mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-06-12 06:54:12 +08:00
Compare commits
42 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
|
e0f80460eb | ||
|
|
9c6abcae45 | ||
|
|
3064cefbbb | ||
|
|
d7068a1f19 | ||
|
|
c744ac0ffd | ||
|
|
fc14ec2d55 | ||
|
|
11ce6152dd | ||
|
|
7860ab7a71 | ||
|
|
7f41aa954e | ||
|
|
d972f6d9fe | ||
|
|
8f6453898a | ||
|
|
829ecd71f0 | ||
|
|
274e75cf6c | ||
|
|
168136e7a0 | ||
|
|
af020da7c7 | ||
|
|
2894cd2a9d | ||
|
|
6704c8d2ec | ||
|
|
b92f36a83b | ||
|
|
ba0fb4fc0b | ||
|
|
bafbab18a0 | ||
|
|
e0b7cce478 | ||
|
|
325c9b273d | ||
|
|
12b4f9aa4f | ||
|
|
3363228d79 | ||
|
|
aee4f9719c | ||
|
|
4c34b3cae7 | ||
|
|
4a11adb782 | ||
|
|
28515145f9 | ||
|
|
0fbf2029db | ||
|
|
c09c2bcd07 | ||
|
|
43e9274455 | ||
|
|
02e1036349 | ||
|
|
1c75d1c76b | ||
|
|
8a8dfafa56 | ||
|
|
d6b3cb2e32 | ||
|
|
4cb5e99ab6 | ||
|
|
078935b807 | ||
|
|
59b52126ee | ||
|
|
1e53607614 | ||
|
|
2665d308ca | ||
|
|
3cb8df8c49 | ||
|
|
4a3d5e2182 |
602
CHANGELOGS-DEV.md
Normal file
602
CHANGELOGS-DEV.md
Normal file
@@ -0,0 +1,602 @@
|
||||
dragonpilot 0.8.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.8.0 devel.
|
||||
* Based on latest openpilot 0.8.0 devel.
|
||||
* 加入 git 錯誤修正。(感謝 @toyboxZ 提供)
|
||||
* Added git error fix. (Thanks to @toyboxZ)
|
||||
|
||||
dragonpilot 0.7.10.1
|
||||
========================
|
||||
* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
|
||||
* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
|
||||
* HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議)
|
||||
* HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe)
|
||||
* 支援台灣版 2018 Huyndai IONIQ + smart MDPS (dp_hkg_smart_mdps) (感謝 @andy741217 提供)
|
||||
* Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217)
|
||||
* 使用 openpilot v0.8 的模型。(感謝 @eisenheim)
|
||||
* Use openpilot v0.8 model. (Thanks to @eisenheim)
|
||||
* 加入 0.8 測試版的部分優化。
|
||||
* Added optimizations from pre-0.8.
|
||||
* 加入 dp_honda_eps_mod 設定來使用更高的扭力 (需 eps mod)。(感謝 @Wuxl_369 提供)
|
||||
* Added dp_honda_eps_mod setting to enable higher torque (eps mod required). (Thanks to @Wuxl_369)
|
||||
* 修正 VW 對白/灰熊的支援 (感謝 @lirudy 提供)
|
||||
* Fixed issue with white/grey panda support for VW (Thanks to @lirudy)
|
||||
* GENESIS_G70 優化 (感謝 @sebastian4k 提供)
|
||||
* GENESIS_G70 Optimisation (Thanks to @sebastian4k)
|
||||
* HYUNDAI_GENESIS 優化 (感謝 @donfyffe 提供)
|
||||
* HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe)
|
||||
* 加入 Dynamic gas Lite。(感謝 @toyboxZ 提供)
|
||||
* Added Dynamic Gas Lite. (Thanks to @toyboxZ)
|
||||
* 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供)
|
||||
* Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang)
|
||||
* 加入 dp_toyota_lowest_cruise_override_vego。(感謝 @toyboxZ 提供)
|
||||
* Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ)
|
||||
|
||||
dragonpilot 0.7.10.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.10 devel.
|
||||
* Based on latest openpilot 0.7.10 devel.
|
||||
* 修正 Prius 特定情況下無法操控方向盤的問題。
|
||||
* Fixed unable to regain Prius steering control under certain condition.
|
||||
* 更新 VW MQB 的支援。(需執行 scripts/vw.sh 腳本)
|
||||
* Updated support of VW MQB. (scripts/vw.sh script required)
|
||||
* 新增 2018 China Toyota CHR 指紋v2。（感謝 @xiaohongcheung 提供)
|
||||
* Added 2018 China Toyota CHR FPv2. (Thanks to @xiaohongcheung)
|
||||
* 加入 Headunit Reloaded Android Auto App 支援。(感謝 @Ninjaa 提供)
|
||||
* Added Headunit Reloaded Android Auto App Support. (Thanks to @Ninjaa)
|
||||
* 優化 nanovg。(感謝 @piggy 提供)
|
||||
* Optomized nanovg. (Thanks to @piggy)
|
||||
* 加入 complete_setup.sh (感謝 @深鲸希西 提供)
|
||||
* Added complete_setup.sh (Thanks to @深鲸希西)
|
||||
* Based on latest openpilot 0.7.10 devel.
|
||||
* 修正 EON 接 PC/USB 充電器時仍會自動關機的錯誤。(感謝 @小愛 回報)
|
||||
* Fixed auto shutdown issue when EON connect to PC/USB Charger. (Thanks to @LOVEChen)
|
||||
* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
|
||||
* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
|
||||
|
||||
dragonpilot 0.7.8.3
|
||||
========================
|
||||
* VW 加入 6 分鐘時間方向盤控制限制輔助方案。(特別感謝 @actuallylemoncurd 提供代碼)
|
||||
* VW added 6 minutes timebomb assist. (dp_timebomb_assist, special thanks to @actuallylemoncurd)
|
||||
|
||||
dragonpilot 0.7.8.2
|
||||
========================
|
||||
* 修正在沒網路的情況下，開機超過五分鐘的問題。
|
||||
* Fixed 5+ minutes boot time issue when there is no internet connection.
|
||||
* 錯誤回傳改使用 dp 的主機。
|
||||
* Used dp server for error reporting.
|
||||
* 更新服務改使用 gitee 的 IP 檢查連線狀態。
|
||||
* updated service uses gitee IP address instead.
|
||||
|
||||
dragonpilot 0.7.8.1
|
||||
========================
|
||||
* 加入 ko-KR 翻譯。
|
||||
* Added ko-KR translation.
|
||||
* 加入 Honda Jade 支援。(感謝 @李俊灝)
|
||||
* Added Honda Jade support. (Thanks to @lijunhao731)
|
||||
* 修正 ui.cc 內存越界的問題。(感謝 @piggy 提供)
|
||||
* Fixed ui.cc memory out of bound issue. (Thanks to @piggy)
|
||||
* gpxd 記錄改自動存成 zip 格式。
|
||||
* gpxd now store in zip format.
|
||||
* 強制關閉 panda 檢查 DOS 硬體。
|
||||
* Force disabled DOS hardware check in panda.
|
||||
|
||||
dragonpilot 0.7.8.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.8 devel.
|
||||
* Based on latest openpilot 0.7.8 devel.
|
||||
* 加入重置 DP 設定按鈕。(感謝 @LOVEChen 建議)
|
||||
* Added "Reset DP Settings" button. (Thanks to @LOVEChen)
|
||||
* 將警示訊息更改為類似於概念 UI 的設計。
|
||||
* Alert messages changed to concept UI alike design.
|
||||
* 當 manager 出現錯誤後，按 Exit 按鈕會執行 reset_update 腳本。
|
||||
* Added ability to execute reset_update.sh when press "Exit" button once manager returned errors.
|
||||
|
||||
dragonpilot 0.7.7.3
|
||||
========================
|
||||
* 修正方向盤監控。
|
||||
* Fixed steering monitor timer param.
