
THE SOFTWARE.
|
||||
@@ -0,0 +1,456 @@
|
||||
#!/usr/bin/env python3.7
|
||||
import time
|
||||
import subprocess
|
||||
import cereal
|
||||
import cereal.messaging as messaging
|
||||
ThermalStatus = cereal.log.ThermalData.ThermalStatus
|
||||
from selfdrive.swaglog import cloudlog
|
||||
from common.realtime import sec_since_boot
|
||||
from common.params import Params, put_nonblocking
|
||||
params = Params()
|
||||
from common.dp import get_last_modified
|
||||
from math import floor
|
||||
import re
|
||||
import os
|
||||
from common.dp import is_online
|
||||
|
||||
is_online = is_online()
|
||||
is_cnpmjs_src = "cnpmjs" in subprocess.check_output(["git", "-C", "/data/openpilot", "config", "--get", "remote.origin.url"]).decode('utf8').rstrip()
|
||||
auto_update = params.get("DragonAppAutoUpdate", encoding='utf8') == "1"
|
||||
|
||||
class App():
|
||||
|
||||
# app type
|
||||
TYPE_GPS = 0
|
||||
TYPE_SERVICE = 1
|
||||
TYPE_GPS_SERVICE = 2
|
||||
TYPE_FULLSCREEN = 3
|
||||
TYPE_UTIL = 4
|
||||
|
||||
# manual switch stats
|
||||
MANUAL_OFF = "-1"
|
||||
MANUAL_IDLE = "0"
|
||||
MANUAL_ON = "1"
|
||||
|
||||
def appops_set(self, package, op, mode):
|
||||
self.system(f"LD_LIBRARY_PATH= appops set {package} {op} {mode}")
|
||||
|
||||
def pm_grant(self, package, permission):
|
||||
self.system(f"pm grant {package} {permission}")
|
||||
|
||||
def set_package_permissions(self):
|
||||
if self.permissions is not None:
|
||||
for permission in self.permissions:
|
||||
self.pm_grant(self.app, permission)
|
||||
if self.opts is not None:
|
||||
for opt in self.opts:
|
||||
self.appops_set(self.app, opt, "allow")
|
||||
|
||||
def __init__(self, app, activity, enable_param, auto_run_param, manual_ctrl_param, app_type, permissions, opts):
|
||||
self.app = app
|
||||
# main activity
|
||||
self.activity = activity
|
||||
# read enable param
|
||||
self.enable_param = enable_param
|
||||
# read auto run param
|
||||
self.auto_run_param = auto_run_param
|
||||
# read manual run param
|
||||
self.manual_ctrl_param = manual_ctrl_param
|
||||
# if it's a service app, we do not kill if device is too hot
|
||||
self.app_type = app_type
|
||||
# app permissions
|
||||
self.permissions = permissions
|
||||
# app options
|
||||
self.opts = opts
|
||||
|
||||
self.is_installed = False
|
||||
self.is_enabled = True if params.get(self.enable_param, encoding='utf8') == "1" else False
|
||||
self.last_is_enabled = False
|
||||
self.is_auto_runnable = False
|
||||
self.is_running = False
|
||||
self.manual_ctrl_status = self.MANUAL_IDLE
|
||||
self.manually_ctrled = False
|
||||
|
||||
if self.is_enabled:
|
||||
local_version = self.get_local_version()
|
||||
if local_version is not None:
|
||||
self.is_installed = True
|
||||
|
||||
if is_online:
|
||||
remote_version = local_version
|
||||
if local_version is not None and auto_update:
|
||||
remote_version = self.get_remote_version()
|
||||
if local_version is None or (remote_version is not None and local_version != remote_version):
|
||||
self.update_app()
|
||||
if self.is_installed:
|
||||
self.set_package_permissions()
|
||||
else:
|
||||
self.uninstall_app()
|
||||
|
||||
if self.manual_ctrl_param is not None:
|
||||
put_nonblocking(self.manual_ctrl_param, '0')
|
||||
self.last_ts = sec_since_boot()
|
||||
|
||||
def get_remote_version(self):
|
||||
apk = self.app + ".apk"
|
||||
try:
|
||||
if is_cnpmjs_src:
|
||||
url = "https://github.com.cnpmjs.org/dragonpilot-community/apps/raw/%s/VERSION" % apk
|
||||
else:
|
||||
url = "https://raw.githubusercontent.com/dragonpilot-community/apps/%s/VERSION" % apk
|
||||
return subprocess.check_output(["curl", "-H", "'Cache-Control: no-cache'", "-s", url], stderr=subprocess.STDOUT, shell=True).decode('utf8').rstrip()
|
||||
except subprocess.CalledProcessError as e:
|
||||
pass
|
||||
return None
|
||||
|
||||
def uninstall_app(self):
|
||||
try:
|
||||
local_version = self.get_local_version()
|
||||
if local_version is not None:
|
||||
subprocess.check_output(["pm","uninstall", self.app])
|
||||
self.is_installed = False
|
||||
except subprocess.CalledProcessError as e:
|
||||
pass
|
||||
|
||||
def update_app(self):
|
||||
apk = self.app + ".apk"
|
||||
apk_path = "/sdcard/" + apk
|
||||
try:
|
||||
os.remove(apk_path)
|
||||
except (OSError, FileNotFoundError) as e:
|
||||
pass
|
||||
|
||||
self.uninstall_app()
|
||||
# if local_version is not None:
|
||||
# try:
|
||||
# subprocess.check_output(["pm","uninstall", self.app], stderr=subprocess.STDOUT, shell=True)
|
||||
# except subprocess.CalledProcessError as e:
|
||||
# pass
|
||||
try:
|
||||
put_nonblocking('DragonUpdating', '1')
|
||||
if is_cnpmjs_src:
|
||||
url = "https://github.com.cnpmjs.org/dragonpilot-community/apps/blob/%s/%s" % (apk, apk)
|
||||
else:
|
||||
url = "https://raw.githubusercontent.com/dragonpilot-community/apps/%s/%s" % (apk, apk)
|
||||
subprocess.check_output(["curl","-o", apk_path,"-LJO", url])
|
||||
subprocess.check_output(["pm","install","-r",apk_path])
|
||||
self.is_installed = True
|
||||
except subprocess.CalledProcessError as e:
|
||||
self.is_installed = False
|
||||
put_nonblocking('DragonUpdating', '0')
|
||||
try:
|
||||
os.remove(apk_path)
|
||||
except (OSError, FileNotFoundError) as e:
|
||||
pass
|
||||
|
||||
def get_local_version(self):
|
||||
try:
|
||||
result = subprocess.check_output(["dumpsys", "package", self.app, "|", "grep", "versionName"], encoding='utf8')
|
||||
if len(result) > 12:
|
||||
return re.findall(r"versionName=(.*)", result)[0]
|
||||
except (subprocess.CalledProcessError, IndexError) as e:
|
||||
pass
|
||||
return None
|
||||
|
||||
|
||||
def read_params(self):
|
||||
self.last_is_enabled = self.is_enabled
|
||||
if self.enable_param is None:
|
||||
self.is_enabled = False
|
||||
else:
|
||||
self.is_enabled = True if params.get(self.enable_param, encoding='utf8') == "1" else False
|
||||
|
||||
if self.is_installed:
|
||||
if self.is_enabled:
|
||||
# a service app should run automatically and not manual controllable.
|
||||
if self.app_type in [App.TYPE_SERVICE, App.TYPE_GPS_SERVICE]:
|
||||
self.is_auto_runnable = True
|
||||
self.manual_ctrl_status = self.MANUAL_IDLE
|
||||
else:
|
||||
if self.manual_ctrl_param is None:
|
||||
self.manual_ctrl_status = self.MANUAL_IDLE
|
||||
else:
|
||||
self.manual_ctrl_status = params.get(self.manual_ctrl_param, encoding='utf8')
|
||||
|
||||
if self.manual_ctrl_status == self.MANUAL_IDLE:
|
||||
if self.auto_run_param is None:
|
||||
self.is_auto_runnable = False
|
||||
else:
|
||||
self.is_auto_runnable = True if params.get(self.auto_run_param, encoding='utf8') == "1" else False
|
||||
else:
|
||||
if self.last_is_enabled:
|
||||
self.uninstall_app()
|
||||
self.is_auto_runnable = False
|
||||
self.manual_ctrl_status = self.MANUAL_IDLE
|
||||
self.manually_ctrled = False
|
||||
else:
|
||||
if not self.last_is_enabled and self.is_enabled:
|
||||
self.update_app()
|
||||
|
||||
def run(self, force = False):
|
||||
if self.is_installed and (force or self.is_enabled):
|
||||
# app is manually ctrl, we record that
|
||||
if self.manual_ctrl_param is not None and self.manual_ctrl_status == self.MANUAL_ON:
|
||||
put_nonblocking(self.manual_ctrl_param, '0')
|
||||
put_nonblocking('DragonLastModified', str(floor(time.time())))
|
||||
self.manually_ctrled = True
|
||||
self.is_running = False
|
||||
|
||||
# only run app if it's not running
|
||||
if force or not self.is_running:
|
||||
self.system("pm enable %s" % self.app)
|
||||
|
||||
if self.app_type == self.TYPE_GPS_SERVICE:
|
||||
self.appops_set(self.app, "android:mock_location", "allow")
|
||||
|
||||
if self.app_type in [self.TYPE_SERVICE, self.TYPE_GPS_SERVICE]:
|
||||
self.system("am startservice %s/%s" % (self.app, self.activity))
|
||||
else:
|
||||
self.system("am start -n %s/%s" % (self.app, self.activity))
|
||||
self.is_running = True
|
||||
|
||||
def kill(self, force = False):
|
||||
if self.is_installed and (force or self.is_enabled):
|
||||
# app is manually ctrl, we record that
|
||||
if self.manual_ctrl_param is not None and self.manual_ctrl_status == self.MANUAL_OFF:
|
||||
put_nonblocking(self.manual_ctrl_param, '0')
|
||||
self.manually_ctrled = True
|
||||
self.is_running = True
|
||||
|
||||
# only kill app if it's running
|
||||
if force or self.is_running:
|
||||
if self.app_type == self.TYPE_GPS_SERVICE:
|
||||
self.appops_set(self.app, "android:mock_location", "deny")
|
||||
|
||||
self.system("pkill %s" % self.app)
|
||||
self.is_running = False
|
||||
|
||||
def system(self, cmd):
|
||||
try:
|
||||
subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
|
||||
except subprocess.CalledProcessError as e:
|
||||
cloudlog.event("running failed",
|
||||
cmd=e.cmd,
|
||||
output=e.output[-1024:],
|
||||
returncode=e.returncode)
|
||||
|
||||
def init_apps(apps):
|
||||
apps.append(App(
|
||||
"cn.dragonpilot.gpsservice",
|
||||
"cn.dragonpilot.gpsservice.MainService",
|
||||
"DragonGreyPandaMode",
|
||||
None,
|
||||
None,
|
||||
App.TYPE_GPS_SERVICE,
|
||||
[],
|
||||
[],
|
||||
))
|
||||
apps.append(App(
|
||||
"com.mixplorer",
|
||||
"com.mixplorer.activities.BrowseActivity",
|
||||
"DragonEnableMixplorer",
|
||||
None,
|
||||
"DragonRunMixplorer",
|
||||
App.TYPE_UTIL,
|
||||
[
|
||||
"android.permission.READ_EXTERNAL_STORAGE",
|
||||
"android.permission.WRITE_EXTERNAL_STORAGE",
|
||||
],
|
||||
[],
|
||||
))
|
||||
apps.append(App(
|
||||
"com.tomtom.speedcams.android.map",
|
||||
"com.tomtom.speedcams.android.activities.SpeedCamActivity",
|
||||
"DragonEnableTomTom",
|
||||
"DragonBootTomTom",
|
||||
"DragonRunTomTom",
|
||||
App.TYPE_GPS,
|
||||
[
|
||||
"android.permission.ACCESS_FINE_LOCATION",
|
||||
"android.permission.ACCESS_COARSE_LOCATION",
|
||||
"android.permission.READ_EXTERNAL_STORAGE",
|
||||
"android.permission.WRITE_EXTERNAL_STORAGE",
|
||||
],
|
||||
[
|
||||
"SYSTEM_ALERT_WINDOW",
|
||||
]
|
||||
))
|
||||
apps.append(App(
|
||||
"tw.com.ainvest.outpack",
|
||||
"tw.com.ainvest.outpack.ui.MainActivity",
|
||||
"DragonEnableAegis",
|
||||
"DragonBootAegis",
|
||||
"DragonRunAegis",
|
||||
App.TYPE_GPS,
|
||||
[
|
||||
"android.permission.ACCESS_FINE_LOCATION",
|
||||
"android.permission.READ_EXTERNAL_STORAGE",
|
||||
"android.permission.WRITE_EXTERNAL_STORAGE",
|
||||
],
|
||||
[
|
||||
"SYSTEM_ALERT_WINDOW",
|
||||
]
|
||||
))
|
||||
apps.append(App(
|
||||
"com.autonavi.amapauto",
|
||||
"com.autonavi.amapauto.MainMapActivity",
|
||||
"DragonEnableAutonavi",
|
||||
"DragonBootAutonavi",
|
||||
"DragonRunAutonavi",
|
||||
App.TYPE_GPS,
|
||||
[
|
||||
"android.permission.ACCESS_FINE_LOCATION",
|
||||
"android.permission.ACCESS_COARSE_LOCATION",
|
||||
"android.permission.READ_EXTERNAL_STORAGE",
|
||||
"android.permission.WRITE_EXTERNAL_STORAGE",
|
||||
],
|
||||
[
|
||||
"SYSTEM_ALERT_WINDOW",
|
||||
]
|
||||
))
|
||||
apps.append(App(
|
||||
"com.waze",
|
||||
"com.waze.MainActivity",
|
||||
"DragonWazeMode",
|
||||
None,
|
||||
"DragonRunWaze",
|
||||
App.TYPE_FULLSCREEN,
|
||||
[
|
||||
"android.permission.ACCESS_FINE_LOCATION",
|
||||
"android.permission.ACCESS_COARSE_LOCATION",
|
||||
"android.permission.READ_EXTERNAL_STORAGE",
|
||||
"android.permission.WRITE_EXTERNAL_STORAGE",
|
||||
"android.permission.RECORD_AUDIO",
|
||||
],
|
||||
[],
|
||||
))
|
||||
|
||||
def main():
|
||||
apps = []
|
||||
|
||||
# enable hotspot on boot
|
||||
if params.get("DragonBootHotspot", encoding='utf8') == "1":
|
||||
system(f"service call wifi 37 i32 0 i32 1")
|
||||
# system(f"settings put system accelerometer_rotation 0")
|
||||
# system(f"settings put system user_rotation 1")
|
||||
# system(f"pm enable com.android.settings")
|
||||
# system(f"am start -n com.android.settings/.TetherSettings")
|
||||
# time.sleep(1)
|
||||
# system(f"LD_LIBRARY_PATH= input tap 995 160")
|
||||
# system(f"pkill com.android.settings")
|
||||
|
||||
last_started = False
|
||||
thermal_sock = messaging.sub_sock('thermal')
|
||||
|
||||
frame = 0
|
||||
start_delay = None
|
||||
stop_delay = None
|
||||
allow_auto_run = True
|
||||
last_thermal_status = None
|
||||
thermal_status = None
|
||||
start_ts = sec_since_boot()
|
||||
init_done = False
|
||||
last_modified = None
|
||||
|
||||
while 1: #has_enabled_apps:
|
||||
if not init_done:
|
||||
if sec_since_boot() - start_ts >= 10:
|
||||
init_apps(apps)
|
||||
init_done = True
|
||||
else:
|
||||
enabled_apps = []
|
||||
has_fullscreen_apps = False
|
||||
modified = get_last_modified()
|
||||
for app in apps:
|
||||
# read params loop
|
||||
if last_modified != modified:
|
||||
app.read_params()
|
||||
if app.last_is_enabled and not app.is_enabled and app.is_running:
|
||||
app.kill(True)
|
||||
|
||||
if app.is_enabled:
|
||||
if not has_fullscreen_apps and app.app_type == App.TYPE_FULLSCREEN:
|
||||
has_fullscreen_apps = True
|
||||
|
||||
# process manual ctrl apps
|
||||
if app.manual_ctrl_status != App.MANUAL_IDLE:
|
||||
app.run(True) if app.manual_ctrl_status == App.MANUAL_ON else app.kill(True)
|
||||
|
||||
enabled_apps.append(app)
|
||||
last_modified = modified
|
||||
msg = messaging.recv_sock(thermal_sock, wait=True)
|
||||
started = msg.thermal.started
|
||||