|
||||
* 修正行駛時關閉畫面導致當機的錯誤。(感謝 @salmankhan, @stevej99, @bobbydough 回報)
|
||||
* Fixed screen frozen issue when "screen off while driving" toggle is enabled. (Thanks to @salmankhan, @stevej99, @bobbydough)
|
||||
* 加回 Dev Mini UI 開關。(感謝 @Ninjaa 建議)
|
||||
* Re-added Dev Mini UI. (Thanks to @Ninjaa)
|
||||
* 新增 (dp_reset_live_parameters_on_start) 每次發車重設 LiveParameters 值。(感謝 @eisenheim)
|
||||
* Added ability (dp_reset_live_param_on_start) to reset LiveParameters on each start. (Thanks @eisenheim)
|
||||
* 修正同時開啟 dp_toyota_zss 和 dp_lqr 產生的錯誤。(感謝 @bobbydough)
|
||||
* Fixed error cuased by enabling both dp_toyota_zss and dp_lqr at the same time. (Thanks to @bobbydough)
|
||||
* 新增 (dp_gpxd) 將 GPS 軌跡導出至 GPX 格式 (/sdcard/gpx_logs/）的功能。 （感謝 @mageymoo1）
|
||||
* Added ability (dp_gpxd) to export GPS track into GPX files (/sdcard/gpx_logs/). (Thanks to @mageymoo1)
|
||||
* 使用德國的車道寬度估算值。 （感謝 @arne182）
|
||||
* Used lane width estimate value from Germany. (Thanks to @arne182)
|
||||
|
||||
dragonpilot 0.7.7.2
|
||||
========================
|
||||
* 加入 d_poly offset。 (感謝 @ShaneSmiskol)
|
||||
* Added d_poly offset. (Thanks to @ShaneSmiskol)
|
||||
* 加入 ZSS 支援。(感謝 @bobbydough, @WilliamPrius 建議, @bobbydough 測試)
|
||||
* Added ZSS support. (Thanks to @bobbydough, @WilliamPrius for recommendation, @bobbydough for testing)
|
||||
* 加入錯誤記錄至 /sdcard/crash_logs/ (感謝 @ShaneSmiskol 提供代碼)
|
||||
* Added error logs to /sdcard/crash_logs/ (Special Thanks to @ShaneSmiskol)
|
||||
* 加入 LQR 控制器開關進設定畫面。
|
||||
* Added LQR Controller toggle to settings.
|
||||
|
||||
dragonpilot 0.7.7.1
|
||||
========================
|
||||
* 加入 C2 風扇靜音模式。(感謝 @dingliangxue)
|
||||
* Added C2 quiet fan mode. (Thanks to @dingliangxue)
|
||||
* 加入「輔助換道最低啟動速度」、「自動換道最低啟動速度」設定。
|
||||
* Added "Assisted Lane Change Min Engage Speed" and "Auto Lane Change Min Engage Speed" settings.
|
||||
* 加入回調校介面。(感謝 @Kent)
|
||||
* Re-added Dev UI. (Thanks to @Kent)
|
||||
* 加入 "dp_lqr" 設定來強制使用 RAV4 的 lqr 調校。(感謝 @eisenheim)
|
||||
* Added "dp_lqr" setting to force enable lqr tuning from RAV4. (Thanks to eisenheim)
|
||||
|
||||
dragonpilot 0.7.7.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.7 devel.
|
||||
* Based on latest openpilot 0.7.7 devel.
|
||||
* 當 Manager 出現錯誤時，顯示 IP 位置。(感謝 @dingliangxue)
|
||||
* When Manager failed, display IP address. (Thanks to @dingliangxue)
|
||||
* 加回 sr learner 開關。
|
||||
* Re-added sr learner toggle.
|
||||
* 加回 加速模式 開關。
|
||||
* Re-added Accel Profile toggle.
|
||||
* Toyota 加入改寫最低巡航速度功能。(感謝 @Mojo)
|
||||
* Added Toyota to override lowerest cruise speed. (Thanks to @Mojo)
|
||||
* 介面加入盲點偵測顯示。(感謝 @wabes)
|
||||
* Added BSM indicator to UI. (Thanks to @wabes)
|
||||
* 加回彎道減速功能。(感謝 @Mojo)
|
||||
* re-added Slow On Curve functionality. (Thanks to @Mojo)
|
||||
|
||||
dragonpilot 0.7.6.2
|
||||
========================
|
||||
* 修正無法正確關閉駕駛監控的問題。
|
||||
* Fixed unable to properly turn off driver monitor issue.
|
||||
|
||||
dragonpilot 0.7.6.1
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.6.1 devel.
|
||||
* Based on latest openpilot 0.7.6.1 devel.
|
||||
* 優化並整合 dp 服務。 (所有的設定檔已改名，請重新設定所有的功能)
|
||||
* Optimized and integrated several dp services. (Settings have been renamed, please re-config all settings)
|
||||
* 完全關閉 steer ratio learner。
|
||||
* Completely disabled steer ratio learner.
|
||||
* 移除「加速模式」。
|
||||
* Removed Accel Profile.
|
||||
* 加入本田皓影混電版指紋v1。(感謝 @劉駿)
|
||||
* Added Honda Breeze Hybrid FPv1. (Thanks to @劉駿)
|
||||
* 加入台灣版 Toyota Prius 4.5 指紋v1。(感謝 @jeekid)
|
||||
* Added Taiwan Toyota Prius 4.5 FPv1. (Thanks to @jeekid)
|
||||
|
||||
dragonpilot 0.7.5.4
|
||||
========================
|
||||
* 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。
|
||||
301
CHANGELOGS-REL.md
Normal file
301
CHANGELOGS-REL.md
Normal file
@@ -0,0 +1,301 @@
|
||||
dragonpilot 0.8.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.8.0 devel.
|
||||
* Based on latest openpilot 0.8.0 devel.
|
||||
* 加入 git 錯誤修正。(感謝 @toyboxZ 提供)
|
||||
* Added git error fix. (Thanks to @toyboxZ)
|
||||
|
||||
dragonpilot 0.7.10.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.10 devel.
|
||||
* Based on latest openpilot 0.7.10 devel.
|
||||
* 修正 Prius 特定情況下無法操控方向盤的問題。
|
||||
* Fixed unable to regain Prius steering control under certain condition.
|
||||
* 更新 VW MQB 的支援。(需執行 scripts/vw.sh 腳本)
|
||||
* Updated support of VW MQB. (scripts/vw.sh script required)
|
||||
* 新增 2018 China Toyota CHR 指紋v2。（感謝 @xiaohongcheung 提供)
|
||||
* Added 2018 China Toyota CHR FPv2. (Thanks to @xiaohongcheung)
|
||||
* 加入 Headunit Reloaded Android Auto App 支援。(感謝 @Ninjaa 提供)
|
||||
* Added Headunit Reloaded Android Auto App Support. (Thanks to @Ninjaa)
|
||||
* 優化 nanovg。(感謝 @piggy 提供)
|
||||
* Optomized nanovg. (Thanks to @piggy)
|
||||
* 加入 complete_setup.sh (感謝 @深鲸希西 提供)
|
||||
* Added complete_setup.sh (Thanks to @深鲸希西)
|
||||
* Based on latest openpilot 0.7.10 devel.
|
||||
* 修正 EON 接 PC/USB 充電器時仍會自動關機的錯誤。(感謝 @小愛 回報)
|
||||
* Fixed auto shutdown issue when EON connect to PC/USB Charger. (Thanks to @LOVEChen)
|
||||
* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
|
||||
* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
|
||||
* HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議)
|
||||
* HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe)
|
||||
* 支援台灣版 2018 Huyndai IONIQ + smart MDPS (dp_hkg_smart_mdps) (感謝 @andy741217 提供)
|
||||
* Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217)
|
||||
* 使用 openpilot v0.8 的模型。(感謝 @eisenheim)
|
||||
* Use openpilot v0.8 model. (Thanks to @eisenheim)
|
||||
* 加入 0.8 測試版的部分優化。
|
||||
* Added optimizations from pre-0.8.
|
||||
* 加入 dp_honda_eps_mod 設定來使用更高的扭力 (需 eps mod)。(感謝 @Wuxl_369 提供)
|
||||
* Added dp_honda_eps_mod setting to enable higher torque (eps mod required). (Thanks to @Wuxl_369)
|
||||
* 修正 VW 對白/灰熊的支援 (感謝 @lirudy 提供)
|
||||
* Fixed issue with white/grey panda support for VW (Thanks to @lirudy)
|
||||
* GENESIS_G70 優化 (感謝 @sebastian4k 提供)
|
||||
* GENESIS_G70 Optimisation (Thanks to @sebastian4k)
|
||||
* HYUNDAI_GENESIS 優化 (感謝 @donfyffe 提供)
|
||||
* HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe)
|
||||
* 加入 Dynamic gas Lite。(感謝 @toyboxZ 提供)
|
||||
* Added Dynamic Gas Lite. (Thanks to @toyboxZ)
|
||||
* 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供)
|
||||
* Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang)
|
||||
* 加入 dp_toyota_lowest_cruise_override_vego。(感謝 @toyboxZ 提供)
|
||||
* Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ)
|
||||
|
||||
dragonpilot 0.7.8
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.8 devel.
|
||||
* Based on latest openpilot 0.7.8 devel.
|
||||
* 加入重置 DP 設定按鈕。(感謝 @LOVEChen 建議)
|
||||
* Added "Reset DP Settings" button. (Thanks to @LOVEChen)
|
||||
* 將警示訊息更改為類似於概念 UI 的設計。
|
||||
* Alert messages changed to concept UI alike design.
|
||||
* 當 manager 出現錯誤後，按 Exit 按鈕會執行 reset_update 腳本。
|
||||
* Added ability to execute reset_update.sh when press "Exit" button once manager returned errors.