# when car is running
|
||||
if started:
|
||||
stop_delay = None
|
||||
# apps start 5 secs later
|
||||
if start_delay is None:
|
||||
start_delay = frame + 5
|
||||
|
||||
thermal_status = msg.thermal.thermalStatus
|
||||
if thermal_status <= ThermalStatus.yellow:
|
||||
allow_auto_run = True
|
||||
# when temp reduce from red to yellow, we add start up delay as well
|
||||
# so apps will not start up immediately
|
||||
if last_thermal_status == ThermalStatus.red:
|
||||
start_delay = frame + 60
|
||||
elif thermal_status >= ThermalStatus.red:
|
||||
allow_auto_run = False
|
||||
|
||||
last_thermal_status = thermal_status
|
||||
|
||||
# we run service apps and kill all util apps
|
||||
# only run once
|
||||
if last_started != started:
|
||||
for app in enabled_apps:
|
||||
if app.app_type in [App.TYPE_SERVICE, App.TYPE_GPS_SERVICE]:
|
||||
app.run()
|
||||
elif app.app_type == App.TYPE_UTIL:
|
||||
app.kill()
|
||||
|
||||
# only run apps that's not manually ctrled
|
||||
for app in enabled_apps:
|
||||
if not app.manually_ctrled:
|
||||
if has_fullscreen_apps:
|
||||
if app.app_type == App.TYPE_FULLSCREEN:
|
||||
app.run()
|
||||
elif app.app_type in [App.TYPE_GPS, App.TYPE_UTIL]:
|
||||
app.kill()
|
||||
else:
|
||||
if not allow_auto_run:
|
||||
app.kill()
|
||||
else:
|
||||
if frame >= start_delay and app.is_auto_runnable and app.app_type == App.TYPE_GPS:
|
||||
app.run()
|
||||
# when car is stopped
|
||||
else:
|
||||
start_delay = None
|
||||
# set delay to 30 seconds
|
||||
if stop_delay is None:
|
||||
stop_delay = frame + 30
|
||||
|
||||
for app in enabled_apps:
|
||||
if app.is_running and not app.manually_ctrled:
|
||||
if has_fullscreen_apps or frame >= stop_delay:
|
||||
app.kill()
|
||||
|
||||
if last_started != started:
|
||||
for app in enabled_apps:
|
||||
app.manually_ctrled = False
|
||||
|
||||
last_started = started
|
||||
frame += 3
|
||||
time.sleep(3)
|
||||
|
||||
def system(cmd):
|
||||
try:
|
||||
cloudlog.info("running %s" % cmd)
|
||||
subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
|
||||
except subprocess.CalledProcessError as e:
|
||||
cloudlog.event("running failed",
|
||||
cmd=e.cmd,
|
||||
output=e.output[-1024:],
|
||||
returncode=e.returncode)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -0,0 +1,132 @@
|
||||
#!/usr/bin/env python3.7
|
||||
#
|
||||
# courtesy of pjlao307 (https://github.com/pjlao307/)
|
||||
# this is just his original implementation but
|
||||
# in openpilot service form so it's always on
|
||||
#
|
||||
# with the highest bit rates, the video is approx. 0.5MB per second
|
||||
# the default value is set to 2.56Mbps = 0.32MB per second
|
||||
#
|
||||
import os
|
||||
import time
|
||||
import datetime
|
||||
import cereal.messaging as messaging
|
||||
import subprocess
|
||||
from selfdrive.swaglog import cloudlog
|
||||
from common.params import Params, put_nonblocking
|
||||
params = Params()
|
||||
from common.realtime import sec_since_boot, DT_TRML
|
||||
from common.dp import get_last_modified
|
||||
import collections
|
||||
|
||||
dashcam_videos_path = '/sdcard/dashcam/'
|
||||
dashcam_duration = 60 # max is 180
|
||||
bit_rates = 2560000 # max is 4000000
|
||||
max_size_per_file = bit_rates/8*dashcam_duration # 2.56Mbps / 8 * 60 = 19.2MB per 60 seconds
|
||||
freespace_limit = 0.15 # we start cleaning up footage when freespace is below 15%
|
||||
shock_duration = 60
|
||||
|
||||
TYPE_DRIVING = 'driving'
|
||||
TYPE_SHOCK = 'shock'
|
||||
|
||||
def main(gctx=None):
|
||||
retry = 0
|
||||
folder_exists = False
|
||||
dashcam_allowed = True
|
||||
# make sure dashcam folder exists
|
||||
while not folder_exists:
|
||||
try:
|
||||
if not os.path.exists(dashcam_videos_path):
|
||||
os.makedirs(dashcam_videos_path)
|
||||
else:
|
||||
folder_exists = True
|
||||
break
|
||||
except OSError:
|
||||
pass
|
||||
if retry >= 5:
|
||||
folder_exists = True
|
||||
dashcam_allowed = False
|
||||
|
||||
retry += 1
|
||||
time.sleep(5)
|
||||
|
||||
health_timeout = int(1000 * 2.5 * DT_TRML) # 2.5x the expected health frequency
|
||||
health_sock = messaging.sub_sock('health', timeout=health_timeout)
|
||||
|
||||
dragon_dashcam_hours = 24. * 60 * 60
|
||||
max_storage = (max_size_per_file/dashcam_duration) * dragon_dashcam_hours
|
||||
dashcam_enabled = False
|
||||
last_ts = 0.
|
||||
last_modified = None
|
||||
|
||||
thermal_sock = messaging.sub_sock('thermal')
|
||||
while dashcam_allowed:
|
||||
duration = dashcam_duration
|
||||
ts = sec_since_boot()
|
||||
if ts - last_ts >= 5.:
|
||||
modified = get_last_modified()
|
||||
if last_modified != modified:
|
||||
dashcam_enabled = True if params.get("DragonEnableDashcam", encoding='utf8') == "1" else False
|
||||
try:
|
||||
dragon_dashcam_hours = float(params.get("DragonDashcamHours", encoding='utf8')) * 60 * 60
|
||||
except (TypeError, ValueError):
|
||||
dragon_dashcam_hours = 24. * 60 * 60
|
||||
max_storage = (max_size_per_file/dashcam_duration) * dragon_dashcam_hours
|
||||
|
||||
last_modified = modified
|
||||
last_ts = ts
|
||||
|
||||
health = messaging.recv_sock(health_sock, wait=False)
|
||||
started = True if health is not None and (health.health.ignitionLine or health.health.ignitionCan) else False
|
||||
|
||||
if started and dashcam_enabled:
|
||||
now = datetime.datetime.now()
|
||||
file_name = now.strftime("%Y-%m-%d_%H-%M-%S")
|
||||
os.system("screenrecord --bit-rate %s --time-limit %s %s%s.mp4 &" % (bit_rates, duration, dashcam_videos_path, file_name))
|
||||
start_time = time.time()
|
||||
try:
|
||||
used_spaces = get_used_spaces()
|
||||
last_used_spaces = used_spaces
|
||||
|
||||
# we should clean up files here if use too much spaces
|
||||
# when used spaces greater than max available storage
|
||||
# or when free space is less than 10%
|
||||
# get health of board, log this in "thermal"
|
||||
msg = messaging.recv_sock(thermal_sock, wait=True)
|
||||
if used_spaces >= max_storage or (msg is not None and msg.thermal.freeSpace < freespace_limit):
|
||||
# get all the files in the dashcam_videos_path path
|
||||
files = [f for f in sorted(os.listdir(dashcam_videos_path)) if os.path.isfile(dashcam_videos_path + f)]
|
||||
for file in files:
|
||||
msg = messaging.recv_sock(thermal_sock, wait=True)
|
||||
# delete file one by one and once it has enough space for 1 video, we stop deleting
|
||||
if used_spaces - last_used_spaces < max_size_per_file or msg.thermal.freeSpace < freespace_limit:
|
||||
system("rm -fr %s" % (dashcam_videos_path + file))
|
||||
last_used_spaces = get_used_spaces()
|
||||
else:
|
||||
break
|
||||
except os.error as e:
|
||||
pass
|
||||
time_diff = time.time()-start_time
|
||||
# we start the process 1 second before screenrecord ended
|
||||
# to make sure there are no missing footage
|
||||
sleep_time = duration-1-time_diff
|
||||
if sleep_time >= 0.:
|
||||
time.sleep(sleep_time)
|
||||
else:
|
||||
time.sleep(5)
|
||||
|
||||
def get_used_spaces():
|
||||
return sum(os.path.getsize(dashcam_videos_path + f) for f in os.listdir(dashcam_videos_path) if os.path.isfile(dashcam_videos_path + f))
|
||||
|
||||
def system(cmd):
|
||||
try:
|
||||
# cloudlog.info("running %s" % cmd)
|
||||
subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
|
||||
except subprocess.CalledProcessError as e:
|
||||
cloudlog.event("running failed",
|
||||
cmd=e.cmd,
|
||||
output=e.output[-1024:],
|
||||
returncode=e.returncode)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -0,0 +1,156 @@
|
||||
#!/usr/bin/env python3.7
|
||||
from common.params import Params, put_nonblocking
|
||||
import time
|
||||
from math import floor
|
||||
import os
|
||||
import json
|
||||
|
||||
default_conf = {
|
||||
'DragonEnableDashcam': '0',
|
||||
'DragonEnableAutoShutdown': '1',
|
||||
'DragonAutoShutdownAt': '0', # in minute
|
||||
'DragonEnableSteeringOnSignal': '0',
|
||||
'DragonEnableLogger': '1',
|
||||
'DragonEnableUploader': '1',
|
||||
'DragonNoctuaMode': '0',
|
||||
'DragonAllowGas': '0',
|
||||
'DragonToyotaStockDSU': '0',
|
||||
'DragonLatCtrl': '1',
|
||||
'DragonUISpeed': '1',
|
||||
'DragonUIEvent': '1',
|
||||
'DragonUIMaxSpeed': '1',
|
||||
'DragonUIFace': '1',
|
||||
'DragonUIDev': '0',
|
||||
'DragonUIDevMini': '0',
|
||||
# 3rd party app
|
||||
'DragonEnableTomTom': '0',
|
||||
'DragonBootTomTom': '0',
|
||||
'DragonRunTomTom': '0',
|
||||
'DragonEnableAutonavi': '0',
|
||||
'DragonBootAutonavi': '0',
|
||||
'DragonRunAutonavi': '0',
|
||||
'DragonEnableAegis': '0',
|
||||
'DragonBootAegis': '0',
|
||||
'DragonRunAegis': '0',
|
||||
'DragonEnableMixplorer': '0',
|
||||
'DragonRunMixplorer': '0',
|
||||
'DragonSteeringMonitorTimer': '3', # 180 secs
|
||||
'DragonCameraOffset': '6',
|
||||
'DragonUIVolumeBoost': '0',
|
||||
'DragonGreyPandaMode': '0',
|
||||
'DragonDrivingUI': '1',
|
||||
'DragonDisplaySteeringLimitAlert': '1',
|
||||
'DragonChargingCtrl': '0',
|
||||
'DragonCharging': '70',
|
||||
'DragonDisCharging': '60',
|
||||
'DragonToyotaLaneDepartureWarning': '1',
|
||||
'DragonUILane': '1',
|
||||
'DragonUILead': '1',
|
||||
'DragonUIPath': '1',
|
||||
'DragonUIBlinker': '0',
|
||||
'DragonUIDMView': '0',
|
||||
'DragonEnableDriverMonitoring': '1',
|
||||
'DragonCarModel': '',
|
||||
'DragonEnableSlowOnCurve': '1',
|
||||
'DragonEnableLeadCarMovingAlert': '0',
|
||||
'DragonToyotaSnGMod': '0',
|
||||
'DragonWazeMode': '0',
|
||||
'DragonRunWaze': '0',
|
||||
'DragonEnableAutoLC': '0',
|
||||
'DragonAssistedLCMinMPH': '45',
|
||||
'DragonAutoLCMinMPH': '60',
|
||||
'DragonAutoLCDelay': '2',
|
||||
'DragonBTG': '0',
|
||||
'DragonBootHotspot': '0',
|
||||
'DragonAccelProfile': '0', # OFF = 0, ECO = 1, NORMAL = 2, SPORT = 3
|
||||
'DragonLastModified': str(floor(time.time())),
|
||||
'DragonEnableRegistration': '1',
|
||||
'DragonDynamicFollow': '0', # OFF = 0, LONG = 1, NORMAL = 2, SHORT = 3
|
||||
'DragonEnableGearCheck': '1',
|
||||
'DragonEnableTempMonitor': '1',
|
||||
'DragonAppAutoUpdate': '1',
|
||||
'DragonUpdating': '0',
|
||||
'DragonToyotaSngResponse': '0.0',
|
||||
'DragonCustomModel': '',
|
||||
'DragonLocale': 'en-US',
|
||||
'DragonUIScreenOffReversing': '0',
|
||||
'DragonEnableSRLearner': '1',
|
||||
'DragonEnableSteerBoost': '0',
|
||||
'DragonSteerBoostMin': '10', # percentage
|
||||
'DragonSteerBoostMax': '30', # percentage
|
||||
'DragonSteerBoostMinAt': '7.0',
|
||||
'DragonSteerBoostMaxAt': '15.0',
|
||||
'DragonDashcamHours': '24.0',
|
||||
'DragonUIScreenOffDriving': '0',
|
||||
'DragonEnableAutoUpdate': '1',
|
||||
'DragonUIBrightness': '0',
|
||||
'DragonEnableUploadOnMobile': '0',
|
||||
'DragonEnableUploadOnHotspot': '0',
|
||||
'DragonMaxSpeedLimit': '92',
|
||||
'DragonEnableRating': '1',
|
||||
'DragonEnableContALC' : '0',
|
||||
'DragonBlinkerOffTimer': '0',
|
||||
}
|
||||
|
||||
deprecated_conf = {
|
||||
}
|
||||
|
||||
deprecated_conf_invert = {
|
||||
# 'DragonDisableDriverSafetyCheck': True,
|
||||
# 'DragonTempDisableSteerOnSignal': False,
|
||||
# 'DragonDisableLogger': True,
|
||||
# 'DragonDisableUploader': True,
|
||||
# 'DragonBBUI': False
|
||||
}
|
||||
|
||||
def dp_get_last_modified():
|
||||
return Params().get('DragonLastModified', encoding='utf-8').rstrip('\x00')
|
||||
|
||||
def dragonpilot_set_params(params):
|
||||
# # remove deprecated params
|
||||
# for old, new in deprecated_conf.items():
|
||||
# if params.get(old) is not None:
|
||||
# if new is not None:
|
||||
# old_val = str(params.get(old))
|
||||
# new_val = old_val
|
||||
# # invert the value if true
|
||||
# if old in deprecated_conf_invert and deprecated_conf_invert[old] is True:
|
||||
# new_val = "1" if old_val == "0" else "0"
|
||||
# put_nonblocking(new, new_val)
|
||||
# params.delete(old)
|
||||
|
||||
# set params
|
||||
for key, val in default_conf.items():
|
||||
if params.get(key) is None and key not in deprecated_conf:
|
||||
put_nonblocking(key, str(val))
|
||||
put_nonblocking('DragonSupportedCars', get_support_car_list())
|
||||
|
||||
def get_support_car_list():
|
||||
attrs = ['FINGERPRINTS', 'FW_VERSIONS']
|
||||
cars = dict()
|
||||
for car_folder in [x[0] for x in os.walk('/data/openpilot/selfdrive/car')]:
|
||||
try:
|
||||
car_name = car_folder.split('/')[-1]
|
||||
if car_name != "mock":
|
||||
names = []
|
||||
for attr in attrs:
|
||||
values = __import__('selfdrive.car.%s.values' % car_name, fromlist=[attr])
|
||||
if hasattr(values, attr):
|
||||
attr_values = getattr(values, attr)
|
||||
else:
|
||||
continue
|
||||
|
||||
if isinstance(attr_values, dict):
|
||||
for f, v in attr_values.items():
|
||||
if f not in names:
|
||||
names.append(f)
|
||||
names.sort()
|
||||
cars[car_name] = names
|
||||
except (ImportError, IOError, ValueError):
|
||||
pass
|
||||
return json.dumps(cars)
|
||||
|
||||
if __name__ == "__main__":
|
||||
params = Params()
|
||||
params.manager_start()
|
||||
dragonpilot_set_params(params)
|
||||
@@ -0,0 +1,50 @@
|
||||
#!/usr/bin/env python3.7
|
||||
import os
|
||||
import time
|
||||
from common.params import Params
|
||||
params = Params()
|
||||
import cereal.messaging as messaging
|
||||
from common.realtime import sec_since_boot
|
||||
from common.dp import get_last_modified
|
||||
|
||||
def main():
|
||||
thermal_sock = messaging.sub_sock('thermal')
|
||||
secs = 0
|
||||
last_secs = None
|
||||
shutdown_at = 0
|
||||
started = False
|
||||
usb_online = False
|
||||
enabled = False
|
||||
last_enabled = None
|
||||
dp_last_modified = None
|
||||
while 1:
|
||||
cur_time = sec_since_boot()
|
||||
|
||||
modified = get_last_modified()
|
||||
if dp_last_modified != modified:
|
||||
enabled = True if params.get("DragonEnableAutoShutdown", encoding='utf8') == '1' else False
|
||||
if enabled:
|
||||
try:
|
||||
secs = int(params.get("DragonAutoShutdownAt", encoding='utf8')) * 60
|
||||
except (TypeError, ValueError):
|
||||
secs = 0
|
||||
dp_last_modified = modified
|
||||
|
||||
if last_enabled != enabled or last_secs != secs or started or usb_online:
|
||||
shutdown_at = cur_time + secs
|
||||
|
||||
if enabled:
|
||||
msg = messaging.recv_sock(thermal_sock, wait=True)
|
||||
started = msg.thermal.started
|
||||
usb_online = msg.thermal.usbOnline
|
||||
|
||||
if not started and not usb_online and secs > 0 and cur_time >= shutdown_at:
|
||||
os.system('LD_LIBRARY_PATH="" svc power shutdown')
|
||||
|
||||
last_enabled = enabled
|
||||
last_secs = secs
|
||||
|
||||
time.sleep(10)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -103,6 +103,18 @@ int main(int argc, char *argv[]) {
|
||||
|
||||
// Main loop
|
||||
int save_counter = 0;
|
||||
|
||||
// dp, sr learner
|
||||
char* enable_sr_learner_val = NULL;
|
||||
read_db_value("DragonEnableSRLearner", &enable_sr_learner_val, NULL);
|
||||
bool enable_sr_learner = true;
|
||||
if (enable_sr_learner_val && strlen(enable_sr_learner_val) && enable_sr_learner_val[0] == '1') {
|
||||
enable_sr_learner = true;
|
||||
} else {
|
||||
enable_sr_learner = false;
|
||||
learner.sR = sR;
|
||||
}
|
||||
|
||||
while (true){
|
||||
for (auto s : poller->poll(100)){
|
||||
Message * msg = s->receive();
|
||||
@@ -128,7 +140,10 @@ int main(int argc, char *argv[]) {
|
||||
|
||||
double yaw_rate = -localizer.x[0];
|
||||
bool valid = learner.update(yaw_rate, localizer.car_speed, localizer.steering_angle);
|
||||
|
||||
// dp - reset sR to json val;
|
||||
if (!enable_sr_learner) {
|
||||
learner.sR = sR;
|
||||
}
|
||||
// TODO: Fix in replay
|
||||
double sensor_data_age = localizer.controls_state_time - localizer.sensor_data_time;
|
||||
double camera_odometry_age = localizer.controls_state_time - localizer.camera_odometry_time;
|
||||
|
||||
@@ -10,6 +10,8 @@ import requests
|
||||
import traceback
|
||||
import threading
|
||||
import subprocess
|
||||
from common.realtime import sec_since_boot
|
||||
from common.dp import get_last_modified
|
||||
|
||||
from selfdrive.swaglog import cloudlog
|
||||
from selfdrive.loggerd.config import ROOT
|
||||
@@ -244,11 +246,26 @@ def uploader_fn(exit_event):
|
||||
uploader = Uploader(dongle_id, ROOT)
|
||||
|
||||
backoff = 0.1
|
||||
|
||||
# dp
|
||||
last_ts = None
|
||||
dp_last_modified = None
|
||||
on_hotspot = False
|
||||
on_wifi = False
|
||||
should_upload = False
|
||||
allow_raw_upload = True
|
||||
|
||||
while True:
|
||||
allow_raw_upload = (params.get("IsUploadRawEnabled") != b"0")
|
||||
on_hotspot = is_on_hotspot()
|
||||
on_wifi = is_on_wifi()
|
||||
should_upload = on_wifi and not on_hotspot
|
||||
ts = sec_since_boot()
|
||||
if last_ts is None or ts - last_ts >= 5.:
|
||||
modified = get_last_modified()
|
||||
if dp_last_modified != modified:
|
||||
on_hotspot = False if (params.get("DragonEnableUploadOnHotspot") == b"1") else is_on_hotspot()
|
||||
on_wifi = False if (params.get("DragonEnableUploadOnMobile") == b"1") else is_on_wifi()
|
||||
allow_raw_upload = (params.get("IsUploadRawEnabled") != b"0")
|
||||
should_upload = on_wifi and not on_hotspot
|
||||
dp_last_modified = modified
|
||||
last_ts = ts
|
||||
|
||||
if exit_event.is_set():
|
||||
return
|
||||
|
||||
+34
-4
@@ -10,6 +10,7 @@ import subprocess
|
||||
import datetime
|
||||
import textwrap
|
||||
from selfdrive.swaglog import cloudlog, add_logentries_handler
|
||||
from selfdrive.dragonpilot.dragonconf import dragonpilot_set_params
|
||||
|
||||
from common.basedir import BASEDIR, PARAMS
|
||||
from common.android import ANDROID
|
||||
@@ -188,6 +189,10 @@ managed_processes = {
|
||||
"dmonitoringmodeld": ("selfdrive/modeld", ["./dmonitoringmodeld"]),
|
||||
"modeld": ("selfdrive/modeld", ["./modeld"]),
|
||||
"driverview": "selfdrive.controls.lib.driverview",
|
||||
# dp
|
||||
"dashcamd": "selfdrive.dragonpilot.dashcamd.dashcamd",
|
||||
"shutdownd": "selfdrive.dragonpilot.shutdownd.shutdownd",
|
||||
"appd": "selfdrive.dragonpilot.appd.appd",
|
||||
}
|
||||
|
||||
daemon_processes = {
|
||||
@@ -222,6 +227,8 @@ if ANDROID:
|
||||
'logcatd',
|
||||
'tombstoned',
|
||||
'updated',
|
||||
'shutdownd',
|
||||
'appd',
|
||||
]
|
||||
|
||||
car_started_processes = [
|
||||
@@ -426,11 +433,16 @@ def manager_thread():
|
||||
cloudlog.info("manager start")
|
||||
cloudlog.info({"environ": os.environ})
|
||||
|
||||
# save boot log
|
||||
subprocess.call(["./loggerd", "--bootlog"], cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
|
||||
|
||||
params = Params()
|
||||
|
||||
# dp
|
||||
# save boot log
|
||||
if params.get("DragonEnableLogger", encoding='utf8') == "1":
|
||||
subprocess.call(["./loggerd", "--bootlog"], cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
|
||||
|
||||
if params.get("DragonEnableDashcam", encoding='utf8') == "1":
|
||||
persistent_processes.append('dashcamd')
|
||||
|
||||
# start daemon processes
|
||||
for p in daemon_processes:
|
||||
start_daemon_process(p)
|
||||
@@ -567,6 +579,9 @@ def main():
|
||||
if params.get(k) is None:
|
||||
params.put(k, v)
|
||||
|
||||
# dp
|
||||
dragonpilot_set_params(params)
|
||||
|
||||
# is this chffrplus?
|
||||
if os.getenv("PASSIVE") is not None:
|
||||
params.put("Passive", str(int(os.getenv("PASSIVE"))))
|
||||
@@ -574,15 +589,30 @@ def main():
|
||||
if params.get("Passive") is None:
|
||||
raise Exception("Passive must be set to continue")
|
||||
|
||||
reg = False if params.get("DragonEnableRegistration", encoding='utf8') == "0" else True
|
||||
|
||||
if ANDROID:
|
||||
update_apks()
|
||||
manager_init()
|
||||
manager_init(reg)
|
||||
manager_prepare(spinner)
|
||||
spinner.close()
|
||||
|
||||
if os.getenv("PREPAREONLY") is not None:
|
||||
return
|
||||
|
||||
# dp
|
||||
del managed_processes['tombstoned']
|
||||
if params.get("DragonEnableLogger", encoding='utf8') == "0":
|
||||
del managed_processes['loggerd']
|
||||
del managed_processes['logmessaged']
|
||||
del managed_processes['proclogd']
|
||||
del managed_processes['logcatd']
|
||||
|
||||
if params.get("DragonEnableUploader", encoding='utf8') == "0":
|
||||
del managed_processes['uploader']
|
||||
if params.get("DragonEnableAutoUpdate", encoding='utf8') == "0":
|
||||
del managed_processes['updated']
|
||||
|
||||
# SystemExit on sigterm
|
||||
signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
|
||||
|
||||
|
||||
+119
-44
@@ -17,7 +17,11 @@ from selfdrive.swaglog import cloudlog
|
||||
import cereal.messaging as messaging
|
||||
from selfdrive.loggerd.config import get_available_percent
|
||||
from selfdrive.pandad import get_expected_signature
|
||||
from selfdrive.thermald.power_monitoring import PowerMonitoring, get_battery_capacity, get_battery_status, get_battery_current, get_battery_voltage, get_usb_present
|
||||
from selfdrive.thermald.power_monitoring import PowerMonitoring, get_battery_capacity, get_battery_status, get_battery_current, get_battery_voltage, get_usb_present, set_battery_charging, get_battery_charging
|
||||
from common.dp import get_last_modified
|
||||
import re
|
||||
import subprocess
|
||||
params = Params()
|
||||
|
||||
FW_SIGNATURE = get_expected_signature()
|
||||
|
||||
@@ -113,10 +117,14 @@ def set_eon_fan(val):
|
||||
_TEMP_THRS_H = [50., 65., 80., 10000]
|
||||
# temp thresholds to control fan speed - low hysteresis
|
||||
_TEMP_THRS_L = [42.5, 57.5, 72.5, 10000]
|
||||
# fan speed options
|
||||
_FAN_SPEEDS = [0, 16384, 32768, 65535]
|
||||
# max fan speed only allowed if battery is hot
|
||||
_BAT_TEMP_THERSHOLD = 45.
|
||||
if params.get('DragonNoctuaMode', encoding='utf8') == "1":
|
||||
_FAN_SPEEDS = [65535, 65535, 65535, 65535]
|
||||
_BAT_TEMP_THERSHOLD = 0.
|
||||
else:
|
||||
# fan speed options
|
||||
_FAN_SPEEDS = [0, 16384, 32768, 65535]
|
||||
# max fan speed only allowed if battery is hot
|
||||
_BAT_TEMP_THERSHOLD = 45.
|
||||
|
||||
|
||||
def handle_fan_eon(max_cpu_temp, bat_temp, fan_speed, ignition):
|
||||
@@ -184,16 +192,55 @@ def thermald_thread():
|
||||
handle_fan = None
|
||||
is_uno = False
|
||||
|
||||
params = Params()
|
||||
pm = PowerMonitoring()
|
||||
no_panda_cnt = 0
|
||||
|
||||
# dp
|
||||
ts_last_ip = 0
|
||||
ts_last_update_vars = 0
|
||||
ts_last_charging_ctrl = None
|
||||
dp_last_modified = None
|
||||
|
||||
ip_addr = '255.255.255.255'
|
||||
dragon_charging_ctrl = False
|
||||
dragon_charging_ctrl_prev = False
|
||||
dragon_to_discharge = 70
|
||||
dragon_to_charge = 60
|
||||
dp_temp_monitor = True
|
||||
|
||||
while 1:
|
||||
# dp
|
||||
ts = sec_since_boot()
|
||||
# update variable status every 10 secs
|
||||
if ts - ts_last_update_vars >= 10.:
|
||||
modified = get_last_modified()
|
||||
if dp_last_modified != modified:
|
||||
dp_temp_monitor = False if params.get('DragonEnableTempMonitor', encoding='utf8') == "0" else True
|
||||
if not is_uno:
|
||||
dragon_charging_ctrl = True if params.get('DragonChargingCtrl', encoding='utf8') == "1" else False
|
||||
if dragon_charging_ctrl:
|
||||
try:
|
||||
dragon_to_discharge = int(params.get('DragonCharging', encoding='utf8'))
|
||||
except (TypeError, ValueError):
|
||||
dragon_to_discharge = 70
|
||||
try:
|
||||
dragon_to_charge = int(params.get('DragonDisCharging', encoding='utf8'))
|
||||
except (TypeError, ValueError):
|
||||
dragon_to_charge = 60
|
||||
else:
|
||||
dragon_charging_ctrl = False
|
||||
dp_last_modified = modified
|
||||
ts_last_update_vars = ts
|
||||
|
||||
health = messaging.recv_sock(health_sock, wait=True)
|
||||
location = messaging.recv_sock(location_sock)
|
||||
location = location.gpsLocation if location else None
|
||||
msg = read_thermal()
|
||||
|
||||
if handle_fan is None and params.get('DragonNoctuaMode', encoding='utf8') == "1":
|
||||
setup_eon_fan()
|
||||
handle_fan = handle_fan_eon
|
||||
|
||||
if health is not None:
|
||||
usb_power = health.health.usbPowerMode != log.HealthData.UsbPowerMode.client
|
||||
|
||||
@@ -251,6 +298,18 @@ def thermald_thread():
|
||||
msg.thermal.batteryPercent = 100
|
||||
msg.thermal.batteryStatus = "Charging"
|
||||
|
||||
# dp
|
||||
# update ip every 10 seconds
|
||||
ts = sec_since_boot()
|
||||
if ts - ts_last_ip >= 10.:
|
||||
try:
|
||||
result = subprocess.check_output(["ifconfig", "wlan0"], encoding='utf8') # pylint: disable=unexpected-keyword-arg
|
||||
ip_addr = re.findall(r"inet addr:((\d+\.){3}\d+)", result)[0][0]
|
||||
except:
|
||||
ip_addr = 'N/A'
|
||||
ts_last_ip = ts
|
||||
msg.thermal.ipAddr = ip_addr
|
||||
|
||||
current_filter.update(msg.thermal.batteryCurrent / 1e6)
|
||||
|
||||
# TODO: add car battery voltage check
|
||||
@@ -287,46 +346,49 @@ def thermald_thread():
|
||||
# all good
|
||||
thermal_status = ThermalStatus.green
|
||||
|
||||
if not dp_temp_monitor and thermal_status in [ThermalStatus.yellow, ThermalStatus.red, ThermalStatus.danger]:
|
||||
thermal_status = ThermalStatus.yellow
|
||||
|
||||
# **** starting logic ****
|
||||
|
||||
time_valid = True
|
||||
# Check for last update time and display alerts if needed
|
||||
now = datetime.datetime.utcnow()
|
||||
|
||||
# show invalid date/time alert
|
||||
time_valid = now.year >= 2019
|
||||
if time_valid and not time_valid_prev:
|
||||
params.delete("Offroad_InvalidTime")
|
||||
if not time_valid and time_valid_prev:
|
||||
put_nonblocking("Offroad_InvalidTime", json.dumps(OFFROAD_ALERTS["Offroad_InvalidTime"]))
|
||||
time_valid_prev = time_valid
|
||||
|
||||
# Show update prompt
|
||||
try:
|
||||
last_update = datetime.datetime.fromisoformat(params.get("LastUpdateTime", encoding='utf8'))
|
||||
except (TypeError, ValueError):
|
||||
last_update = now
|
||||
dt = now - last_update
|
||||
|
||||
update_failed_count = params.get("UpdateFailedCount")
|
||||
update_failed_count = 0 if update_failed_count is None else int(update_failed_count)
|
||||
|
||||
if dt.days > DAYS_NO_CONNECTIVITY_MAX and update_failed_count > 1:
|
||||
if current_connectivity_alert != "expired":
|
||||
current_connectivity_alert = "expired"
|
||||
params.delete("Offroad_ConnectivityNeededPrompt")
|
||||
put_nonblocking("Offroad_ConnectivityNeeded", json.dumps(OFFROAD_ALERTS["Offroad_ConnectivityNeeded"]))
|
||||
elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
|
||||
remaining_time = str(max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 0))
|
||||
if current_connectivity_alert != "prompt" + remaining_time:
|
||||
current_connectivity_alert = "prompt" + remaining_time
|
||||
alert_connectivity_prompt = copy.copy(OFFROAD_ALERTS["Offroad_ConnectivityNeededPrompt"])
|
||||
alert_connectivity_prompt["text"] += remaining_time + " days."