|
||||
* 加入 ko-KR 翻譯。
|
||||
* Added ko-KR translation.
|
||||
* 加入 Honda Jade 支援。(感謝 @李俊灝)
|
||||
* Added Honda Jade support. (Thanks to @lijunhao731)
|
||||
* 修正 ui.cc 內存越界的問題。(感謝 @piggy 提供)
|
||||
* Fixed ui.cc memory out of bound issue. (Thanks to @piggy)
|
||||
* gpxd 記錄改自動存成 zip 格式。
|
||||
* gpxd now store in zip format.
|
||||
* 強制關閉 panda 檢查 DOS 硬體。
|
||||
* Force disabled DOS hardware check in panda.
|
||||
* 修正在沒網路的情況下，開機超過五分鐘的問題。
|
||||
* Fixed 5+ minutes boot time issue when there is no internet connection.
|
||||
* 錯誤回傳改使用 dp 的主機。
|
||||
* Used dp server for error reporting.
|
||||
* 更新服務改使用 gitee 的 IP 檢查連線狀態。
|
||||
* updated service uses gitee IP address instead.
|
||||
* VW 加入 6 分鐘時間方向盤控制限制輔助方案。(特別感謝 @actuallylemoncurd 提供代碼)
|
||||
* VW added 6 minutes timebomb assist. (dp_timebomb_assist, special thanks to @actuallylemoncurd)
|
||||
|
||||
dragonpilot 0.7.7.0
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.7 devel.
|
||||
* Based on latest openpilot 0.7.7 devel.
|
||||
* 當 Manager 出現錯誤時，顯示 IP 位置。(感謝 @dingliangxue)
|
||||
* When Manager failed, display IP address. (Thanks to @dingliangxue)
|
||||
* 加回 sr learner 開關。
|
||||
* Re-added sr learner toggle.
|
||||
|
||||
dragonpilot 0.7.6
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.6.1 devel.
|
||||
* Based on latest openpilot 0.7.6.1 devel.
|
||||
* 優化並整合 dp 服務。 (所有的設定檔已改名，請重新設定所有的功能)
|
||||
* Optimized and integrated several dp services. (Settings have been renamed, please re-config all settings)
|
||||
* 完全關閉 steer ratio learner。
|
||||
* Completely disabled steer ratio learner.
|
||||
* 移除「加速模式」。
|
||||
* Removed Accel Profile.
|
||||
* 加入本田皓影混電版指紋v1。(感謝 @劉駿)
|
||||
* Added Honda Breeze Hybrid FPv1. (Thanks to @劉駿)
|
||||
* 加入台灣版 Toyota Prius 4.5 指紋v1。(感謝 @jeekid)
|
||||
* Added Taiwan Toyota Prius 4.5 FPv1. (Thanks to @jeekid)
|
||||
* 加入 2020 Toyota Prius 指紋v2。(感謝 @Trae)
|
||||
* Added Toyota Prius 2020 FPv2. (Thanks to @Trae)
|
||||
* 優化 Honda CR-V Hybrid 轉向。(感謝 @martint1980)
|
||||
× Optomised Honda CR-V Hybrid lateral control. (Thanks to @martint1980)
|
||||
|
||||
dragonpilot 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)
|
||||
* 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。
|
||||
414
CHANGELOGS.md
Normal file
414
CHANGELOGS.md
Normal file
@@ -0,0 +1,414 @@
|
||||
2020-12-07 (0.8.0.0)
|
||||
========================
|
||||
* 錯誤修正。
|
||||
* Bug fixes.
|
||||
|
||||
2020-12-04 (0.8.0.0)
|
||||
========================
|
||||
* 加入 git 錯誤修正。(感謝 @toyboxZ 提供)
|
||||
* Added git error fix. (Thanks to @toyboxZ)
|
||||
|
||||
2020-12-02 (0.8.0.0)
|
||||
========================
|
||||
* 基於最新 openpilot 0.8.0 devel.
|
||||
* Based on latest openpilot 0.8.0 devel.
|
||||
|
||||
2020-11-28 (0.7.10.0)
|
||||
========================
|
||||
* 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供)
|
||||
* Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang)
|
||||
* 加入 dp_toyota_lowest_cruise_override_vego。(感謝 @toyboxZ 提供)
|
||||
* Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ)
|
||||
|
||||
2020-11-20 (0.7.10.0)
|
||||
========================
|
||||
* 加入 Dynamic gas Lite。(感謝 @toyboxZ 提供)
|
||||
* Added Dynamic Gas Lite. (Thanks to @toyboxZ)
|
||||
|
||||
2020-11-19 (0.7.10.0)
|
||||
========================
|
||||
* 更新所有 honda/hyunda/toyota 指紋。
|
||||
* Updated all honda/hyunda/toyota fingerprints.
|
||||
|
||||
2020-11-18 (0.7.10.0)
|
||||
========================
|
||||
* 支援台灣版 2018 Huyndai IONIQ + smart MDPS (dp_hkg_smart_mdps) (感謝 @andy741217 提供)
|
||||
* Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217)
|
||||
* 使用 openpilot v0.8 的模型。(感謝 @eisenheim)
|
||||
* Use openpilot v0.8 model. (Thanks to @eisenheim)
|
||||
* 加入 0.8 測試版的部分優化。
|
||||
* Added optimizations from pre-0.8.
|
||||
* 加入 dp_honda_eps_mod 設定來使用更高的扭力 (需 eps mod)。(感謝 @Wuxl_369 提供)
|
||||
* Added dp_honda_eps_mod setting to enable higher torque (eps mod required). (Thanks to @Wuxl_369)
|
||||
* 修正 VW 對白/灰熊的支援 (感謝 @lirudy 提供)
|
||||
* Fixed issue with white/grey panda support for VW (Thanks to @lirudy)
|
||||
* GENESIS_G70 優化 (感謝 @sebastian4k 提供)
|
||||
* GENESIS_G70 Optimisation (Thanks to @sebastian4k)
|
||||
* HYUNDAI_GENESIS 優化 (感謝 @donfyffe 提供)
|
||||
* HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe)
|
||||
|
||||
2020-11-05 (0.7.10.0)
|
||||
========================
|
||||
* HYUNDAI_GENESIS 加入 Cruise 按紐 和 lkMode 支援。(感謝 @donfyffe 建議)
|
||||
* HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe)
|
||||
|
||||
2020-11-04 (0.7.10.0)
|
||||
========================
|
||||
* HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
|
||||
* HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe)
|
||||
|
||||
2020-10-30 (0.7.10.0)
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.10 devel.
|
||||
* Based on latest openpilot 0.7.10 devel.
|
||||
* 修正 EON 接 PC/USB 充電器時仍會自動關機的錯誤。(感謝 @小愛 回報)
|
||||
* Fixed auto shutdown issue when EON connect to PC/USB Charger. (Thanks to @LOVEChen)
|
||||
* 新增大陸版 2018 Inspire 指紋。(感謝 @)
|
||||
* Added China Camry Hybrid FPv2. (Thanks to @杜子腾)
|
||||
|
||||
2020-10-23 (0.7.9.0)
|
||||
========================
|
||||
* 加入 Headunit Reloaded Android Auto 斷線偵側。
|
||||
* Added Disconnect detection for Headunit Reloaded Android Auto.
|
||||
* 加入 complete_setup.sh (感謝 @深鲸希西 提供)
|
||||
* Added complete_setup.sh (Thanks to @深鲸希西)
|
||||
|
||||
2020-10-21 (0.7.9.0)
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.9 devel.
|
||||
* Based on latest openpilot 0.7.9 devel.
|
||||
* 修正 Prius 特定情況下無法操控方向盤的問題。
|
||||
* Fixed unable to regain Prius steering control under certain condition.
|
||||
* 更新 VW MQB 的支援。(需執行 scripts/vw.sh 腳本)
|
||||
* Updated support of VW MQB. (scripts/vw.sh script required)
|
||||
* 加入 HKG mdps/sas 的支援。(需執行 scripts/hkg.sh 腳本)
|
||||
* Added support to HKG mdps/sas. (scripts/hkg.sh script required)
|
||||
* 新增 2018 China Toyota CHR 指紋v2。（感謝 @xiaohongcheung 提供)
|
||||
* Added 2018 China Toyota CHR FPv2. (Thanks to @xiaohongcheung)
|
||||
* 加入 Headunit Reloaded Android Auto App 支援。(感謝 @Ninjaa 提供)
|
||||
* Added Headunit Reloaded Android Auto App Support. (Thanks to @Ninjaa)
|
||||
* 優化 nanovg。(感謝 @piggy 提供)
|
||||
* Optomized nanovg. (Thanks to @piggy)
|
||||
|
||||
2020-09-25 (0.7.8.0)
|
||||
========================
|
||||
* VW 加入 6 分鐘時間方向盤控制限制輔助方案。(特別感謝 @actuallylemoncurd 提供代碼)
|
||||
* VW added 6 minutes timebomb assist. (dp_timebomb_assist, special thanks to @actuallylemoncurd)
|
||||
|
||||
2020-09-23 (0.7.8.0)
|
||||
========================
|
||||
* 修正在沒網路的情況下，開機超過五分鐘的問題。
|
||||
* Fixed 5+ minutes boot time issue when there is no internet connection.
|
||||
* 錯誤回傳改使用 dp 的主機。
|
||||
* Used dp server for error reporting.
|
||||
* 更新服務改使用 gitee 的 IP 檢查連線狀態。
|
||||
* updated service uses gitee IP address instead.
|
||||
|
||||
2020-09-21 (0.7.8.0)
|
||||
========================
|
||||
* 強制關閉 panda 檢查 DOS 硬體。
|
||||
* Force disabled DOS hardware check in panda.
|
||||
|
||||
2020-09-18 (0.7.8.0)
|
||||
========================
|
||||
* gpxd 記錄改自動存成 zip 格式。
|
||||
* gpxd now store in zip format.
|
||||
|
||||
2020-09-15 (0.7.8.0)
|
||||
========================
|
||||
* 加入 Honda Jade 支援。(感謝 @李俊灝)
|
||||
* Added Honda Jade support. (Thanks to @lijunhao731)
|
||||
* 修正 ui.cc 內存越界的問題。(感謝 @piggy 提供)
|
||||
* Fixed ui.cc memory out of bound issue. (Thanks to @piggy)
|
||||
|
||||
2020-09-01 (0.7.8.0)
|
||||
========================
|
||||
* 加入 ko-KR 翻譯。
|
||||
* Added ko-KR translation.
|
||||
|
||||
2020-08-21 (0.7.8.0)
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.8 devel.
|
||||
* Based on latest openpilot 0.7.8 devel.
|
||||
* 加入重置 DP 設定按鈕。(感謝 @LOVEChen 建議)
|
||||
* Added "Reset DP Settings" button. (Thanks to @LOVEChen)
|
||||
* 將警示訊息更改為類似於概念 UI 的設計。
|
||||
* Alert messages changed to concept UI alike design.
|
||||
* 當 manager 出現錯誤後，按 Exit 按鈕會執行 reset_update 腳本。
|
||||
* Added ability to execute reset_update.sh when press "Exit" button once manager returned errors.
|
||||
|
||||
2020-08-18 (0.7.7.0)
|
||||
========================
|
||||
* gpxd 不再切換至 GCJ-02 格式。(感謝 @arne182 建議)
|
||||
* gpxd no longer switch to GCJ-02 format automatically. (Thanks to @arne182)
|
||||
* 修正方向盤監控。
|
||||
* Fixed steering monitor timer param.
|
||||
* 修正行駛時關閉畫面導致當機的錯誤。(感謝 @salmankhan, @stevej99, @bobbydough 回報)
|
||||
* Fixed screen frozen issue when "screen off while driving" toggle is enabled. (Thanks to @salmankhan, @stevej99, @bobbydough)
|
||||
* 加回 Dev Mini UI 開關。(感謝 @Ninjaa 建議)
|
||||
* Re-added Dev Mini UI. (Thanks to @Ninjaa)
|
||||
|
||||
2020-08-17 (0.7.7.0)
|
||||
========================
|
||||
* gpxd 只儲存高精度數據。(感謝 @arne182)
|
||||
* gpxd now only stored high accuracy data. (Thanks to @arne182)
|
||||
* gpxd 加入自動切換成 GCJ-02 格式。
|
||||
* added ability to switch to GCJ-02 format in gpxd.
|
||||
* 新增 (dp_reset_live_parameters_on_start) 每次發車重設 LiveParameters 值。(感謝 @eisenheim)
|
||||
* Added ability (dp_reset_live_param_on_start) to reset LiveParameters on each start. (Thanks @eisenheim)
|
||||
|
||||
2020-08-12 (0.7.7.0)
|
||||
========================
|
||||
* 修正同時開啟 dp_toyota_zss 和 dp_lqr 產生的錯誤。(感謝 @bobbydough)
|
||||
* Fixed error cuased by enabling both dp_toyota_zss and dp_lqr at the same time. (Thanks to @bobbydough)
|
||||
|
||||
2020-08-12 (0.7.7.0)
|
||||
========================
|
||||
* 新增 (dp_gpxd) 將 GPS 軌跡導出至 GPX 格式 (/sdcard/gpx_logs/）的功能。 （感謝 @mageymoo1）
|
||||
* Added ability (dp_gpxd) to export GPS track into GPX files (/sdcard/gpx_logs/). (Thanks to @mageymoo1)
|
||||
* 使用德國的車道寬度估算值。 （感謝 @arne182）
|
||||
* Used lane width estimate value from Germany. (Thanks to @arne182)
|
||||
|
||||
2020-08-11 (0.7.7.0)
|
||||
========================
|
||||
* 加入 d_poly offset。 (感謝 @ShaneSmiskol)
|
||||
* Added d_poly offset. (Thanks to @ShaneSmiskol)
|
||||
|
||||
2020-08-05 (0.7.7.0)
|
||||
========================
|
||||
* 修正 Dev UI 顯示。
|
||||
* Fixed Dev UI display.
|
||||
* 加入 LQR 控制器開關進設定畫面。
|
||||
* Added LQR Controller toggle to settings.
|
||||
|
||||
2020-08-04 (0.7.7.0)
|
||||
========================
|
||||
* 嘗試修正非 Toyota 使用 lqr 產生的錯誤。
|
||||
* Attempted to fix lqr issue on non-Toyota Cars.
|
||||
* 加入錯誤記錄至 /sdcard/crash_logs/ (感謝 @ShaneSmiskol 提供代碼)
|
||||
* Added error logs to /sdcard/crash_logs/ (Special Thanks to @ShaneSmiskol)
|
||||
|
||||
2020-08-02 (0.7.7.0)
|
||||
========================
|
||||
* 加入 ZSS 支援。(感謝 @bobbydough, @WilliamPrius 建議, @bobbydough 測試)
|
||||
* Added ZSS support. (Thanks to @bobbydough, @WilliamPrius for recommendation, @bobbydough for testing)
|
||||
|
||||
2020-07-28 (0.7.7.0)
|
||||
========================
|
||||
* 修正 steer ratio learner 關閉。(感謝 @Mojo 回報, @ShaneSmiskol 提供代碼)
|
||||
* Fixed steer ratio learner toggle. (Thanks to @Mojo, @ShaneSmiskol)
|
||||
* 加入 "dp_lqr" 設定來強制使用 RAV4 的 lqr 調校。(感謝 @eisenheim)
|
||||
* Added "dp_lqr" setting to force enable lqr tuning from RAV4. (Thanks to eisenheim)
|
||||
|
||||
2020-07-28 (0.7.7.0)
|
||||
========================
|
||||
* 修正無法上傳記錄的問題。(感謝 @Mojo)
|
||||
* Fixed unable to upload log issue. (Thanks to @Mojo)
|
||||
* 修正無法關閉警示音的問題。(感謝 @Mojo)
|
||||
* Fixed unable to disable audio alert (-100%) issue. ($Thanks to @Mojo)
|
||||
|
||||
2020-07-27 (0.7.7.0)
|
||||
========================
|
||||
* 加入回調校介面。(感謝 @Kent)
|
||||
* Re-added Dev UI. (Thanks to @Kent)
|
||||
|
||||
2020-07-27 (0.7.7.0)
|
||||
========================
|
||||
* 加入 C2 風扇靜音模式。(感謝 @dingliangxue)
|
||||
* Added C2 quiet fan mode. (Thanks to @dingliangxue)
|
||||
* 加入「輔助換道最低啟動速度」、「自動換道最低啟動速度」設定。
|
||||
* Added "Assisted Lane Change Min Engage Speed" and "Auto Lane Change Min Engage Speed" settings.
|
||||
|
||||
2020-07-23 (0.7.7.0)
|
||||
========================
|
||||
* 修正 appd。(感謝 @cgw1968)
|
||||
* Fixed appd. (Thanks to @cgw1968)
|
||||
|
||||
2020-07-22 (0.7.7.0)
|
||||
========================
|
||||
* 修正 waze 顯示。(感謝 @Mojo)
|
||||
* Fixed waze display. (Thanks to @Mojo)
|
||||
* 加回彎道減速功能。(感謝 @Mojo)
|
||||
* re-added Slow On Curve functionality. (Thanks to @Mojo)
|
||||
* 加入日文支援。(特別感謝 @ponzu07 提供)
|
||||
* Added Japanese support. (Special thanks to @ponzu07)
|
||||
* 刪除部分設定對 dp_steering_on_signal 的依賴。
|
||||
* Removed dp_steering_on_signal dependencies.