|
||||
params.delete("Offroad_ConnectivityNeeded")
|
||||
put_nonblocking("Offroad_ConnectivityNeededPrompt", json.dumps(alert_connectivity_prompt))
|
||||
elif current_connectivity_alert is not None:
|
||||
current_connectivity_alert = None
|
||||
params.delete("Offroad_ConnectivityNeeded")
|
||||
params.delete("Offroad_ConnectivityNeededPrompt")
|
||||
# now = datetime.datetime.utcnow()
|
||||
#
|
||||
# # show invalid date/time alert
|
||||
# time_valid = now.year >= 2019
|
||||
# if time_valid and not time_valid_prev:
|
||||
# params.delete("Offroad_InvalidTime")
|
||||
# if not time_valid and time_valid_prev:
|
||||
# put_nonblocking("Offroad_InvalidTime", json.dumps(OFFROAD_ALERTS["Offroad_InvalidTime"]))
|
||||
# time_valid_prev = time_valid
|
||||
#
|
||||
# # Show update prompt
|
||||
# try:
|
||||
# last_update = datetime.datetime.fromisoformat(params.get("LastUpdateTime", encoding='utf8'))
|
||||
# except (TypeError, ValueError):
|
||||
# last_update = now
|
||||
# dt = now - last_update
|
||||
#
|
||||
# update_failed_count = params.get("UpdateFailedCount")
|
||||
# update_failed_count = 0 if update_failed_count is None else int(update_failed_count)
|
||||
#
|
||||
# if dt.days > DAYS_NO_CONNECTIVITY_MAX and update_failed_count > 1:
|
||||
# if current_connectivity_alert != "expired":
|
||||
# current_connectivity_alert = "expired"
|
||||
# params.delete("Offroad_ConnectivityNeededPrompt")
|
||||
# put_nonblocking("Offroad_ConnectivityNeeded", json.dumps(OFFROAD_ALERTS["Offroad_ConnectivityNeeded"]))
|
||||
# elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
|
||||
# remaining_time = str(max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 0))
|
||||
# if current_connectivity_alert != "prompt" + remaining_time:
|
||||
# current_connectivity_alert = "prompt" + remaining_time
|
||||
# alert_connectivity_prompt = copy.copy(OFFROAD_ALERTS["Offroad_ConnectivityNeededPrompt"])
|
||||
# alert_connectivity_prompt["text"] += remaining_time + " days."
|
||||
# params.delete("Offroad_ConnectivityNeeded")
|
||||
# put_nonblocking("Offroad_ConnectivityNeededPrompt", json.dumps(alert_connectivity_prompt))
|
||||
# elif current_connectivity_alert is not None:
|
||||
# current_connectivity_alert = None
|
||||
# params.delete("Offroad_ConnectivityNeeded")
|
||||
# params.delete("Offroad_ConnectivityNeededPrompt")
|
||||
|
||||
do_uninstall = params.get("DoUninstall") == b"1"
|
||||
accepted_terms = params.get("HasAcceptedTerms") == terms_version
|
||||
@@ -415,6 +477,19 @@ def thermald_thread():
|
||||
fw_version_match_prev = fw_version_match
|
||||
should_start_prev = should_start
|
||||
|
||||
if dragon_charging_ctrl != dragon_charging_ctrl_prev:
|
||||
set_battery_charging(True)
|
||||
|
||||
if dragon_charging_ctrl:
|
||||
if ts_last_charging_ctrl is None or ts - ts_last_charging_ctrl >= 60.:
|
||||
if msg.thermal.batteryPercent >= dragon_to_discharge and get_battery_charging():
|
||||
set_battery_charging(False)
|
||||
elif msg.thermal.batteryPercent <= dragon_to_charge and not get_battery_charging():
|
||||
set_battery_charging(True)
|
||||
ts_last_charging_ctrl = ts
|
||||
|
||||
dragon_charging_ctrl_prev = dragon_charging_ctrl
|
||||
|
||||
# report to server once per minute
|
||||
if (count % int(60. / DT_TRML)) == 0:
|
||||
cloudlog.event("STATUS_PACKET",
|
||||
|
||||
+483
-49
@@ -254,6 +254,30 @@ static void draw_steering(UIState *s, float curvature) {
|
||||
// ui_draw_lane_edge(s, points, 0.0, nvgRGBA(0, 0, 255, 128), 5);
|
||||
}
|
||||
|
||||
static void draw_front_frame(UIState *s) {
|
||||
const UIScene *scene = &s->scene;
|
||||
|
||||
float x1, x2, y1, y2;
|
||||
glBindVertexArray(s->frame_vao[1]);
|
||||
|
||||
mat4 *out_mat;
|
||||
out_mat = &s->front_frame_mat;
|
||||
glActiveTexture(GL_TEXTURE0);
|
||||
if (s->cur_vision_front_idx >= 0) {
|
||||
glBindTexture(GL_TEXTURE_2D, s->frame_front_texs[s->cur_vision_front_idx]);
|
||||
}
|
||||
|
||||
glUseProgram(s->frame_program);
|
||||
glUniform1i(s->frame_texture_loc, 0);
|
||||
glUniformMatrix4fv(s->frame_transform_loc, 1, GL_TRUE, out_mat->v);
|
||||
|
||||
assert(glGetError() == GL_NO_ERROR);
|
||||
glEnableVertexAttribArray(0);
|
||||
glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void*)0);
|
||||
glDisableVertexAttribArray(0);
|
||||
glBindVertexArray(0);
|
||||
}
|
||||
|
||||
static void draw_frame(UIState *s) {
|
||||
const UIScene *scene = &s->scene;
|
||||
|
||||
@@ -344,27 +368,31 @@ static void ui_draw_vision_lanes(UIState *s) {
|
||||
update_all_lane_lines_data(s, scene->model.right_lane, pvd + MODEL_LANE_PATH_CNT);
|
||||
s->model_changed = false;
|
||||
}
|
||||
// Draw left lane edge
|
||||
ui_draw_lane(
|
||||
s, &scene->model.left_lane,
|
||||
pvd,
|
||||
nvgRGBAf(1.0, 1.0, 1.0, scene->model.left_lane.prob));
|
||||
if (s->dragon_ui_lane) {
|
||||
// Draw left lane edge
|
||||
ui_draw_lane(
|
||||
s, &scene->model.left_lane,
|
||||
pvd,
|
||||
nvgRGBAf(1.0, 1.0, 1.0, scene->model.left_lane.prob));
|
||||
|
||||
// Draw right lane edge
|
||||
ui_draw_lane(
|
||||
s, &scene->model.right_lane,
|
||||
pvd + MODEL_LANE_PATH_CNT,
|
||||
nvgRGBAf(1.0, 1.0, 1.0, scene->model.right_lane.prob));
|
||||
// Draw right lane edge
|
||||
ui_draw_lane(
|
||||
s, &scene->model.right_lane,
|
||||
pvd + MODEL_LANE_PATH_CNT,
|
||||
nvgRGBAf(1.0, 1.0, 1.0, scene->model.right_lane.prob));
|
||||
}
|
||||
|
||||
if(s->livempc_or_radarstate_changed) {
|
||||
update_all_track_data(s);
|
||||
s->livempc_or_radarstate_changed = false;
|
||||
}
|
||||
// Draw vision path
|
||||
ui_draw_track(s, false, &s->track_vertices[0]);
|
||||
if (scene->engaged) {
|
||||
// Draw MPC path when engaged
|
||||
ui_draw_track(s, true, &s->track_vertices[1]);
|
||||
if (s->dragon_ui_path) {
|
||||
// Draw vision path
|
||||
ui_draw_track(s, false, &s->track_vertices[0]);
|
||||
if (scene->engaged) {
|
||||
// Draw MPC path when engaged
|
||||
ui_draw_track(s, true, &s->track_vertices[1]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -393,11 +421,13 @@ static void ui_draw_world(UIState *s) {
|
||||
// Draw lane edges and vision/mpc tracks
|
||||
ui_draw_vision_lanes(s);
|
||||
|
||||
if (scene->lead_status) {
|
||||
draw_lead(s, scene->lead_d_rel, scene->lead_v_rel, scene->lead_y_rel);
|
||||
}
|
||||
if ((scene->lead_status2) && (fabs(scene->lead_d_rel - scene->lead_d_rel2) > 3.0)) {
|
||||
draw_lead(s, scene->lead_d_rel2, scene->lead_v_rel2, scene->lead_y_rel2);
|
||||
if (s->dragon_ui_lead) {
|
||||
if (scene->lead_status) {
|
||||
draw_lead(s, scene->lead_d_rel, scene->lead_v_rel, scene->lead_y_rel);
|
||||
}
|
||||
if ((scene->lead_status2) && (fabs(scene->lead_d_rel - scene->lead_d_rel2) > 3.0)) {
|
||||
draw_lead(s, scene->lead_d_rel2, scene->lead_v_rel2, scene->lead_y_rel2);
|
||||
}
|
||||
}
|
||||
nvgRestore(s->vg);
|
||||
}
|
||||
@@ -452,13 +482,13 @@ static void ui_draw_vision_maxspeed(UIState *s) {
|
||||
|
||||
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
|
||||
const int text_x = viz_maxspeed_x + (viz_maxspeed_xo / 2) + (viz_maxspeed_w / 2);
|
||||
ui_draw_text(s->vg, text_x, 148, "MAX", 26 * 2.5, COLOR_WHITE_ALPHA(is_cruise_set ? 200 : 100), s->font_sans_regular);
|
||||
ui_draw_text(s->vg, text_x, 148, (strcmp(s->dragon_locale, "zh-TW") == 0? "最高速限" : strcmp(s->dragon_locale, "zh-CN") == 0? "最高速限" : "MAX"), 26 * 2.5, COLOR_WHITE_ALPHA(is_cruise_set ? 200 : 100), s->font_sans_regular);
|
||||
|
||||
if (is_cruise_set) {
|
||||
snprintf(maxspeed_str, sizeof(maxspeed_str), "%d", maxspeed_calc);
|
||||
ui_draw_text(s->vg, text_x, 242, maxspeed_str, 48 * 2.5, COLOR_WHITE, s->font_sans_bold);
|
||||
} else {
|
||||
ui_draw_text(s->vg, text_x, 242, "N/A", 42 * 2.5, COLOR_WHITE_ALPHA(100), s->font_sans_semibold);
|
||||
ui_draw_text(s->vg, text_x, 242, (strcmp(s->dragon_locale, "zh-TW") == 0? "未設" : strcmp(s->dragon_locale, "zh-CN") == 0? "未设" : "N/A"), 42 * 2.5, COLOR_WHITE_ALPHA(100), s->font_sans_semibold);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -506,8 +536,8 @@ static void ui_draw_vision_speedlimit(UIState *s) {
|
||||
// Draw "Speed Limit" Text
|
||||
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
|
||||
color = is_speedlim_valid && s->is_ego_over_limit ? COLOR_WHITE : COLOR_BLACK;
|
||||
ui_draw_text(s->vg, text_x + (is_speedlim_valid ? 6 : 0), text_y, "SMART", 50, color, s->font_sans_semibold);
|
||||
ui_draw_text(s->vg, text_x + (is_speedlim_valid ? 6 : 0), text_y + 40, "SPEED", 50, color, s->font_sans_semibold);
|
||||
ui_draw_text(s->vg, text_x + (is_speedlim_valid ? 6 : 0), text_y, (strcmp(s->dragon_locale, "zh-TW") == 0? "智能" : strcmp(s->dragon_locale, "zh-CN") == 0? "智能" : "SMART"), 50, color, s->font_sans_semibold);
|
||||
ui_draw_text(s->vg, text_x + (is_speedlim_valid ? 6 : 0), text_y + 40, (strcmp(s->dragon_locale, "zh-TW") == 0? "速度" : strcmp(s->dragon_locale, "zh-CN") == 0? "速度" : "DESIR STEER"), 50, color, s->font_sans_semibold);
|
||||
|
||||
// Draw Speed Text
|
||||
color = s->is_ego_over_limit ? COLOR_WHITE : COLOR_BLACK;
|
||||
@@ -515,7 +545,7 @@ static void ui_draw_vision_speedlimit(UIState *s) {
|
||||
snprintf(speedlim_str, sizeof(speedlim_str), "%d", speedlim_calc);
|
||||
ui_draw_text(s->vg, text_x, viz_speedlim_y + (is_speedlim_valid ? 170 : 165), speedlim_str, 48*2.5, color, s->font_sans_bold);
|
||||
} else {
|
||||
ui_draw_text(s->vg, text_x, viz_speedlim_y + (is_speedlim_valid ? 170 : 165), "N/A", 42*2.5, color, s->font_sans_semibold);
|
||||
ui_draw_text(s->vg, text_x, viz_speedlim_y + (is_speedlim_valid ? 170 : 165), (strcmp(s->dragon_locale, "zh-TW") == 0? "未設" : strcmp(s->dragon_locale, "zh-CN") == 0? "未设" : "N/A"), 42*2.5, color, s->font_sans_semibold);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -529,13 +559,43 @@ static void ui_draw_vision_speed(UIState *s) {
|
||||
const int viz_speed_x = scene->ui_viz_rx+((scene->ui_viz_rw/2)-(viz_speed_w/2));
|
||||
char speed_str[32];
|
||||
|
||||
nvgBeginPath(s->vg);
|
||||
nvgRect(s->vg, viz_speed_x, box_y, viz_speed_w, header_h);
|
||||
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
|
||||
if (s->dragon_ui_speed) {
|
||||
nvgBeginPath(s->vg);
|
||||
nvgRect(s->vg, viz_speed_x, box_y, viz_speed_w, header_h);
|
||||
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
|
||||
|
||||
snprintf(speed_str, sizeof(speed_str), "%d", (int)speed);
|
||||
ui_draw_text(s->vg, viz_speed_x + viz_speed_w / 2, 240, speed_str, 96*2.5, COLOR_WHITE, s->font_sans_bold);
|
||||
ui_draw_text(s->vg, viz_speed_x + viz_speed_w / 2, 320, s->is_metric?"kph":"mph", 36*2.5, COLOR_WHITE_ALPHA(200), s->font_sans_regular);
|
||||
snprintf(speed_str, sizeof(speed_str), "%d", (int)speed);
|
||||
ui_draw_text(s->vg, viz_speed_x + viz_speed_w / 2, 240, speed_str, 96*2.5, COLOR_WHITE, s->font_sans_bold);
|
||||
ui_draw_text(s->vg, viz_speed_x + viz_speed_w / 2, 320, s->is_metric?"km/h":"mph", 36*2.5, COLOR_WHITE_ALPHA(200), s->font_sans_regular);
|
||||
}
|
||||
|
||||
// dp blinker, from kegman
|
||||
if (s->dragon_ui_blinker) {
|
||||
if(s->scene.leftBlinker) {
|
||||
nvgBeginPath(s->vg);
|
||||
nvgMoveTo(s->vg, viz_speed_x, box_y + header_h/4);
|
||||
nvgLineTo(s->vg, viz_speed_x - viz_speed_w/2, box_y + header_h/4 + header_h/4);
|
||||
nvgLineTo(s->vg, viz_speed_x, box_y + header_h/2 + header_h/4);
|
||||
nvgClosePath(s->vg);
|
||||
nvgFillColor(s->vg, nvgRGBA(23,134,68,s->scene.blinker_blinkingrate>=50?210:60));
|
||||
nvgFill(s->vg);
|
||||
}
|
||||
|
||||
if(s->scene.rightBlinker) {
|
||||
nvgBeginPath(s->vg);
|
||||
nvgMoveTo(s->vg, viz_speed_x+viz_speed_w, box_y + header_h/4);
|
||||
nvgLineTo(s->vg, viz_speed_x+viz_speed_w + viz_speed_w/2, box_y + header_h/4 + header_h/4);
|
||||
nvgLineTo(s->vg, viz_speed_x+viz_speed_w, box_y + header_h/2 + header_h/4);
|
||||
nvgClosePath(s->vg);
|
||||
nvgFillColor(s->vg, nvgRGBA(23,134,68,s->scene.blinker_blinkingrate>=50?210:60));
|
||||
nvgFill(s->vg);
|
||||
}
|
||||
|
||||
if(s->scene.leftBlinker || s->scene.rightBlinker) {
|
||||
s->scene.blinker_blinkingrate -= 3;
|
||||
if(s->scene.blinker_blinkingrate<0) s->scene.blinker_blinkingrate = 120;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static void ui_draw_vision_event(UIState *s) {
|
||||
@@ -577,6 +637,62 @@ static void ui_draw_vision_face(UIState *s) {
|
||||
ui_draw_circle_image(s->vg, face_x, face_y, face_size, s->img_face, s->scene.monitoring_active);
|
||||
}
|
||||
|
||||
static void ui_draw_df_button(UIState *s) {
|
||||
nvgBeginPath(s->vg);
|
||||
nvgRoundedRect(s->vg, df_btn_x, df_btn_y, df_btn_w, df_btn_h, 20);
|
||||
nvgStrokeColor(s->vg, COLOR_WHITE_ALPHA(80));
|
||||
nvgStrokeWidth(s->vg, 6);
|
||||
nvgStroke(s->vg);
|
||||
|
||||
nvgFontFaceId(s->vg, s->font_sans_regular);
|
||||
nvgFillColor(s->vg, COLOR_WHITE_ALPHA(200));
|
||||
nvgFontSize(s->vg, (strcmp(s->dragon_locale, "zh-TW") == 0? 96 : strcmp(s->dragon_locale, "zh-CN") == 0? 96 : 48));
|
||||
nvgTextAlign(s->vg, NVG_ALIGN_CENTER);
|
||||
int val = s->dragon_df_mode;
|
||||
|
||||