|
||||
* 介面加入盲點偵測顯示。(感謝 @wabes)
|
||||
* Added BSM indicator to UI. (Thanks to @wabes)
|
||||
|
||||
2020-07-21 (0.7.7.0)
|
||||
========================
|
||||
* Toyota 加入改寫最低巡航速度功能。(感謝 @Mojo)
|
||||
* Added Toyota to override lowest cruise speed. (Thanks to @Mojo)
|
||||
* 修正 gm 錯誤。
|
||||
* Fixed bugs in gm cars.
|
||||
|
||||
2020-07-20 (0.7.7.0)
|
||||
========================
|
||||
* 加回 加速模式 開關。
|
||||
* Re-added Accel Profile toggle.
|
||||
* 修正 gm 錯誤。
|
||||
* Fixed bugs in gm cars.
|
||||
|
||||
2020-07-19 (0.7.7.0)
|
||||
========================
|
||||
* 限制 dp_conf int / float 範圍。
|
||||
* Limited dp_conf int/float range.
|
||||
* 修復行車記錄文件夾不存在的錯誤。
|
||||
* Fixed dashcam folder not exist error.
|
||||
|
||||
2020-07-18 (0.7.7.0)
|
||||
========================
|
||||
* 優化 camera offset 讀取。
|
||||
* optomised loading camera offset value.
|
||||
* 更換模型延遲警示為一般警示。
|
||||
* Replaced model lagging loud alert to normal alert.
|
||||
|
||||
2020-07-17 (0.7.7.0)
|
||||
========================
|
||||
* 更新至最新 openpilot 0.7.7 devel。
|
||||
* Updated to latest openpilot 0.7.7 devel.
|
||||
|
||||
2020-07-17 (0.7.7.0)
|
||||
========================
|
||||
* 當 Manager 出現錯誤時，顯示 IP 位置。(感謝 @dingliangxue)
|
||||
* When Manager failed, display IP address. (Thanks to @dingliangxue)
|
||||
* 加回 sr learner 開關。
|
||||
* Re-added sr learner toggle.
|
||||
|
||||
2020-07-13 (0.7.7.0)
|
||||
========================
|
||||
* 基於最新 openpilot 0.7.7 devel.
|
||||
* Based on latest openpilot 0.7.7 devel.
|
||||
|
||||
2020-06-22 (0.7.6.1)
|
||||
========================
|
||||
* 更新至 openpilot 0.7.6.1。 (特別感謝 @rockindy 協助更新)
|
||||
* Updated to openpilot 0.7.6.1. (Special thanks to @rockindy for initial merge)
|
||||
* 優化並整合 dp 服務。 (所有的設定檔已改名，請重新設定所有的功能)
|
||||
* Optimized and integrated several dp services. (Settings have been renamed, please re-config all settings)
|
||||
* 完全關閉 steer ratio learner。
|
||||
* Completely disabled steer ratio learner.
|
||||
* 移除「加速模式」。
|
||||
* Removed Accel Profile.
|
||||
* 加入本田皓影混電版指紋v1。(感謝 @劉駿)
|
||||
* Added Honda Breeze Hybrid FPv1. (Thanks to @劉駿)
|
||||
* 加入台灣版 Toyota Prius 4.5 指紋v1。(感謝 @jeekid)
|
||||
* Added Taiwan Toyota Prius 4.5 FPv1. (Thanks to @jeekid)
|
||||
|
||||
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.
@@ -117,6 +117,18 @@ struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
focusRecoverActiveDEPRECATED @86;
|
||||
neosUpdateRequiredDEPRECATED @88;
|
||||
modelLagWarningDEPRECATED @93;
|
||||
|
||||
#dp
|
||||
preLaneChangeLeftALC @94;
|
||||
preLaneChangeRightALC @95;
|
||||
manualSteeringRequired @96;
|
||||
manualSteeringRequiredBlinkersOn @97;
|
||||
leadCarMoving @98;
|
||||
|
||||
# timebomb assist
|
||||
timebombWarn @99;
|
||||
timebombBypassing @100;
|
||||
timebombBypassed @101;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -184,6 +196,10 @@ struct CarState {
|
||||
leftBlindspot @33 :Bool; # Is there something blocking the left lane change
|
||||
rightBlindspot @34 :Bool; # Is there something blocking the right lane change
|
||||
|
||||
# dp
|
||||
lkMode @37 :Bool;
|
||||
stopSteering @38 :Bool; # timebomb - stopSteering
|
||||
|
||||
struct WheelSpeeds {
|
||||
# optional wheel speeds
|
||||
fl @0 :Float32;
|
||||
|
||||
@@ -874,6 +874,9 @@ struct PathPlan {
|
||||
laneChangeState @18 :LaneChangeState;
|
||||
laneChangeDirection @19 :LaneChangeDirection;
|
||||
|
||||
# dp
|
||||
dpALCAllowed @20 :Bool;
|
||||
|
||||
enum Desire {
|
||||
none @0;
|
||||
turnLeft @1;
|
||||
@@ -2138,5 +2141,84 @@ struct Event {
|
||||
modelV2 @75 :ModelDataV2;
|
||||
frontEncodeIdx @76 :EncodeIndex; # driver facing camera
|
||||
wideEncodeIdx @77 :EncodeIndex;
|
||||
dragonConf @78 :DragonConf;
|
||||
}
|
||||
}
|
||||
|
||||
struct DragonConf {
|
||||
dpThermalStarted @0 :Bool;
|
||||
dpThermalOverheat @1 :Bool;
|
||||
dpVw @2 :Bool;
|
||||
dpAtl @3 :Bool;
|
||||
dpAppWaze @4 :Bool;
|
||||
dpAppWazeManual @5 :Int8;
|
||||
dpAppHr @6 :Bool;
|
||||
dpAppHrManual @7 :Int8;
|
||||
dpDashcam @8 :Bool;
|
||||
dpDashcamHoursStored @9 :UInt8;
|
||||
dpAutoShutdown @10 :Bool;
|
||||
dpAthenad @11 :Bool;
|
||||
dpUploader @12 :Bool;
|
||||
dpLatCtrl @13 :Bool;
|
||||
dpSteeringLimitAlert @14 :Bool;
|
||||
dpSteeringOnSignal @15 :Bool;
|
||||
dpSignalOffDelay @16 :UInt8;
|
||||
dpAssistedLcMinMph @17 :Float32;
|
||||
dpAutoLc @18 :Bool;
|
||||
dpAutoLcCont @19 :Bool;
|
||||
dpAutoLcMinMph @20 :Float32;
|
||||
dpAutoLcDelay @21 :Float32;
|
||||
dpSlowOnCurve @22 :Bool;
|
||||
dpAllowGas @23 :Bool;
|
||||
dpMaxCtrlSpeed @24 :Float32;
|
||||
dpLeadCarAlert @25 :Bool;
|
||||
dpDynamicFollow @26 :UInt8;
|
||||
dpAccelProfile @27 :UInt8;
|
||||
dpDriverMonitor @28 :Bool;
|
||||
dpSteeringMonitor @29 :Bool;
|
||||
dpSteeringMonitorTimer @30 :UInt8;
|
||||
dpGearCheck @31 :Bool;
|
||||
dpDrivingUi @32 :Bool;
|
||||
dpUiScreenOffReversing @33 :Bool;
|
||||
dpUiScreenOffDriving @34 :Bool;
|
||||
dpUiSpeed @35 :Bool;
|
||||
dpUiEvent @36 :Bool;
|
||||
dpUiMaxSpeed @37 :Bool;
|
||||
dpUiFace @38 :Bool;
|
||||
dpUiLane @39 :Bool;
|
||||
dpUiPath @40 :Bool;
|
||||
dpUiLead @41 :Bool;
|
||||
dpUiDev @42 :Bool;
|
||||
dpUiDevMini @43 :Bool;
|
||||
dpUiBlinker @44 :Bool;
|
||||
dpUiBrightness @45 :UInt8;
|
||||
dpUiVolumeBoost @46 :Int8;
|
||||
dpAppAutoUpdate @47 :Bool;
|
||||
dpAppExtGps @48 :Bool;
|
||||
dpAppTomtom @49 :Bool;
|
||||
dpAppTomtomAuto @50 :Bool;
|
||||
dpAppTomtomManual @51 :Int8;
|
||||
dpAppAutonavi @52 :Bool;
|
||||
dpAppAutonaviAuto @53 :Bool;
|
||||
dpAppAutonaviManual @54 :Int8;
|
||||
dpAppAegis @55 :Bool;
|
||||
dpAppAegisAuto @56 :Bool;
|
||||
dpAppAegisManual @57 :Int8;
|
||||
dpAppMixplorer @58 :Bool;
|
||||
dpAppMixplorerManual @59 :Int8;
|
||||
dpCarDetected @60 :Text;
|
||||
dpToyotaLdw @61 :Bool;
|
||||
dpToyotaSng @62 :Bool;
|
||||
dpToyotaLowestCruiseOverride @63 :Bool;
|
||||
dpToyotaLowestCruiseOverrideVego @64 :Bool;
|
||||
dpToyotaLowestCruiseOverrideAt @65 :Float32;
|
||||
dpToyotaLowestCruiseOverrideSpeed @66 :Float32;
|
||||
dpIpAddr @67 :Text;
|
||||
dpCameraOffset @68 :Int8;
|
||||
dpLocale @69 :Text;
|
||||
dpChargingCtrl @70 :Bool;
|
||||
dpChargingAt @71 :UInt8;
|
||||
dpDischargingAt @72 :UInt8;
|
||||
dpIsUpdating @73 :Bool;
|
||||
dpTimebombAssist @74 :Bool;
|
||||
}
|
||||
@@ -81,6 +81,8 @@ wideEncodeIdx: [8075, true, 20.]
|
||||
wideFrame: [8076, true, 20.]
|
||||
modelV2: [8077, true, 20., 20]
|
||||
|
||||
dragonConf: [8088, false, 2.]
|
||||
|
||||
testModel: [8040, false, 0.]
|
||||
testLiveLocation: [8045, false, 0.]
|
||||
testJoystick: [8056, false, 0.]
|
||||
|
||||
80
common/dp_common.py
Normal file
80
common/dp_common.py
Normal file
@@ -0,0 +1,80 @@
|
||||
#!/usr/bin/env python3.7
|
||||
import subprocess
|
||||
from cereal import car
|
||||
from common.params import Params
|
||||
from common.realtime import sec_since_boot
|
||||
import os
|
||||
params = Params()
|
||||
PARAM_PATH = "/data/params/d/"
|
||||
LAST_MODIFIED = PARAM_PATH + "dp_last_modified"
|
||||
|
||||
def is_online():
|
||||
try:
|
||||
return not subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"])
|
||||
except ProcessLookupError:
|
||||
return False
|
||||
|
||||
def common_controller_ctrl(enabled, dragonconf, blinker_on, steer_req, v_ego):
|
||||
if enabled:
|
||||
if (dragonconf.dpSteeringOnSignal and blinker_on) or not dragonconf.dpLatCtrl:
|
||||
steer_req = 0 if isinstance(steer_req, int) else False
|
||||
return steer_req
|
||||
|
||||
def common_interface_atl(ret, atl):
|
||||
# dp
|
||||
enable_acc = ret.cruiseState.enabled
|
||||
if atl 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
|
||||
return enable_acc
|
||||
|
||||
def common_interface_get_params_lqr(ret):
|
||||
if params.get('dp_lqr') == b'1':
|
||||
ret.lateralTuning.init('lqr')
|
||||
ret.lateralTuning.lqr.scale = 1500.0
|
||||
ret.lateralTuning.lqr.ki = 0.05
|
||||
|
||||
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
|
||||
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
|
||||
ret.lateralTuning.lqr.c = [1., 0.]
|
||||
ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
|
||||
ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
|
||||
ret.lateralTuning.lqr.dcGain = 0.002237852961363602
|
||||
return ret
|
||||
|
||||
|
||||
def get_last_modified(delay, old_check, old_modified):
|
||||
new_check = sec_since_boot()
|
||||
if old_check is None or new_check - old_check >= delay:
|
||||
return new_check, os.stat(LAST_MODIFIED).st_mtime
|
||||
else:
|
||||
return old_check, old_modified
|
||||
|
||||
def param_get_if_updated(param, type, old_val, old_modified):
|
||||
try:
|
||||
modified = os.stat(PARAM_PATH + param).st_mtime
|
||||
except OSError:
|
||||
return old_val, old_modified
|
||||
if old_modified != modified:
|
||||
new_val = param_get(param, type, old_val)
|
||||
new_modified = modified
|
||||
else:
|
||||
new_val = old_val
|
||||
new_modified = old_modified
|
||||
return new_val, new_modified
|
||||
|
||||
def param_get(param_name, type, default):
|
||||
try:
|
||||
val = params.get(param_name, encoding='utf8').rstrip('\x00')
|
||||
if type == 'bool':
|
||||
val = val == '1'
|
||||
elif type == 'int':
|
||||
val = int(val)
|
||||
elif type == 'float':
|
||||
val = float(val)
|
||||
except (TypeError, ValueError):
|
||||
val = default
|
||||
return val
|
||||
249
common/dp_conf.py
Normal file
249
common/dp_conf.py
Normal file
@@ -0,0 +1,249 @@
|
||||
#!/usr/bin/env python3.7
|
||||
import os
|
||||
import json
|
||||
import time
|
||||
from math import floor
|
||||
|
||||
'''
|
||||
* type: Bool, Int8, UInt8, UInt16, Float32
|
||||
* conf_type: param, struct
|
||||
* dependencies needs to use struct and loaded prior so we don't have to read the param multiple times.
|
||||
* update_once: True, False (the param will only load up once.)
|
||||
'''
|
||||
confs = [
|
||||
# thermald data
|
||||
{'name': 'dp_thermal_started', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
|
||||
{'name': 'dp_thermal_overheat', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
|
||||
|
||||
# car specific
|
||||
{'name': 'dp_vw', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
|
||||
{'name': 'dp_atl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
# full screen apps
|
||||
{'name': 'dp_app_waze', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_app_waze_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_waze', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_app_hr', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_app_hr_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_hr', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# dashcam related
|
||||
{'name': 'dp_dashcam', 'default': 0, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_dashcam_hours_stored', 'default': 24, 'type': 'UInt8', 'min': 1, 'max': 255, 'depends': [{'name': 'dp_dashcam', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# auto shutdown
|
||||
{'name': 'dp_auto_shutdown', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_auto_shutdown_in', 'default': 90, 'type': 'UInt16', 'min': 1, 'max': 65535, 'depends': [{'name': 'dp_auto_shutdown', 'vals': [True]}], 'conf_type': ['param']},
|
||||
# service
|
||||
{'name': 'dp_logger', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_athenad', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_uploader', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_upload_on_mobile', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_uploader', 'vals': [True]}], 'conf_type': ['param']},
|
||||
{'name': 'dp_upload_on_hotspot', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_uploader', 'vals': [True]}], 'conf_type': ['param']},
|
||||
{'name': 'dp_updated', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_hotspot_on_boot', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# lat ctrl
|
||||
{'name': 'dp_lat_ctrl', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_steering_limit_alert', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_lat_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_steering_on_signal', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_lat_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_signal_off_delay', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 10, 'conf_type': ['param', 'struct']},
|
||||
# assist/auto lane change
|
||||
{'name': 'dp_assisted_lc_min_mph', 'default': 45, 'type': 'Float32', 'min': 0, 'max': 255., 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_auto_lc', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_auto_lc_cont', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_auto_lc_min_mph', 'default': 60, 'type': 'Float32', 'min': 0, 'max': 255., 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_auto_lc_delay', 'default': 3, 'type': 'Float32', 'min': 0, 'max': 10., 'depends': [{'name': 'dp_auto_lc', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# long ctrl
|
||||
{'name': 'dp_slow_on_curve', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_allow_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_max_ctrl_speed', 'default': 92., 'type': 'Float32', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lead_car_alert', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_lead_car_away_alert', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_dynamic_follow', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 4, 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_dynamic_follow_multiplier', 'default': 1., 'type': 'Float32', 'min': 0.85, 'max': 1.2, 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param']},
|
||||
{'name': 'dp_dynamic_follow_min_tr', 'default': 0.9, 'type': 'Float32', 'min': 0.85, 'max': 1.6, 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param']},
|
||||
{'name': 'dp_dynamic_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param']},
|
||||
{'name': 'dp_accel_profile', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 3, 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
# safety
|
||||
{'name': 'dp_driver_monitor', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_steering_monitor', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driver_monitor', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_steering_monitor_timer', 'default': 70, 'type': 'UInt8', 'min': 70, 'max': 360, 'depends': [{'name': 'dp_driver_monitor', 'vals': [False]}, {'name': 'dp_steering_monitor', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_gear_check', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_temp_monitor', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# UIs
|
||||
{'name': 'dp_driving_ui', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_screen_off_reversing', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_screen_off_driving', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_app_waze', 'vals': [False]}, {'name': 'dp_app_hr', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}, {'name': 'dp_app_hr', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}, {'name': 'dp_app_hr', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_max_speed', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}, {'name': 'dp_app_hr', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_driver_monitor', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}, {'name': 'dp_app_hr', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_lane', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}, {'name': 'dp_app_hr', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_path', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}, {'name': 'dp_app_hr', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_lead', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}, {'name': 'dp_app_hr', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_dev', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_dev_mini', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_blinker', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_driving_ui', 'vals': [True]}, {'name': 'dp_ui_screen_off_driving', 'vals': [False]}, {'name': 'dp_app_waze', 'vals': [False]}, {'name': 'dp_app_hr', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_ui_volume_boost', 'default': 0, 'type': 'Int8', 'min': -100, 'max': 100, 'conf_type': ['param', 'struct']},