nvgText(s->vg, df_btn_x + df_btn_w / 2, df_btn_y + df_btn_h / 2,
|
||||
val == 4? (strcmp(s->dragon_locale, "zh-TW") == 0? "自動" : strcmp(s->dragon_locale, "zh-CN") == 0? "自动" : "AUTO") :
|
||||
val == 3? (strcmp(s->dragon_locale, "zh-TW") == 0? "長距" : strcmp(s->dragon_locale, "zh-CN") == 0? "长距" : "LONG") :
|
||||
val == 2? (strcmp(s->dragon_locale, "zh-TW") == 0? "正常" : strcmp(s->dragon_locale, "zh-CN") == 0? "正常" : "NORMAL") :
|
||||
(strcmp(s->dragon_locale, "zh-TW") == 0? "短距" : strcmp(s->dragon_locale, "zh-CN") == 0? "短距" : "SHORT"),
|
||||
NULL);
|
||||
|
||||
nvgFontFaceId(s->vg, s->font_sans_regular);
|
||||
nvgFillColor(s->vg, COLOR_WHITE_ALPHA(200));
|
||||
nvgFontSize(s->vg, 37.5);
|
||||
nvgTextAlign(s->vg, NVG_ALIGN_CENTER);
|
||||
nvgText(s->vg, df_btn_x + df_btn_w / 2, df_btn_y + df_btn_h - 10,
|
||||
(strcmp(s->dragon_locale, "zh-TW") == 0? "車距" : strcmp(s->dragon_locale, "zh-CN") == 0? "车距" : "FOLLOW"),
|
||||
NULL);
|
||||
}
|
||||
|
||||
static void ui_draw_ap_button(UIState *s) {
|
||||
nvgBeginPath(s->vg);
|
||||
nvgRoundedRect(s->vg, ap_btn_x, ap_btn_y, ap_btn_w, ap_btn_h, 20);
|
||||
nvgStrokeColor(s->vg, COLOR_WHITE_ALPHA(80));
|
||||
nvgStrokeWidth(s->vg, 6);
|
||||
nvgStroke(s->vg);
|
||||
|
||||
nvgFontFaceId(s->vg, s->font_sans_regular);
|
||||
nvgFillColor(s->vg, COLOR_WHITE_ALPHA(200));
|
||||
nvgFontSize(s->vg, (strcmp(s->dragon_locale, "zh-TW") == 0? 96 : strcmp(s->dragon_locale, "zh-CN") == 0? 96 : 48));
|
||||
nvgTextAlign(s->vg, NVG_ALIGN_CENTER);
|
||||
int val = s->dragon_ap_mode;
|
||||
nvgText(s->vg, ap_btn_x + ap_btn_w / 2, ap_btn_y + ap_btn_h / 2,
|
||||
val == 1? (strcmp(s->dragon_locale, "zh-TW") == 0? "節能" : strcmp(s->dragon_locale, "zh-CN") == 0? "节能" : "ECO") :
|
||||
val == 2? (strcmp(s->dragon_locale, "zh-TW") == 0? "正常" : strcmp(s->dragon_locale, "zh-CN") == 0? "正常" : "NORMAL") :
|
||||
(strcmp(s->dragon_locale, "zh-TW") == 0? "運動" : strcmp(s->dragon_locale, "zh-CN") == 0? "运动" : "SPORT"),
|
||||
NULL);
|
||||
|
||||
nvgFontFaceId(s->vg, s->font_sans_regular);
|
||||
nvgFillColor(s->vg, COLOR_WHITE_ALPHA(200));
|
||||
nvgFontSize(s->vg, 37.5);
|
||||
nvgTextAlign(s->vg, NVG_ALIGN_CENTER);
|
||||
nvgText(s->vg, ap_btn_x + ap_btn_w / 2, ap_btn_y + ap_btn_h - 10,
|
||||
(strcmp(s->dragon_locale, "zh-TW") == 0? "加速" : strcmp(s->dragon_locale, "zh-CN") == 0? "加速" : "ACCEL"),
|
||||
NULL);
|
||||
}
|
||||
|
||||
static void ui_draw_driver_view(UIState *s) {
|
||||
const UIScene *scene = &s->scene;
|
||||
s->scene.uilayout_sidebarcollapsed = true;
|
||||
@@ -637,26 +753,332 @@ static void ui_draw_vision_header(UIState *s) {
|
||||
int ui_viz_rx = scene->ui_viz_rx;
|
||||
int ui_viz_rw = scene->ui_viz_rw;
|
||||
|
||||
NVGpaint gradient = nvgLinearGradient(s->vg, ui_viz_rx,
|
||||
(box_y+(header_h-(header_h/2.5))),
|
||||
ui_viz_rx, box_y+header_h,
|
||||
nvgRGBAf(0,0,0,0.45), nvgRGBAf(0,0,0,0));
|
||||
ui_draw_rect(s->vg, ui_viz_rx, box_y, ui_viz_rw, header_h, gradient);
|
||||
|
||||
ui_draw_vision_maxspeed(s);
|
||||
|
||||
if (s->dragon_driving_ui) {
|
||||
NVGpaint gradient = nvgLinearGradient(s->vg, ui_viz_rx,
|
||||
(box_y+(header_h-(header_h/2.5))),
|
||||
ui_viz_rx, box_y+header_h,
|
||||
nvgRGBAf(0,0,0,0.45), nvgRGBAf(0,0,0,0));
|
||||
ui_draw_rect(s->vg, ui_viz_rx, box_y, ui_viz_rw, header_h, gradient);
|
||||
}
|
||||
if (s->dragon_ui_maxspeed) {
|
||||
ui_draw_vision_maxspeed(s);
|
||||
}
|
||||
#ifdef SHOW_SPEEDLIMIT
|
||||
ui_draw_vision_speedlimit(s);
|
||||
#endif
|
||||
ui_draw_vision_speed(s);
|
||||
ui_draw_vision_event(s);
|
||||
if (s->dragon_ui_event) {
|
||||
ui_draw_vision_event(s);
|
||||
}
|
||||
}
|
||||
|
||||
static void ui_draw_infobar(UIState *s) {
|
||||
const UIScene *scene = &s->scene;
|
||||
int ui_viz_rx = scene->ui_viz_rx;
|
||||
bool hasSidebar = !s->scene.uilayout_sidebarcollapsed;
|
||||
int rect_w = vwp_w - ui_viz_rx - bdr_s;
|
||||
int rect_h = 80;
|
||||
int rect_x = (hasSidebar? (bdr_s+sbr_w) : ui_viz_rx);
|
||||
int rect_y = vwp_h - bdr_s - rect_h;
|
||||
int text_x = rect_w / 2 + ui_viz_rx;
|
||||
int text_y = rect_y + 55;
|
||||
|
||||
char infobar[100];
|
||||
// create time string
|
||||
char date_time[20];
|
||||
time_t rawtime = time(NULL);
|
||||
struct tm timeinfo;
|
||||
localtime_r(&rawtime, &timeinfo);
|
||||
strftime(date_time, sizeof(date_time),"%D %T", &timeinfo);
|
||||
|
||||
// Create temp string
|
||||
char temp[6];
|
||||
snprintf(temp, sizeof(temp), "%02d°C", s->scene.paTemp);
|
||||
|
||||
// create battery percentage string
|
||||
char battery[5];
|
||||
snprintf(battery, sizeof(battery), "%02d%%", s->scene.batteryPercent);
|
||||
|
||||
if (s->dragon_ui_dev_mini) {
|
||||
char rel_steer[9];
|
||||
snprintf(rel_steer, sizeof(rel_steer), "%s%05.1f°", s->scene.angleSteers < 0? "-" : "+", fabs(s->scene.angleSteers));
|
||||
|
||||
char des_steer[9];
|
||||
if (s->scene.engaged) {
|
||||
snprintf(des_steer, sizeof(des_steer), "%s%05.1f°", s->scene.angleSteersDes < 0? "-" : "+", fabs(s->scene.angleSteersDes));
|
||||
} else {
|
||||
snprintf(des_steer, sizeof(des_steer), "%7s", "-");
|
||||
}
|
||||
|
||||
char lead_dist[8];
|
||||
if (s->scene.lead_status) {
|
||||
snprintf(lead_dist, sizeof(lead_dist), "%06.2fm", s->scene.lead_d_rel);
|
||||
} else {
|
||||
snprintf(lead_dist, sizeof(lead_dist), "%7s", "-");
|
||||
}
|
||||
|
||||
snprintf(
|
||||
infobar,
|
||||
sizeof(infobar),
|
||||
"%s /TMP: %s /BAT: %s /REL: %s /DES: %s /DIS: %s",
|
||||
date_time,
|
||||
temp,
|
||||
battery,
|
||||
rel_steer,
|
||||
des_steer,
|
||||
lead_dist
|
||||
);
|
||||
} else {
|
||||
snprintf(
|
||||
infobar,
|
||||
sizeof(infobar),
|
||||
"%s /TMP: %s /BAT: %s",
|
||||
date_time,
|
||||
temp,
|
||||
battery
|
||||
);
|
||||
}
|
||||
|
||||
nvgBeginPath(s->vg);
|
||||
nvgRect(s->vg, rect_x, rect_y, rect_w, rect_h);
|
||||
nvgFillColor(s->vg, (s->scene.brakeLights? COLOR_RED_ALPHA(s->dragon_waze_mode? 150 : 100) : COLOR_BLACK_ALPHA(s->dragon_waze_mode? 150 : 100)));
|
||||
nvgFill(s->vg);
|
||||
|
||||
nvgFontSize(s->vg, hasSidebar? 35:42);
|
||||
nvgFontFaceId(s->vg, s->font_courbd);
|
||||
nvgFillColor(s->vg, COLOR_WHITE_ALPHA(200));
|
||||
nvgTextAlign(s->vg, NVG_ALIGN_CENTER);
|
||||
nvgText(s->vg, text_x, text_y, infobar, NULL);
|
||||
}
|
||||
|
||||
//BB START: functions added for the display of various items
|
||||
static int bb_ui_draw_measure(UIState *s, const char* bb_value, const char* bb_uom, const char* bb_label,
|
||||
int bb_x, int bb_y, int bb_uom_dx,
|
||||
NVGcolor bb_valueColor, NVGcolor bb_labelColor, NVGcolor bb_uomColor,
|
||||
int bb_valueFontSize, int bb_labelFontSize, int bb_uomFontSize ) {
|
||||
const UIScene *scene = &s->scene;
|
||||
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
|
||||
int dx = 0;
|
||||
if (strlen(bb_uom) > 0) {
|
||||
dx = (int)(bb_uomFontSize*2.5/2);
|
||||
}
|
||||
//print value
|
||||
nvgFontFaceId(s->vg, s->font_sans_bold);
|
||||
nvgFontSize(s->vg, bb_valueFontSize*2.5);
|
||||
nvgFillColor(s->vg, bb_valueColor);
|
||||
nvgText(s->vg, bb_x-dx/2, bb_y+ (int)(bb_valueFontSize*2.5)+5, bb_value, NULL);
|
||||
//print label
|
||||
nvgFontFaceId(s->vg, s->font_sans_regular);
|
||||
nvgFontSize(s->vg, bb_labelFontSize*2.5);
|
||||
nvgFillColor(s->vg, bb_labelColor);
|
||||
nvgText(s->vg, bb_x, bb_y + (int)(bb_valueFontSize*2.5)+5 + (int)(bb_labelFontSize*2.5)+5, bb_label, NULL);
|
||||
//print uom
|
||||
if (strlen(bb_uom) > 0) {
|
||||
nvgSave(s->vg);
|
||||
int rx =bb_x + bb_uom_dx + bb_valueFontSize -3;
|
||||
int ry = bb_y + (int)(bb_valueFontSize*2.5/2)+25;
|
||||
nvgTranslate(s->vg,rx,ry);
|
||||
nvgRotate(s->vg, -1.5708); //-90deg in radians
|
||||
nvgFontFaceId(s->vg, s->font_sans_regular);
|
||||
nvgFontSize(s->vg, (int)(bb_uomFontSize*2.5));
|
||||
nvgFillColor(s->vg, bb_uomColor);
|
||||
nvgText(s->vg, 0, 0, bb_uom, NULL);
|
||||
nvgRestore(s->vg);
|
||||
}
|
||||
return (int)((bb_valueFontSize + bb_labelFontSize)*2.5) + 5;
|
||||
}
|
||||
|
||||
static void bb_ui_draw_measures_left(UIState *s, int bb_x, int bb_y, int bb_w ) {
|
||||
const UIScene *scene = &s->scene;
|
||||
int bb_rx = bb_x + (int)(bb_w/2);
|
||||
int bb_ry = bb_y;
|
||||
int bb_h = 5;
|
||||
NVGcolor lab_color = COLOR_WHITE_ALPHA(200);
|
||||
NVGcolor uom_color = COLOR_WHITE_ALPHA(200);
|
||||
int value_fontSize=30;
|
||||
int label_fontSize=15;
|
||||
int uom_fontSize = 15;
|
||||
int bb_uom_dx = (int)(bb_w /2 - uom_fontSize*2.5) ;
|
||||
|
||||
//add visual radar relative distance
|
||||
if (true) {
|
||||
char val_str[16];
|
||||
char uom_str[6];
|
||||
NVGcolor val_color = COLOR_WHITE_ALPHA(200);
|
||||
if (scene->lead_status) {
|
||||
//show RED if less than 5 meters
|
||||
//show orange if less than 15 meters
|
||||
if((int)(scene->lead_d_rel) < 15) {
|
||||
val_color = nvgRGBA(255, 188, 3, 200);
|
||||
}
|
||||
if((int)(scene->lead_d_rel) < 5) {
|
||||
val_color = nvgRGBA(255, 0, 0, 200);
|
||||
}
|
||||
// lead car relative distance is always in meters
|
||||
snprintf(val_str, sizeof(val_str), "%d", (int)scene->lead_d_rel);
|
||||
} else {
|
||||
snprintf(val_str, sizeof(val_str), "-");
|
||||
}
|
||||
snprintf(uom_str, sizeof(uom_str), "m ");
|
||||
bb_h +=bb_ui_draw_measure(s, val_str, uom_str,
|
||||
(strcmp(s->dragon_locale, "zh-TW") == 0? "真實車距" : strcmp(s->dragon_locale, "zh-CN") == 0? "真实车距" : "REL DIST"),
|
||||
bb_rx, bb_ry, bb_uom_dx,
|
||||
val_color, lab_color, uom_color,
|
||||
value_fontSize, label_fontSize, uom_fontSize );
|
||||
bb_ry = bb_y + bb_h;
|
||||
}
|
||||
|
||||
//add visual radar relative speed
|
||||
if (true) {
|
||||
char val_str[16];
|
||||
char uom_str[6];
|
||||
NVGcolor val_color = COLOR_WHITE_ALPHA(200);
|
||||
if (scene->lead_status) {
|
||||
//show Orange if negative speed (approaching)
|
||||
//show Orange if negative speed faster than 5mph (approaching fast)
|
||||
if((int)(scene->lead_v_rel) < 0) {
|
||||
val_color = nvgRGBA(255, 188, 3, 200);
|
||||
}
|
||||
if((int)(scene->lead_v_rel) < -5) {
|
||||
val_color = nvgRGBA(255, 0, 0, 200);
|
||||
}
|
||||
// lead car relative speed is always in meters
|
||||
if (s->is_metric) {
|
||||
snprintf(val_str, sizeof(val_str), "%d", (int)(scene->lead_v_rel * 3.6 + 0.5));
|
||||
} else {
|
||||
snprintf(val_str, sizeof(val_str), "%d", (int)(scene->lead_v_rel * 2.2374144 + 0.5));
|
||||
}
|
||||
} else {
|
||||
snprintf(val_str, sizeof(val_str), "-");
|
||||
}
|
||||
if (s->is_metric) {
|
||||
snprintf(uom_str, sizeof(uom_str), "km/h");;
|
||||
} else {
|
||||
snprintf(uom_str, sizeof(uom_str), "mph");
|
||||
}
|
||||
bb_h +=bb_ui_draw_measure(s, val_str, uom_str,
|
||||
(strcmp(s->dragon_locale, "zh-TW") == 0? "相對速度" : strcmp(s->dragon_locale, "zh-CN") == 0? "相对速度" : "REAL SPEED"),
|
||||
bb_rx, bb_ry, bb_uom_dx,
|
||||
val_color, lab_color, uom_color,
|
||||
value_fontSize, label_fontSize, uom_fontSize );
|
||||
bb_ry = bb_y + bb_h;
|
||||
}
|
||||
|
||||
//finally draw the frame
|
||||
bb_h += 20;
|
||||
nvgBeginPath(s->vg);
|
||||
nvgRoundedRect(s->vg, bb_x, bb_y, bb_w, bb_h, 20);
|
||||
nvgStrokeColor(s->vg, COLOR_WHITE_ALPHA(80));
|
||||
nvgStrokeWidth(s->vg, 6);
|
||||
nvgStroke(s->vg);
|
||||
}
|
||||
|
||||
static void bb_ui_draw_measures_right(UIState *s, int bb_x, int bb_y, int bb_w ) {
|
||||
const UIScene *scene = &s->scene;
|
||||
int bb_rx = bb_x + (int)(bb_w/2);
|
||||
int bb_ry = bb_y;
|
||||
int bb_h = 5;
|
||||
NVGcolor lab_color = COLOR_WHITE_ALPHA(200);
|
||||
NVGcolor uom_color = COLOR_WHITE_ALPHA(200);
|
||||
int value_fontSize=30;
|
||||
int label_fontSize=15;
|
||||
int uom_fontSize = 15;
|
||||
int bb_uom_dx = (int)(bb_w /2 - uom_fontSize*2.5) ;
|
||||
|
||||
//add steering angle
|
||||
if (true) {
|
||||
char val_str[16];
|
||||
char uom_str[6];
|
||||
NVGcolor val_color = COLOR_WHITE_ALPHA(200);
|
||||
//show Orange if more than 6 degrees
|
||||
//show red if more than 12 degrees
|
||||
if(((int)(scene->angleSteers) < -6) || ((int)(scene->angleSteers) > 6)) {
|
||||
val_color = nvgRGBA(255, 188, 3, 200);
|
||||
}
|
||||
if(((int)(scene->angleSteers) < -12) || ((int)(scene->angleSteers) > 12)) {
|
||||
val_color = nvgRGBA(255, 0, 0, 200);
|
||||
}
|
||||
// steering is in degrees
|
||||
snprintf(val_str, sizeof(val_str), "%.1f°",(scene->angleSteers));
|
||||
|
||||
snprintf(uom_str, sizeof(uom_str), "");
|
||||
bb_h +=bb_ui_draw_measure(s, val_str, uom_str,
|
||||
(strcmp(s->dragon_locale, "zh-TW") == 0? "實際轉角" : strcmp(s->dragon_locale, "zh-CN") == 0? "实际转角" : "REAL STEER"),
|
||||
bb_rx, bb_ry, bb_uom_dx,
|
||||
val_color, lab_color, uom_color,
|
||||
value_fontSize, label_fontSize, uom_fontSize );
|
||||
bb_ry = bb_y + bb_h;
|
||||
}
|
||||
|
||||
//add desired steering angle
|
||||
if (true) {
|
||||
char val_str[16];
|
||||
char uom_str[6];
|
||||
NVGcolor val_color = COLOR_WHITE_ALPHA(200);
|
||||
//show Orange if more than 6 degrees
|
||||
//show red if more than 12 degrees
|
||||
if(((int)(scene->angleSteersDes) < -6) || ((int)(scene->angleSteersDes) > 6)) {
|
||||
val_color = nvgRGBA(255, 188, 3, 200);
|
||||
}
|
||||