|
||||
# Apps
|
||||
{'name': 'dp_app_auto_update', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_app_ext_gps', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_app_tomtom', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_app_tomtom_auto', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_app_tomtom', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_app_tomtom_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_tomtom', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_app_autonavi', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_app_autonavi_auto', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_app_autonavi', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_app_autonavi_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_autonavi', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_app_aegis', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_app_aegis_auto', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_app_aegis', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_app_aegis_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_aegis', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_app_mixplorer', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_app_mixplorer_manual', 'default': 0, 'type': 'Int8', 'min': -1, 'max': 1, 'depends': [{'name': 'dp_app_mixplorer', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
# custom car
|
||||
{'name': 'dp_car_selected', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_car_list', 'default': '', 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_car_detected', 'default': '', 'type': 'Text', 'conf_type': ['param', 'struct']},
|
||||
# toyota
|
||||
{'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}], 'conf_type': ['param']},
|
||||
{'name': 'dp_toyota_lowest_cruise_override', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_lowest_cruise_override_vego', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_lowest_cruise_override_at', 'default': 44, 'type': 'Float32', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_toyota_lowest_cruise_override', 'vals': [True]}], 'min': 0, 'max': 255., 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_toyota_lowest_cruise_override_speed', 'default': 32, 'type': 'Float32', 'depends': [{'name': 'dp_car_detected', 'vals': ['toyota']}, {'name': 'dp_toyota_lowest_cruise_override_speed', 'vals': [True]}], 'min': 0, 'max': 255., 'conf_type': ['param', 'struct']},
|
||||
# hyundai
|
||||
{'name': 'dp_hkg_smart_mdps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
# honda
|
||||
{'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
#misc
|
||||
{'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
|
||||
{'name': 'dp_full_speed_fan', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_uno_fan_mode', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']},
|
||||
{'name': 'dp_camera_offset', 'default': 6, 'type': 'Int8', 'min': -255, 'max': 255, 'conf_type': ['param', 'struct']},
|
||||
|
||||
{'name': 'dp_locale', 'default': 'en-US', 'type': 'Text', 'conf_type': ['param', 'struct'], 'update_once': True},
|
||||
{'name': 'dp_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_charging_ctrl', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_charging_at', 'default': 60, 'type': 'UInt8', 'min': 0, 'max': 100, 'depends': [{'name': 'dp_charging_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_discharging_at', 'default': 70, 'type': 'UInt8', 'min': 0, 'max': 100, 'depends': [{'name': 'dp_charging_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
|
||||
{'name': 'dp_reg', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_is_updating', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
|
||||
{'name': 'dp_sr_learner', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_lqr', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_reset_live_param_on_start', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
|
||||
{'name': 'dp_timebomb_assist', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
|
||||
]
|
||||
|
||||
def get_definition(name):
|
||||
for conf in confs:
|
||||
if conf['name'] == name:
|
||||
return conf
|
||||
return None
|
||||
|
||||
def to_param_val(name, val):
|
||||
conf = get_definition(name)
|
||||
if conf is not None:
|
||||
type = conf['type'].lower()
|
||||
try:
|
||||
if 'bool' in type:
|
||||
val = '1' if val else '0'
|
||||
elif 'int' in type:
|
||||
val = int(val)
|
||||
elif 'float' in type:
|
||||
val = float(val)
|
||||
return str(val)
|
||||
except (ValueError, TypeError):
|
||||
return ''
|
||||
return ''
|
||||
|
||||
def to_struct_val(name, val):
|
||||
conf = get_definition(name)
|
||||
if conf is not None:
|
||||
try:
|
||||
type = conf['type'].lower()
|
||||
if 'bool' in type:
|
||||
val = True if val == '1' else False
|
||||
elif 'int' in type:
|
||||
val = int(val)
|
||||
elif 'float' in type:
|
||||
val = float(val)
|
||||
return val
|
||||
except (ValueError, TypeError):
|
||||
return None
|
||||
return None
|
||||
|
||||
'''
|
||||
function to convert param name into struct name.
|
||||
'''
|
||||
def get_struct_name(snake_str):
|
||||
components = snake_str.split('_')
|
||||
# We capitalize the first letter of each component except the first one
|
||||
# with the 'title' method and join them together.
|
||||
return components[0] + ''.join(x.title() for x in components[1:])
|
||||
|
||||
'''
|
||||
function to generate struct for log.capnp
|
||||
'''
|
||||
def gen_log_struct():
|
||||
count = 0
|
||||
str = "# dp\n"
|
||||
str += "struct DragonConf {\n"
|
||||
for conf in confs:
|
||||
name = get_struct_name(conf['name'])
|
||||
if 'struct' in conf['conf_type']:
|
||||
str += f" {name} @{count} :{conf['type']};\n"
|
||||
count += 1
|
||||
str += "}"
|
||||
print(str)
|
||||
|
||||
'''
|
||||
function to append new keys to params.py
|
||||
'''
|
||||
def init_params_keys(keys, type):
|
||||
for conf in confs:
|
||||
if 'param' in conf['conf_type']:
|
||||
keys[conf['name'].encode('utf-8')] = type
|
||||
return keys
|
||||
|
||||
'''
|
||||
function to generate 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)
|
||||
|
||||
'''
|
||||
function to init param value.
|
||||
should add this into manager.py
|
||||
'''
|
||||
def init_params_vals(params):
|
||||
for conf in confs:
|
||||
if 'param' in conf['conf_type']:
|
||||
if conf['name'] == 'dp_car_list':
|
||||
params.put(conf['name'], get_support_car_list())
|
||||
elif params.get(conf['name']) is None:
|
||||
params.put(conf['name'], to_param_val(conf['name'], conf['default']))
|
||||
|
||||
if __name__ == "__main__":
|
||||
gen_log_struct()
|
||||
8
common/dp_time.py
Normal file
8
common/dp_time.py
Normal file
@@ -0,0 +1,8 @@
|
||||
#!/usr/bin/env python3.7
|
||||
|
||||
# delay of reading last modified
|
||||
LAST_MODIFIED_DYNAMIC_FOLLOW = 3.
|
||||
LAST_MODIFIED_THERMALD = 10.
|
||||
LAST_MODIFIED_SYSTEMD = 1.
|
||||
LAST_MODIFIED_LANE_PLANNER = 3.
|
||||
LAST_MODIFIED_UPLOADER = 10.
|
||||
14
common/i18n.py
Normal file
14
common/i18n.py
Normal file
@@ -0,0 +1,14 @@
|
||||
import gettext
|
||||
from common.hardware import EON
|
||||
from common.hardware_android import getprop
|
||||
|
||||
locale_dir = '/data/openpilot/selfdrive/assets/locales'
|
||||
supported_language = ['en-US', 'zh-TW', 'zh-CN', 'ja-JP', 'ko-KR']
|
||||
|
||||
def get_locale():
|
||||
return getprop("persist.sys.locale") if EON else 'en-US'
|
||||
|
||||
def events():
|
||||
i18n = gettext.translation('events', localedir=locale_dir, fallback=True, languages=[get_locale()])
|
||||
i18n.install()
|
||||
return i18n.gettext
|
||||
@@ -3,6 +3,7 @@
|
||||
from libcpp cimport bool
|
||||
from libcpp.string cimport string
|
||||
from common.params_pxd cimport Params as c_Params
|
||||
from common.dp_conf import init_params_keys
|
||||
|
||||
import os
|
||||
import threading
|
||||
@@ -72,6 +73,8 @@ keys = {
|
||||
b"Offroad_HardwareUnsupported": [TxType.CLEAR_ON_MANAGER_START],
|
||||
}
|
||||
|
||||
keys = init_params_keys(keys, [TxType.PERSISTENT])
|
||||
|
||||
def ensure_bytes(v):
|
||||
if isinstance(v, str):
|
||||
return v.encode()
|
||||
|
||||
@@ -33,6 +33,7 @@ class TextWindow:
|
||||
if self.text_proc is not None:
|
||||
while True:
|
||||
if self.get_status() == 1:
|
||||
os.system('/data/openpilot/scripts/reset_update.sh')
|
||||
return
|
||||
time.sleep(0.1)
|
||||
|
||||
|
||||
56
dragonpilot/HOWTO-Translate.md
Normal file
56
dragonpilot/HOWTO-Translate.md
Normal file
@@ -0,0 +1,56 @@
|
||||
Make a python script translatable
|
||||
--
|
||||
1. add following codes to the top
|
||||
```python
|
||||
# This Python file uses the following encoding: utf-8
|
||||
# -*- coding: utf-8 -*-
|
||||
from common.i18n import events
|
||||
_ = events()
|
||||
```
|
||||
2. wrap ```_()``` function around the string.