if(((int)(scene->angleSteersDes) < -12) || ((int)(scene->angleSteersDes) > 12)) {
|
||||
val_color = nvgRGBA(255, 0, 0, 200);
|
||||
}
|
||||
// steering is in degrees
|
||||
snprintf(val_str, sizeof(val_str), "%.1f°",(scene->angleSteersDes));
|
||||
|
||||
snprintf(uom_str, sizeof(uom_str), "");
|
||||
bb_h +=bb_ui_draw_measure(s, val_str, uom_str,
|
||||
(strcmp(s->dragon_locale, "zh-TW") == 0? "預測轉角" : strcmp(s->dragon_locale, "zh-CN") == 0? "预测转角" : "DESIR STEER"),
|
||||
bb_rx, bb_ry, bb_uom_dx,
|
||||
val_color, lab_color, uom_color,
|
||||
value_fontSize, label_fontSize, uom_fontSize );
|
||||
bb_ry = bb_y + bb_h;
|
||||
}
|
||||
|
||||
//finally draw the frame
|
||||
bb_h += 20;
|
||||
nvgBeginPath(s->vg);
|
||||
nvgRoundedRect(s->vg, bb_x, bb_y, bb_w, bb_h, 20);
|
||||
nvgStrokeColor(s->vg, COLOR_WHITE_ALPHA(80));
|
||||
nvgStrokeWidth(s->vg, 6);
|
||||
nvgStroke(s->vg);
|
||||
}
|
||||
|
||||
static void ui_draw_bbui(UIState *s) {
|
||||
const UIScene *scene = &s->scene;
|
||||
const int bb_dml_w = 180;
|
||||
const int bb_dml_x = (scene->ui_viz_rx + (bdr_s * 2));
|
||||
const int bb_dml_y = (box_y + (bdr_s * 1.5)) + 220;
|
||||
|
||||
const int bb_dmr_w = 180;
|
||||
const int bb_dmr_x = scene->ui_viz_rx + scene->ui_viz_rw - bb_dmr_w - (bdr_s * 2);
|
||||
const int bb_dmr_y = (box_y + (bdr_s * 1.5)) + 220;
|
||||
|
||||
bb_ui_draw_measures_right(s, bb_dml_x, bb_dml_y, bb_dml_w);
|
||||
bb_ui_draw_measures_left(s, bb_dmr_x, bb_dmr_y, bb_dmr_w);
|
||||
}
|
||||
|
||||
static void ui_draw_vision_footer(UIState *s) {
|
||||
nvgBeginPath(s->vg);
|
||||
nvgRect(s->vg, s->scene.ui_viz_rx, footer_y, s->scene.ui_viz_rw, footer_h);
|
||||
|
||||
ui_draw_vision_face(s);
|
||||
if (s->dragon_ui_face) {
|
||||
ui_draw_vision_face(s);
|
||||
}
|
||||
if (!s->dragon_waze_mode) {
|
||||
if ((int)s->dragon_df_mode > 0) {
|
||||
ui_draw_df_button(s);
|
||||
}
|
||||
if ((int)s->dragon_ap_mode > 0) {
|
||||
ui_draw_ap_button(s);
|
||||
}
|
||||
}
|
||||
if (s->dragon_ui_dev) {
|
||||
ui_draw_bbui(s);
|
||||
}
|
||||
if (s->dragon_ui_dev_mini || s->dragon_enable_dashcam || s->dragon_waze_mode) {
|
||||
ui_draw_infobar(s);
|
||||
}
|
||||
|
||||
#ifdef SHOW_SPEEDLIMIT
|
||||
// ui_draw_vision_map(s);
|
||||
@@ -717,13 +1139,20 @@ static void ui_draw_vision(UIState *s) {
|
||||
glEnable(GL_SCISSOR_TEST);
|
||||
glViewport(scene->ui_viz_rx+scene->ui_viz_ro, s->fb_h-(box_y+box_h), viz_w, box_h);
|
||||
glScissor(scene->ui_viz_rx, s->fb_h-(box_y+box_h), scene->ui_viz_rw, box_h);
|
||||
draw_frame(s);
|
||||
if (s->dragon_driving_ui) {
|
||||
draw_frame(s);
|
||||
}
|
||||
if (s->dragon_ui_dm_view) {
|
||||
glViewport(1240, 110, viz_w*0.4, box_h*0.4);
|
||||
draw_front_frame(s);
|
||||
glClear(GL_STENCIL_BUFFER_BIT);
|
||||
}
|
||||
glDisable(GL_SCISSOR_TEST);
|
||||
|
||||
glViewport(0, 0, s->fb_w, s->fb_h);
|
||||
|
||||
// Draw augmented elements
|
||||
if (!scene->frontview && !scene->fullview) {
|
||||
if (s->dragon_driving_ui && !scene->frontview && !scene->fullview) {
|
||||
ui_draw_world(s);
|
||||
}
|
||||
|
||||
@@ -747,8 +1176,11 @@ static void ui_draw_background(UIState *s) {
|
||||
int bg_status = s->status;
|
||||
assert(bg_status < ARRAYSIZE(bg_colors));
|
||||
const uint8_t *color = bg_colors[bg_status];
|
||||
|
||||
glClearColor(color[0]/256.0, color[1]/256.0, color[2]/256.0, 1.0);
|
||||
if (s->vision_seen && s->dragon_waze_mode) {
|
||||
glClearColor(0, 0, 0, 0);
|
||||
} else {
|
||||
glClearColor(color[0]/256.0, color[1]/256.0, color[2]/256.0, 1.0);
|
||||
}
|
||||
glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
|
||||
}
|
||||
|
||||
@@ -759,7 +1191,9 @@ void ui_draw(UIState *s) {
|
||||
glViewport(0, 0, s->fb_w, s->fb_h);
|
||||
nvgBeginFrame(s->vg, s->fb_w, s->fb_h, 1.0f);
|
||||
ui_draw_sidebar(s);
|
||||
if (s->started && s->active_app == cereal::UiLayoutState::App::NONE && s->status != STATUS_STOPPED && s->vision_seen) {
|
||||
if (s->vision_seen && s->dragon_waze_mode) {
|
||||
ui_draw_vision(s);
|
||||
} else if (s->started && s->active_app == cereal::UiLayoutState::App::NONE && s->status != STATUS_STOPPED && s->vision_seen) {
|
||||
ui_draw_vision(s);
|
||||
}
|
||||
nvgEndFrame(s->vg);
|
||||
@@ -865,11 +1299,11 @@ void ui_nvg_init(UIState *s) {
|
||||
|
||||
s->font_courbd = nvgCreateFont(s->vg, "courbd", "../assets/fonts/courbd.ttf");
|
||||
assert(s->font_courbd >= 0);
|
||||
s->font_sans_regular = nvgCreateFont(s->vg, "sans-regular", "../assets/fonts/opensans_regular.ttf");
|
||||
s->font_sans_regular = nvgCreateFont(s->vg, "sans-regular", "../../dragonpilot/cjk-fonts/NotoSansCJKtc-Regular.otf");
|
||||
assert(s->font_sans_regular >= 0);
|
||||
s->font_sans_semibold = nvgCreateFont(s->vg, "sans-semibold", "../assets/fonts/opensans_semibold.ttf");
|
||||
s->font_sans_semibold = nvgCreateFont(s->vg, "sans-semibold", "../../dragonpilot/cjk-fonts/NotoSansCJKtc-Medium.otf");
|
||||
assert(s->font_sans_semibold >= 0);
|
||||
s->font_sans_bold = nvgCreateFont(s->vg, "sans-bold", "../assets/fonts/opensans_bold.ttf");
|
||||
s->font_sans_bold = nvgCreateFont(s->vg, "sans-bold", "../../dragonpilot/cjk-fonts/NotoSansCJKtc-Bold.otf");
|
||||
assert(s->font_sans_bold >= 0);
|
||||
|
||||
s->img_wheel = nvgCreateImage(s->vg, "../assets/img_chffr_wheel.png", 1);
|
||||
|
||||
+66
-12
@@ -20,7 +20,28 @@ static void ui_draw_sidebar_home_button(UIState *s) {
|
||||
bool homeActive = s->active_app == cereal::UiLayoutState::App::HOME;
|
||||
const int home_btn_xr = !s->scene.uilayout_sidebarcollapsed ? home_btn_x : -(sbr_w);
|
||||
|
||||
ui_draw_image(s->vg, home_btn_xr, home_btn_y, home_btn_w, home_btn_h, s->img_button_home, homeActive ? 1.0f : 0.65f);
|
||||
if (s->dragon_updating) {
|
||||
nvgBeginPath(s->vg);
|
||||
nvgCircle(s->vg, home_btn_xr + home_btn_w/2, home_btn_y + home_btn_h/2, 90);
|
||||
nvgFillColor(s->vg, nvgRGBA(255, 255, 255, s->scene.alert_rate));
|
||||
nvgFill(s->vg);
|
||||
|
||||
nvgFillColor(s->vg, nvgRGBA(0, 0, 0, s->scene.alert_rate));
|
||||
nvgFontSize(s->vg, (strcmp(s->dragon_locale, "zh-TW") == 0? 60 : strcmp(s->dragon_locale, "zh-CN") == 0? 60 : 46));
|
||||
nvgFontFaceId(s->vg, s->font_sans_bold);
|
||||
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
|
||||
nvgTextBox(s->vg, home_btn_xr, home_btn_y + home_btn_h/2, home_btn_w,
|
||||
(strcmp(s->dragon_locale, "zh-TW") == 0? "更新中" : strcmp(s->dragon_locale, "zh-CN") == 0? "更新中" : "UPDATING"),
|
||||
NULL);
|
||||
|
||||
s->scene.alert_rate += 5*s->scene.alert_type;
|
||||
|
||||
if (s->scene.alert_rate <= 0 || s->scene.alert_rate >= 255) {
|
||||
s->scene.alert_type *= -1;
|
||||
}
|
||||
} else {
|
||||
ui_draw_image(s->vg, home_btn_xr, home_btn_y, home_btn_w, home_btn_h, s->img_button_home, homeActive ? 1.0f : 0.65f);
|
||||
}
|
||||
}
|
||||
|
||||
static void ui_draw_sidebar_network_strength(UIState *s) {
|
||||
@@ -38,6 +59,35 @@ static void ui_draw_sidebar_network_strength(UIState *s) {
|
||||
ui_draw_image(s->vg, network_img_x, network_img_y, network_img_w, network_img_h, s->img_network[img_idx], 1.0f);
|
||||
}
|
||||
|
||||
static void ui_draw_sidebar_ip_addr(UIState *s) {
|
||||
const int network_ip_w = 176;
|
||||
const int network_ip_x = !s->scene.uilayout_sidebarcollapsed ? 54 : -(sbr_w);
|
||||
const int network_ip_y = 255;
|
||||
|
||||
char network_ip_str[15];
|
||||
snprintf(network_ip_str, sizeof(network_ip_str), "%s", s->scene.ipAddr);
|
||||
nvgFillColor(s->vg, COLOR_WHITE);
|
||||
nvgFontSize(s->vg, 34);
|
||||
nvgFontFaceId(s->vg, s->font_sans_regular);
|
||||
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
|
||||
nvgTextBox(s->vg, network_ip_x, network_ip_y, network_ip_w, network_ip_str, NULL);
|
||||
}
|
||||
|
||||
static void ui_draw_sidebar_battery_text(UIState *s) {
|
||||
const int battery_img_h = 36;
|
||||
const int battery_img_w = 96;
|
||||
const int battery_img_x = !s->scene.uilayout_sidebarcollapsed ? 150 : -(sbr_w);
|
||||
const int battery_img_y = 305;
|
||||
|
||||
char battery_str[7];
|
||||
snprintf(battery_str, sizeof(battery_str), "%d%%%s", s->scene.batteryPercent, s->scene.batteryCharging ? "+" : "-");
|
||||
nvgFillColor(s->vg, COLOR_WHITE);
|
||||
nvgFontSize(s->vg, 44);
|
||||
nvgFontFaceId(s->vg, s->font_sans_regular);
|
||||
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
|
||||
nvgTextBox(s->vg, battery_img_x, battery_img_y, battery_img_w, battery_str, NULL);
|
||||
}
|
||||
|
||||
static void ui_draw_sidebar_battery_icon(UIState *s) {
|
||||
const int battery_img_h = 36;
|
||||
const int battery_img_w = 76;
|
||||
@@ -61,7 +111,7 @@ static void ui_draw_sidebar_network_type(UIState *s) {
|
||||
{cereal::ThermalData::NetworkType::CELL4_G, "4G"},
|
||||
{cereal::ThermalData::NetworkType::CELL5_G, "5G"}};
|
||||
const int network_x = !s->scene.uilayout_sidebarcollapsed ? 50 : -(sbr_w);
|
||||
const int network_y = 273;
|
||||
const int network_y = 303;
|
||||
const int network_w = 100;
|
||||
const int network_h = 100;
|
||||
const char *network_type = network_type_map[s->scene.networkType];
|
||||
@@ -104,13 +154,13 @@ static void ui_draw_sidebar_metric(UIState *s, const char* label_str, const char
|
||||
nvgTextBox(s->vg, metric_x + 50, metric_y + 50, metric_w - 60, value_str, NULL);
|
||||
|
||||
nvgFillColor(s->vg, COLOR_WHITE);
|
||||
nvgFontSize(s->vg, 48);
|
||||
nvgFontSize(s->vg, 46);
|
||||
nvgFontFaceId(s->vg, s->font_sans_regular);
|
||||
nvgTextAlign(s->vg, NVG_ALIGN_LEFT | NVG_ALIGN_MIDDLE);
|
||||
nvgTextBox(s->vg, metric_x + 50, metric_y + 50 + 66, metric_w - 60, label_str, NULL);
|
||||
} else {
|
||||
nvgFillColor(s->vg, COLOR_WHITE);
|
||||
nvgFontSize(s->vg, 48);
|
||||
nvgFontSize(s->vg, 46);
|
||||
nvgFontFaceId(s->vg, s->font_sans_bold);
|
||||
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
|
||||
nvgTextBox(s->vg, metric_x + 35, metric_y + (strchr(message_str, '\n') ? 40 : 50), metric_w - 50, message_str, NULL);
|
||||
@@ -129,7 +179,8 @@ static void ui_draw_sidebar_temp_metric(UIState *s) {
|
||||
const int temp_y_offset = 0;
|
||||
snprintf(temp_value_str, sizeof(temp_value_str), "%d", s->scene.paTemp);
|
||||
snprintf(temp_value_unit, sizeof(temp_value_unit), "%s", "°C");
|
||||
snprintf(temp_label_str, sizeof(temp_label_str), "%s", "TEMP");
|
||||
snprintf(temp_label_str, sizeof(temp_label_str), "%s",
|
||||
(strcmp(s->dragon_locale, "zh-TW") == 0? "溫度" : strcmp(s->dragon_locale, "zh-CN") == 0? "温度" : "TEMP"));
|
||||
strcat(temp_value_str, temp_value_unit);
|
||||
|
||||
ui_draw_sidebar_metric(s, temp_label_str, temp_value_str, temp_severity_map[s->scene.thermalStatus], temp_y_offset, NULL);
|
||||
@@ -147,10 +198,10 @@ static void ui_draw_sidebar_panda_metric(UIState *s) {
|
||||
if (s->started){
|
||||
if (s->scene.satelliteCount < 6) {
|
||||
panda_severity = 1;
|
||||
snprintf(panda_message_str, sizeof(panda_message_str), "%s", "VEHICLE\nNO GPS");
|
||||
snprintf(panda_message_str, sizeof(panda_message_str), "%s %d", "VEHICLE\nGPS:", s->scene.satelliteCount);
|
||||
} else if (s->scene.satelliteCount >= 6) {
|
||||
panda_severity = 0;
|
||||
snprintf(panda_message_str, sizeof(panda_message_str), "%s", "VEHICLE\nGOOD GPS");
|
||||
snprintf(panda_message_str, sizeof(panda_message_str), "%s %d", "VEHICLE\nGPS:", s->scene.satelliteCount);
|
||||
}
|
||||
} else {
|
||||
panda_severity = 0;
|
||||
@@ -160,14 +211,16 @@ static void ui_draw_sidebar_panda_metric(UIState *s) {
|
||||
|
||||
ui_draw_sidebar_metric(s, NULL, NULL, panda_severity, panda_y_offset, panda_message_str);
|
||||
}
|
||||
|
||||
static void ui_draw_sidebar_connectivity(UIState *s) {
|
||||
if (s->scene.athenaStatus == NET_DISCONNECTED) {
|
||||
ui_draw_sidebar_metric(s, NULL, NULL, 1, 180+158, "CONNECT\nOFFLINE");
|
||||
ui_draw_sidebar_metric(s, NULL, NULL, 1, 180+158,
|
||||
(strcmp(s->dragon_locale, "zh-TW") == 0? "CONNECT\n已離線" : strcmp(s->dragon_locale, "zh-CN") == 0? "CONNECT\n已离线" : "CONNECT\nOFFLINE"));
|
||||
} else if (s->scene.athenaStatus == NET_CONNECTED) {
|
||||
ui_draw_sidebar_metric(s, NULL, NULL, 0, 180+158, "CONNECT\nONLINE");
|
||||
ui_draw_sidebar_metric(s, NULL, NULL, 0, 180+158,
|
||||
(strcmp(s->dragon_locale, "zh-TW") == 0? "CONNECT\n已連線" : strcmp(s->dragon_locale, "zh-CN") == 0? "CONNECT\n已连线" : "CONNECT\nONLINE"));
|
||||
} else {
|
||||
ui_draw_sidebar_metric(s, NULL, NULL, 2, 180+158, "CONNECT\nERROR");
|
||||
ui_draw_sidebar_metric(s, NULL, NULL, 2, 180+158,
|
||||
(strcmp(s->dragon_locale, "zh-TW") == 0? "CONNECT\n錯誤" : strcmp(s->dragon_locale, "zh-CN") == 0? "CONNECT\n错误" : "CONNECT\nERROR"));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -179,7 +232,8 @@ void ui_draw_sidebar(UIState *s) {
|
||||
ui_draw_sidebar_settings_button(s);
|
||||
ui_draw_sidebar_home_button(s);
|
||||
ui_draw_sidebar_network_strength(s);
|
||||
ui_draw_sidebar_battery_icon(s);
|
||||
ui_draw_sidebar_ip_addr(s);
|
||||
ui_draw_sidebar_battery_text(s);
|
||||
ui_draw_sidebar_network_type(s);
|
||||
ui_draw_sidebar_temp_metric(s);
|
||||
ui_draw_sidebar_panda_metric(s);
|
||||
|
||||
Binary file not shown.
+237
-17
@@ -16,6 +16,7 @@
|
||||
#include "common/params.h"
|
||||
|
||||
static int last_brightness = -1;
|
||||
char last_modified[20];
|
||||
static void set_brightness(UIState *s, int brightness) {
|
||||
if (last_brightness != brightness && (s->awake || brightness == 0)) {
|
||||
FILE *f = fopen("/sys/class/leds/lcd-backlight/brightness", "wb");
|
||||
@@ -42,7 +43,7 @@ static void set_awake(UIState *s, bool awake) {
|
||||
#ifdef QCOM
|
||||
if (awake) {
|
||||
// 30 second timeout at 30 fps
|
||||
s->awake_timeout = 30*30;
|
||||
s->awake_timeout = (s->dragon_ui_screen_off_driving && s->started)? 10*30 : 30*30;
|
||||
}
|
||||
if (s->awake != awake) {
|
||||
s->awake = awake;
|
||||
@@ -121,6 +122,46 @@ static void handle_driver_view_touch(UIState *s, int touch_x, int touch_y) {
|
||||
int err = write_db_value("IsDriverViewEnabled", "0", 1);
|
||||
}
|
||||
|
||||
static bool handle_dp_btn_touch(UIState *s, int touch_x, int touch_y) {
|
||||
//dfButton manager // code below thanks to kumar: https://github.com/arne182/openpilot/commit/71d5aac9f8a3f5942e89634b20cbabf3e19e3e78
|
||||
if (s->started && s->active_app != cereal::UiLayoutState::App::SETTINGS) {
|
||||
if ((int)s->dragon_df_mode > 0 && touch_x >= df_btn_x && touch_x <= (df_btn_x + df_btn_w) && touch_y >= df_btn_y && touch_y <= (df_btn_y + df_btn_h)) {
|
||||
s->scene.uilayout_sidebarcollapsed = true; // collapse sidebar when tapping df button
|
||||
int val = s->dragon_df_mode;
|
||||
val++;
|
||||
if (val >= 5) {
|
||||
val = 1;
|
||||
}
|
||||
s->dragon_df_mode = val;
|
||||
char str[1];
|
||||
sprintf(str, "%d", val);
|
||||
write_db_value("DragonDynamicFollow", str, 1);
|
||||
|
||||
char time_str[11];
|
||||
snprintf(time_str, 11, "%lu", time(NULL));
|
||||
write_db_value("DragonLastModified", time_str, 11);
|
||||
return true;
|
||||
} else if ((int)s->dragon_ap_mode > 0 && touch_x >= ap_btn_x && touch_x <= (ap_btn_x + ap_btn_w) && touch_y >= ap_btn_y && touch_y <= (ap_btn_y + ap_btn_h)) {
|
||||
s->scene.uilayout_sidebarcollapsed = true; // collapse sidebar when tapping ap button
|
||||
int val = s->dragon_ap_mode;
|
||||
val++;
|
||||
if (val >= 4) {
|
||||
val = 1;
|
||||
}
|
||||
s->dragon_ap_mode = val;
|
||||
char str[1];
|
||||
sprintf(str, "%d", val);
|
||||
write_db_value("DragonAccelProfile", str, 1);
|
||||
|
||||
char time_str[11];
|
||||
snprintf(time_str, 11, "%lu", time(NULL));
|
||||
write_db_value("DragonLastModified", time_str, 11);
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
static void handle_vision_touch(UIState *s, int touch_x, int touch_y) {
|
||||
if (s->started && (touch_x >= s->scene.ui_viz_rx - bdr_s)
|
||||
&& (s->active_app != cereal::UiLayoutState::App::SETTINGS)) {
|
||||
@@ -167,6 +208,15 @@ static int read_param_uint64(uint64_t* dest, const char* param_name, bool persis
|
||||
return result;
|
||||
}
|
||||
|
||||
static void read_param_string(char* param, const char* param_name, bool persistent_param = false) {
|
||||
char *s;
|
||||
const int result = read_db_value(param_name, &s, NULL);
|
||||
if (result == 0) {
|
||||
snprintf(param, 128, "%s", s);
|
||||
free(s);
|
||||
}
|
||||
}
|
||||
|
||||
static void read_param_bool_timeout(bool* param, const char* param_name, int* timeout, bool persistent_param = false) {
|
||||
if (*timeout > 0){
|
||||
(*timeout)--;
|
||||
@@ -201,6 +251,15 @@ static int write_param_float(float param, const char* param_name, bool persisten
|
||||
return write_db_value(param_name, s, MIN(size, sizeof(s)), persistent_param);
|
||||
}
|
||||
|
||||
static void read_param_string_timeout(char* param, const char* param_name, int* timeout, bool persistent_param = false) {
|
||||
if (*timeout > 0){
|
||||
(*timeout)--;
|
||||
} else {
|
||||
read_param_string(param, param_name, persistent_param);
|
||||
*timeout = 2 * UI_FREQ; // 0.5Hz
|
||||
}
|
||||
}
|
||||
|
||||
static void update_offroad_layout_timeout(UIState *s, int* timeout) {
|
||||
if (*timeout > 0) {
|
||||
(*timeout)--;
|
||||
@@ -227,6 +286,7 @@ static void ui_init(UIState *s) {
|
||||
s->driverstate_sock = SubSocket::create(s->ctx, "driverState");
|
||||
s->dmonitoring_sock = SubSocket::create(s->ctx, "dMonitoringState");
|
||||
s->offroad_sock = PubSocket::create(s->ctx, "offroadLayout");
|
||||
s->carstate_sock = SubSocket::create(s->ctx, "carState");
|
||||
|
||||
assert(s->model_sock != NULL);
|
||||
assert(s->controlsstate_sock != NULL);
|
||||
@@ -239,6 +299,7 @@ static void ui_init(UIState *s) {
|
||||
assert(s->driverstate_sock != NULL);
|
||||
assert(s->dmonitoring_sock != NULL);
|
||||
assert(s->offroad_sock != NULL);
|
||||
assert(s->carstate_sock != NULL);
|
||||
|
||||
s->poller = Poller::create({
|
||||
s->model_sock,
|
||||
@@ -250,7 +311,8 @@ static void ui_init(UIState *s) {
|
||||
s->health_sock,
|
||||
s->ubloxgnss_sock,
|
||||
s->driverstate_sock,
|
||||
s->dmonitoring_sock
|
||||
s->dmonitoring_sock,
|
||||
s->carstate_sock
|
||||
});
|
||||
|
||||
#ifdef SHOW_SPEEDLIMIT
|
||||
@@ -323,10 +385,63 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
|
||||
read_param_bool(&s->longitudinal_control, "LongitudinalControl");
|
||||
read_param_bool(&s->limit_set_speed, "LimitSetSpeed");
|
||||
|
||||
// dp
|
||||
read_param_string(s->dragon_last_modified, "DragonLastModified");
|
||||
strncpy(last_modified, s->dragon_last_modified, sizeof(last_modified));
|
||||
|
||||
read_param_string(s->dragon_locale, "DragonLocale");
|
||||
read_param_float(&s->dragon_ui_volume_boost, "DragonUIVolumeBoost");
|
||||
read_param_bool(&s->dragon_waze_mode, "DragonWazeMode");
|
||||
read_param_bool(&s->dragon_updating, "DragonUpdating");
|
||||
read_param_uint64(&s->dragon_df_mode, "DragonDynamicFollow");
|
||||
read_param_uint64(&s->dragon_ap_mode, "DragonAccelProfile");
|
||||
read_param_bool(&s->dragon_ui_screen_off_reversing, "DragonUIScreenOffReversing");
|
||||
read_param_bool(&s->dragon_ui_screen_off_driving, "DragonUIScreenOffDriving");
|
||||
read_param_uint64(&s->dragon_ui_brightness, "DragonUIBrightness");
|
||||
|
||||
if (s->dragon_waze_mode) {
|
||||
s->dragon_ui_speed = false;
|
||||
s->dragon_ui_event = false;
|
||||
s->dragon_ui_maxspeed = false;
|
||||
s->dragon_ui_face = false;
|
||||
s->dragon_ui_dev = false;
|
||||
s->dragon_ui_dev_mini = false;
|
||||
s->dragon_enable_dashcam = false;
|
||||
s->dragon_driving_ui = false;
|
||||
s->dragon_ui_lane = false;
|
||||
s->dragon_ui_lead = false;
|
||||
s->dragon_ui_path = false;
|
||||
s->dragon_ui_blinker = false;
|
||||
s->dragon_ui_dm_view = false;
|
||||
} else {
|
||||
read_param_bool(&s->dragon_enable_dm, "DragonEnableDriverMonitoring");
|
||||
if (!s->dragon_enable_dm) {
|
||||
s->dragon_ui_face = false;
|
||||
} else {
|
||||
read_param_bool(&s->dragon_ui_face, "DragonUIFace");
|
||||
}
|
||||
read_param_bool(&s->dragon_ui_speed, "DragonUISpeed");
|
||||
read_param_bool(&s->dragon_ui_event, "DragonUIEvent");
|
||||
read_param_bool(&s->dragon_ui_maxspeed, "DragonUIMaxSpeed");
|
||||
read_param_bool(&s->dragon_ui_dev, "DragonUIDev");
|
||||
read_param_bool(&s->dragon_ui_dev_mini, "DragonUIDevMini");
|
||||
read_param_bool(&s->dragon_enable_dashcam, "DragonEnableDashcam");
|
||||
read_param_bool(&s->dragon_driving_ui, "DragonDrivingUI");
|
||||
read_param_bool(&s->dragon_ui_lane, "DragonUILane");
|
||||
read_param_bool(&s->dragon_ui_lead, "DragonUILead");
|
||||
read_param_bool(&s->dragon_ui_path, "DragonUIPath");
|
||||
read_param_bool(&s->dragon_ui_blinker, "DragonUIBlinker");
|
||||
read_param_bool(&s->dragon_ui_dm_view, "DragonUIDMView");
|
||||
}
|
||||
|
||||
// Set offsets so params don't get read at the same time
|
||||
s->longitudinal_control_timeout = UI_FREQ / 3;
|
||||
s->is_metric_timeout = UI_FREQ / 2;
|
||||
s->limit_set_speed_timeout = UI_FREQ;
|
||||
|
||||
// dp
|
||||
s->dragon_last_modified_timeout = UI_FREQ / 4;
|
||||
s->dragon_updating_timeout = UI_FREQ / 5;
|
||||
}
|
||||
|
||||
static PathData read_path(cereal::ModelData::PathData::Reader pathp) {
|
||||
@@ -395,6 +510,10 @@ void handle_message(UIState *s, Message* msg) {
|
||||
scene.gps_planner_active = data.getGpsPlannerActive();
|
||||
scene.monitoring_active = data.getDriverMonitoringOn();
|
||||
|
||||
// dp - steer data
|
||||
s->scene.angleSteers = data.getAngleSteers();
|
||||
s->scene.angleSteersDes = data.getAngleSteersDes();
|
||||
|
||||
scene.decel_for_model = data.getDecelForModel();
|
||||
auto alert_sound = data.getAlertSound();
|
||||
const auto sound_none = cereal::CarControl::HUDControl::AudibleAlert::NONE;
|
||||
@@ -405,6 +524,9 @@ void handle_message(UIState *s, Message* msg) {
|
||||
if (alert_sound != sound_none){
|
||||
play_alert_sound(alert_sound);
|
||||
s->alert_type = data.getAlertType();
|
||||
if (s->dragon_ui_screen_off_driving) {
|
||||
set_awake(s, true);
|
||||
}
|
||||
}
|
||||
s->alert_sound = alert_sound;
|
||||
}
|
||||
@@ -492,7 +614,7 @@ void handle_message(UIState *s, Message* msg) {
|
||||
scene.freeSpace = data.getFreeSpace();
|
||||
scene.thermalStatus = data.getThermalStatus();
|
||||
scene.paTemp = data.getPa0();
|
||||
|
||||
snprintf(scene.ipAddr, sizeof(scene.ipAddr), "%s", data.getIpAddr().cStr());
|
||||
s->thermal_started = data.getStarted();
|
||||
} else if (which == cereal::Event::UBLOX_GNSS) {
|
||||
auto data = event.getUbloxGnss();
|
||||
@@ -513,12 +635,23 @@ void handle_message(UIState *s, Message* msg) {
|
||||
scene.is_rhd = data.getIsRHD();
|
||||
scene.awareness_status = data.getAwarenessStatus();
|
||||
s->preview_started = data.getIsPreview();
|
||||
} else if (which == cereal::Event::CAR_STATE) {
|
||||
auto data = event.getCarState();
|
||||
|
||||
if(scene.leftBlinker!=data.getLeftBlinker() || scene.rightBlinker!=data.getRightBlinker()) {
|
||||
scene.blinker_blinkingrate = 100;
|
||||
}
|
||||
scene.leftBlinker = data.getLeftBlinker();
|
||||
scene.rightBlinker = data.getRightBlinker();
|
||||
scene.brakeLights = data.getBrakeLights();
|
||||
scene.isReversing = data.getGearShifter() == cereal::CarState::GearShifter::REVERSE;
|
||||
}
|
||||
|
||||
s->started = s->thermal_started || s->preview_started ;
|
||||
// Handle onroad/offroad transition
|
||||
if (!s->started) {
|
||||
if (s->status != STATUS_STOPPED) {
|
||||
framebuffer_swap_layer(s->fb, 0);
|
||||
update_status(s, STATUS_STOPPED);
|
||||
s->alert_sound_timeout = 0;
|
||||
s->vision_seen = false;
|
||||
@@ -630,6 +763,10 @@ static void ui_update(UIState *s) {
|
||||
|
||||
s->alert_blinking_alpha = 1.0;
|
||||
s->alert_blinked = false;
|
||||
|
||||
if (s->dragon_waze_mode) {
|
||||
framebuffer_swap_layer(s->fb, 0x00010000);
|
||||
}
|
||||
}
|
||||
|
||||
zmq_pollitem_t polls[1] = {{0}};
|
||||
@@ -915,7 +1052,13 @@ int main(int argc, char* argv[]) {
|
||||
s->scene.satelliteCount = -1;
|
||||
s->started = false;
|
||||
s->vision_seen = false;
|
||||
|
||||
// dp
|
||||
s->scene.alert_rate = 0;
|
||||
s->scene.alert_type = 1;
|
||||
char locale[10];
|
||||
if (s->dragon_ui_screen_off_driving) {
|
||||
set_awake(s, true);
|
||||
}
|
||||
while (!do_exit) {
|
||||
bool should_swap = false;
|
||||
if (!s->started) {
|
||||
@@ -927,11 +1070,15 @@ int main(int argc, char* argv[]) {
|
||||
double u1 = millis_since_boot();
|
||||
|
||||
// light sensor is only exposed on EONs
|
||||
float clipped_brightness = (s->light_sensor*brightness_m) + brightness_b;
|
||||
if (clipped_brightness > 512) clipped_brightness = 512;
|
||||
smooth_brightness = clipped_brightness * 0.01 + smooth_brightness * 0.99;
|
||||
if (smooth_brightness > 255) smooth_brightness = 255;
|
||||
set_brightness(s, (int)smooth_brightness);
|
||||
if (s->dragon_ui_brightness == 0) {
|
||||
float clipped_brightness = (s->light_sensor*brightness_m) + brightness_b;
|
||||
if (clipped_brightness > 512) clipped_brightness = 512;
|
||||
smooth_brightness = clipped_brightness * 0.01 + smooth_brightness * 0.99;
|
||||
if (smooth_brightness > 255) smooth_brightness = 255;
|
||||
set_brightness(s, (int)smooth_brightness);
|
||||
} else {
|
||||
set_brightness(s, (int)(255*s->dragon_ui_brightness*0.01));
|
||||
}
|
||||
|
||||
// resize vision for collapsing sidebar
|
||||
const bool hasSidebar = !s->scene.uilayout_sidebarcollapsed;
|
||||
@@ -939,20 +1086,37 @@ int main(int argc, char* argv[]) {
|
||||
s->scene.ui_viz_rw = hasSidebar ? box_w : (box_w + sbr_w - (bdr_s * 2));
|
||||
s->scene.ui_viz_ro = hasSidebar ? -(sbr_w - 6 * bdr_s) : 0;
|
||||
|
||||
// poll for touch events
|
||||
int touch_x = -1, touch_y = -1;
|
||||
int touched = touch_poll(&touch, &touch_x, &touch_y, 0);
|
||||
if (touched == 1) {
|
||||
set_awake(s, true);
|
||||
handle_sidebar_touch(s, touch_x, touch_y);
|
||||
handle_vision_touch(s, touch_x, touch_y);
|
||||
if (s->started && s->dragon_waze_mode) {
|
||||
// always collapsed sidebar when vision is connect and in waze mode
|
||||
s->scene.uilayout_sidebarcollapsed = true;
|
||||
} else {
|
||||
// poll for touch events
|
||||
int touch_x = -1, touch_y = -1;
|
||||
int touched = touch_poll(&touch, &touch_x, &touch_y, 0);
|
||||
if (touched == 1) {
|
||||
if (s->dragon_ui_screen_off_driving && s->awake_timeout == 0) {
|
||||
set_awake(s, true);
|
||||
} else {
|
||||
set_awake(s, true);
|
||||
if (!handle_dp_btn_touch(s, touch_x, touch_y)) {
|
||||
handle_sidebar_touch(s, touch_x, touch_y);
|
||||
handle_vision_touch(s, touch_x, touch_y);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (!s->started) {
|
||||
// always process events offroad
|
||||
check_messages(s);
|
||||
} else {
|
||||
set_awake(s, true);
|
||||
if (s->dragon_ui_screen_off_driving) {
|
||||
// do nothing
|
||||
} else if (s->scene.isReversing && s->dragon_ui_screen_off_reversing) {
|
||||
set_awake(s, false);
|
||||
} else {
|
||||
set_awake(s, true);
|
||||
}
|
||||
// Car started, fetch a new rgb image from ipc
|
||||
if (s->vision_connected){
|
||||
ui_update(s);
|
||||
@@ -995,6 +1159,10 @@ int main(int argc, char* argv[]) {
|
||||
s->volume_timeout--;
|
||||
} else {
|
||||
int volume = fmin(MAX_VOLUME, MIN_VOLUME + s->scene.v_ego / 5); // up one notch every 5 m/s
|
||||
if (s->dragon_ui_volume_boost > 0 || s->dragon_ui_volume_boost < 0) {
|
||||
volume = volume * (1 + s->dragon_ui_volume_boost /100);
|
||||
volume = volume > MAX_VOLUME? MAX_VOLUME : volume;
|
||||
}
|
||||
set_volume(volume);
|
||||
s->volume_timeout = 5 * UI_FREQ;
|
||||
}
|
||||
@@ -1043,6 +1211,58 @@ int main(int argc, char* argv[]) {
|
||||
}
|
||||
update_offroad_layout_timeout(s, &s->offroad_layout_timeout);
|
||||
|
||||
// dp
|
||||
read_param_bool_timeout(&s->dragon_updating, "DragonUpdating", &s->dragon_updating_timeout);
|
||||
read_param_string_timeout(s->dragon_last_modified, "DragonLastModified", &s->dragon_last_modified_timeout);
|
||||
if (strcmp(last_modified, s->dragon_last_modified) != 0) {
|
||||
strncpy(last_modified, s->dragon_last_modified, sizeof(last_modified));
|
||||
|
||||
read_param_string(s->dragon_locale, "DragonLocale");
|
||||
read_param_bool(&s->dragon_waze_mode, "DragonWazeMode");
|
||||
|
||||
read_param_float(&s->dragon_ui_volume_boost, "DragonUIVolumeBoost");
|
||||
read_param_uint64(&s->dragon_df_mode, "DragonDynamicFollow");
|
||||
read_param_uint64(&s->dragon_ap_mode, "DragonAccelProfile");
|
||||
read_param_bool(&s->dragon_ui_screen_off_reversing, "DragonUIScreenOffReversing");
|
||||
read_param_bool(&s->dragon_ui_screen_off_driving, "DragonUIScreenOffDriving");
|
||||
read_param_uint64(&s->dragon_ui_brightness, "DragonUIBrightness");
|
||||
|
||||
if (s->dragon_waze_mode) {
|
||||
s->dragon_ui_speed = false;
|
||||
s->dragon_ui_event = false;
|
||||
s->dragon_ui_maxspeed = false;
|
||||
s->dragon_ui_face = false;
|
||||
s->dragon_ui_dev = false;
|
||||
s->dragon_ui_dev_mini = false;
|
||||
s->dragon_enable_dashcam = false;
|
||||
s->dragon_driving_ui = false;
|
||||
s->dragon_ui_lane = false;
|
||||
s->dragon_ui_lead = false;
|
||||
s->dragon_ui_path = false;
|
||||
s->dragon_ui_blinker = false;
|
||||
s->dragon_ui_dm_view = false;
|
||||
} else {
|
||||
read_param_bool(&s->dragon_enable_dm, "DragonEnableDriverMonitoring");
|
||||
if (!s->dragon_enable_dm) {
|
||||
s->dragon_ui_face = false;
|
||||
} else {
|
||||
read_param_bool(&s->dragon_ui_face, "DragonUIFace");
|
||||
}
|
||||
read_param_bool(&s->dragon_ui_speed, "DragonUISpeed");
|
||||
read_param_bool(&s->dragon_ui_event, "DragonUIEvent");
|
||||
read_param_bool(&s->dragon_ui_maxspeed, "DragonUIMaxSpeed");
|
||||
read_param_bool(&s->dragon_ui_dev, "DragonUIDev");
|
||||
read_param_bool(&s->dragon_ui_dev_mini, "DragonUIDevMini");
|
||||
read_param_bool(&s->dragon_enable_dashcam, "DragonEnableDashcam");
|
||||
read_param_bool(&s->dragon_driving_ui, "DragonDrivingUI");
|
||||
read_param_bool(&s->dragon_ui_lane, "DragonUILane");
|
||||
read_param_bool(&s->dragon_ui_lead, "DragonUILead");
|
||||
read_param_bool(&s->dragon_ui_path, "DragonUIPath");
|
||||
read_param_bool(&s->dragon_ui_blinker, "DragonUIBlinker");
|
||||
read_param_bool(&s->dragon_ui_dm_view, "DragonUIDMView");
|
||||
}
|
||||
}
|
||||
|
||||
pthread_mutex_unlock(&s->lock);
|
||||
|
||||
// the bg thread needs to be scheduled, so the main thread needs time without the lock
|
||||
|
||||
@@ -40,6 +40,7 @@
|
||||
#define COLOR_WHITE_ALPHA(x) nvgRGBA(255, 255, 255, x)
|
||||
#define COLOR_YELLOW nvgRGBA(218, 202, 37, 255)
|
||||
#define COLOR_RED nvgRGBA(201, 34, 49, 255)
|
||||
#define COLOR_RED_ALPHA(x) nvgRGBA(201, 34, 49, x)
|
||||
#define COLOR_OCHRE nvgRGBA(218, 111, 37, 255)
|
||||
|
||||
#ifndef QCOM
|
||||
@@ -74,6 +75,18 @@ const int home_btn_w = 180;
|
||||
const int home_btn_x = 60;
|
||||
const int home_btn_y = vwp_h - home_btn_h - 40;
|
||||
|
||||
// dp
|
||||
// dynamic follow btn
|
||||
const int df_btn_h = 180;
|
||||
const int df_btn_w = 180;
|
||||
const int df_btn_x = 1650;
|
||||
const int df_btn_y = 750;
|
||||
// accel profile btn
|
||||
const int ap_btn_h = 180;
|
||||
const int ap_btn_w = 180;
|
||||
const int ap_btn_x = 1450;
|
||||
const int ap_btn_y = 750;
|
||||
|
||||
const int UI_FREQ = 30; // Hz
|
||||
|
||||
const int MODEL_PATH_MAX_VERTICES_CNT = 98;
|
||||
@@ -160,6 +173,23 @@ typedef struct UIScene {
|
||||
cereal::HealthData::HwType hwType;
|
||||
int satelliteCount;
|
||||
uint8_t athenaStatus;
|
||||
|
||||
// dp
|
||||
// for minimal UI
|
||||
float angleSteersDes;
|
||||
float angleSteers;
|
||||
char ipAddr[20];
|
||||
int alert_rate;
|
||||
int alert_type;
|
||||
// for black screen on reversing
|
||||
bool isReversing;
|
||||
|
||||
// for blinker, from kegman
|
||||
bool leftBlinker;
|
||||
bool rightBlinker;
|
||||
bool brakeLights;
|
||||
int blinker_blinkingrate;
|
||||
|
||||
} UIScene;
|
||||
|
||||
typedef struct {
|
||||
@@ -296,6 +326,36 @@ typedef struct UIState {
|
||||
model_path_vertices_data model_path_vertices[MODEL_LANE_PATH_CNT * 2];
|
||||
|
||||
track_vertices_data track_vertices[2];
|
||||
|
||||
// dp
|
||||
SubSocket *carstate_sock;
|
||||
int dragon_updating_timeout;
|
||||
int dragon_last_modified_timeout;
|
||||
|
||||
bool dragon_ui_speed;
|
||||
bool dragon_ui_event;
|
||||
bool dragon_ui_maxspeed;
|
||||
bool dragon_ui_face;
|
||||
bool dragon_ui_dev;
|
||||
bool dragon_ui_dev_mini;
|
||||
bool dragon_enable_dashcam;
|
||||
float dragon_ui_volume_boost;
|
||||
bool dragon_driving_ui;
|
||||
bool dragon_ui_lane;
|
||||
bool dragon_ui_lead;
|
||||
bool dragon_ui_path;
|
||||
bool dragon_ui_blinker;
|
||||
bool dragon_waze_mode;
|
||||
bool dragon_ui_dm_view;
|
||||
bool dragon_updating;
|
||||
uint64_t dragon_df_mode;
|
||||
uint64_t dragon_ap_mode;
|
||||
bool dragon_enable_dm;
|
||||
char dragon_locale[20];
|
||||
bool dragon_ui_screen_off_reversing;
|
||||
char dragon_last_modified[20];
|
||||
bool dragon_ui_screen_off_driving;
|
||||
uint64_t dragon_ui_brightness;
|
||||
} UIState;
|
||||
|
||||
// API
|
||||
|
||||
@@ -33,6 +33,7 @@ from pathlib import Path
|
||||
import fcntl
|
||||
import threading
|
||||
from cffi import FFI
|
||||
from common.dp import is_online
|
||||
|
||||
from common.basedir import BASEDIR
|
||||
from common.params import Params
|
||||
@@ -116,8 +117,15 @@ def set_update_available_params(new_version=False):
|
||||
params.put("LastUpdateTime", t.encode('utf8'))
|
||||
|
||||
if new_version:
|
||||
branch_name = run(["git", "rev-parse", "--abbrev-ref", "HEAD"], FINALIZED).rstrip()
|
||||
if branch_name == "testing":
|
||||
postfix = ''
|
||||
elif branch_name == "devel-i18n":
|
||||
postfix = '-DEV'
|
||||
else:
|
||||
postfix = '-REL'
|
||||
try:
|
||||
with open(os.path.join(FINALIZED, "RELEASES.md"), "rb") as f:
|
||||
with open(os.path.join(FINALIZED, f"CHANGELOGS{postfix}.md"), "rb") as f:
|
||||
r = f.read()
|
||||
r = r[:r.find(b'\n\n')] # Slice latest release notes
|
||||
params.put("ReleaseNotes", r + b"\n")
|
||||
|
||||
@@ -64,7 +64,8 @@ try:
|
||||
dirty = dirty or (subprocess.call(["git", "diff-index", "--quiet", branch, "--"]) != 0)
|
||||
|
||||
if dirty:
|
||||
dirty_files = subprocess.check_output(["git", "diff-index", branch, "--"], encoding='utf8')
|
||||
#dirty_files = subprocess.check_output(["git", "diff-index", branch, "--"], encoding='utf8')
|
||||
dirty_files = ""
|
||||
commit = subprocess.check_output(["git", "rev-parse", "--verify", "HEAD"], encoding='utf8').rstrip()
|
||||
origin_commit = subprocess.check_output(["git", "rev-parse", "--verify", branch], encoding='utf8').rstrip()
|
||||
cloudlog.event("dirty comma branch", version=version, dirty=dirty, origin=origin, branch=branch, dirty_files=dirty_files, commit=commit, origin_commit=origin_commit)
|
||||
|
||||
Reference in New Issue
Block a user