|
||||
|
||||
3. generate pot file (template file)
|
||||
```bash
|
||||
# e.g. xgettext -d base -o /data/openpilot/selfdrive/assets/locales/events.pot /data/openpilot/selfdrive/controls/lib/events.py
|
||||
xgettext -d base -o <openpilot_path>/selfdrive/assets/locales/<template_file>.pot <file_to_translate>.py
|
||||
```
|
||||
|
||||
4. add po file to languages
|
||||
```bash
|
||||
# e.g. cp /data/openpilot/selfdrive/assets/locales/events.pot /data/openpilot/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events.po
|
||||
cp <openpilot_path>/selfdrive/assets/locales/<template_file>.pot <openpilot_path>/selfdrive/assets/locales/<language>/LC_MESSAGES/<template_file>.po
|
||||
```
|
||||
|
||||
5. translate po file with your favorite editor.
|
||||
|
||||
6. generate mo file.
|
||||
```bash
|
||||
# e.g. msgfmt -o /data/openpilot/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events.mo /data/openpilot/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events
|
||||
msgfmt -o <openpilot_path>/selfdrive/assets/locales/<language>/LC_MESSAGES/<template_file>.mo <openpilot_path>/selfdrive/assets/locales/<language>/LC_MESSAGES/<template_file>
|
||||
```
|
||||
|
||||
Update translations
|
||||
---
|
||||
1. add ```_()``` around the new strings
|
||||
|
||||
2. generate pot file again (template file)
|
||||
```bash
|
||||
# e.g. xgettext -d base -o /data/openpilot/selfdrive/assets/locales/events.pot /data/openpilot/selfdrive/controls/lib/events.py
|
||||
xgettext -d base -o <openpilot_path>/selfdrive/assets/locales/<template_file>.pot <file_to_translate>.py
|
||||
```
|
||||
|
||||
3. update already translated file (merge)
|
||||
```bash
|
||||
# e.g. msgmerge --update /data/openpilot/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events.po /data/openpilot/selfdrive/assets/locales/events.pot
|
||||
msgmerge --update <openpilot_path>/selfdrive/assets/locales/<language>/LC_MESSAGES/<file_to_translate>.po <openpilot_path>/selfdrive/assets/locales/<template_file>.pot
|
||||
```
|
||||
|
||||
4. generate mo file again.
|
||||
```bash
|
||||
# e.g. msgfmt -o /data/openpilot/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events.mo /data/openpilot/selfdrive/assets/locales/zh-TW/LC_MESSAGES/events
|
||||
msgfmt -o <openpilot_path>/selfdrive/assets/locales/<language>/LC_MESSAGES/<template_file>.mo <openpilot_path>/selfdrive/assets/locales/<language>/LC_MESSAGES/<template_file>
|
||||
```
|
||||
|
||||
Reference
|
||||
---
|
||||
https://simpleit.rocks/python/how-to-translate-a-python-project-with-gettext-the-easy-way/
|
||||
21
dragonpilot/LICENSE.md
Normal file
21
dragonpilot/LICENSE.md
Normal file
@@ -0,0 +1,21 @@
|
||||
The MIT License
|
||||
|
||||
Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in
|
||||
all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
THE SOFTWARE.
|
||||
92
dragonpilot/cjk-fonts/LICENSE_OFL.txt
Normal file
92
dragonpilot/cjk-fonts/LICENSE_OFL.txt
Normal file
@@ -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.
|
||||
BIN
dragonpilot/cjk-fonts/NotoSansCJKtc-Bold.otf
Normal file
BIN
dragonpilot/cjk-fonts/NotoSansCJKtc-Bold.otf
Normal file
Binary file not shown.
BIN
dragonpilot/cjk-fonts/NotoSansCJKtc-Medium.otf
Normal file
BIN
dragonpilot/cjk-fonts/NotoSansCJKtc-Medium.otf
Normal file
Binary file not shown.
BIN
dragonpilot/cjk-fonts/NotoSansCJKtc-Regular.otf
Normal file
BIN
dragonpilot/cjk-fonts/NotoSansCJKtc-Regular.otf
Normal file
Binary file not shown.
372
dragonpilot/cjk-fonts/fonts.xml
Normal file
372
dragonpilot/cjk-fonts/fonts.xml
Normal file
@@ -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>
|
||||
70
dragonpilot/cjk-fonts/installer.sh
Normal file
70
dragonpilot/cjk-fonts/installer.sh
Normal file
@@ -0,0 +1,70 @@
|
||||
#!/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
|
||||
|
||||
# temp fix for lib change
|
||||
if [ ! -f "/system/comma/usr/lib/libcapnp-0.6.1.so" ]; then
|
||||
mount -o remount,rw /system
|
||||
ln -sf /system/comma/usr/lib/libcapnp.so /system/comma/usr/lib/libcapnp-0.6.1.so
|
||||
ln -sf /system/comma/usr/lib/libkj.so /system/comma/usr/lib/libkj-0.6.1.so
|
||||
mount -o remount,r /system
|
||||
fi
|
||||
|
||||
# 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 $lang
|
||||
@@ -97,10 +97,10 @@ function launch {
|
||||
# that completed successfully and synced to disk.
|
||||
|
||||
if [ -f "${BASEDIR}/.overlay_init" ]; then
|
||||
find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null
|
||||
if [ $? -eq 0 ]; then
|
||||
echo "${BASEDIR} has been modified, skipping overlay update installation"
|
||||
else
|
||||
# find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null
|
||||
# if [ $? -eq 0 ]; then
|
||||
# echo "${BASEDIR} has been modified, skipping overlay update installation"
|
||||
# else
|
||||
if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
|
||||
if [ ! -d /data/safe_staging/old_openpilot ]; then
|
||||
echo "Valid overlay update found, installing"
|
||||
@@ -123,7 +123,7 @@ function launch {
|
||||
# TODO: restore backup? This means the updater didn't start after swapping
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
# fi
|
||||
fi
|
||||
|
||||
# comma two init
|
||||
@@ -139,6 +139,10 @@ function launch {
|
||||
ln -sfn $(pwd) /data/pythonpath
|
||||
export PYTHONPATH="$PWD"
|
||||
|
||||
if [ -f "/sdcard/dp_patcher.py" ]; then
|
||||
/data/data/com.termux/files/usr/bin/python /sdcard/dp_patcher.py
|
||||
fi
|
||||
|
||||
# write tmux scrollback to a file
|
||||
tmux capture-pane -pq -S-1000 > /tmp/launch_log
|
||||
|
||||
|
||||
@@ -1,5 +1,11 @@
|
||||
#!/usr/bin/bash
|
||||
|
||||
size=$(du -sb .git/index 2>/dev/null|awk '{print $1}')
|
||||
echo $size|grep -E '^[0-9]+$' >/dev/null || size=0
|
||||
if [ $size -le 1024 ];then
|
||||
rm .git/index 2>/dev/null
|
||||
git reset
|
||||
fi
|
||||
/usr/bin/sh /data/openpilot/dragonpilot/cjk-fonts/installer.sh &
|
||||
export PASSIVE="0"
|
||||
exec ./launch_chffrplus.sh
|
||||
|
||||
|
||||
@@ -125,7 +125,7 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
|
||||
crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter];
|
||||
break;
|
||||
case 0x117: // ACC_10 Automatic Cruise Control
|
||||
crc ^= (uint8_t[]){0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC}[counter];
|
||||
crc ^= (uint8_t[]){0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16}[counter];
|
||||
break;
|
||||
case 0x120: // TSK_06 Drivetrain Coordinator
|
||||
crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
|
||||
|
||||
@@ -418,13 +418,15 @@ BO_ 892 CRUISE_PARAMS: 8 PCM
|
||||
BO_ 927 RADAR_HUD: 8 RADAR
|
||||
SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
|
||||
SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
|
||||
SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
|
||||
SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
|
||||
@@ -405,13 +405,15 @@ BO_ 432 STANDSTILL: 7 VSA
|
||||
BO_ 927 RADAR_HUD: 8 RADAR
|
||||
SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
|
||||
SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ZEROS_BOH3 : 31|32@0+ (1,0) [0|4294967295] "" XXX
|
||||
SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
|
||||
SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
|
||||
SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
|
||||
SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
|
||||
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
|
||||
|
||||
|
||||
411
opendbc/lexus_is300h_2017_pt_generated.dbc
Normal file
411
opendbc/lexus_is300h_2017_pt_generated.dbc
Normal file
@@ -0,0 +1,411 @@
|
||||
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: 7 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_ PERMIT_BRAKING : 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
|
||||
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" 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 isn't 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_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was "SET_ME_1" and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
|
||||
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
|
||||
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";
|
||||
408
opendbc/lexus_nxt_2015_pt_generated.dbc
Normal file
408
opendbc/lexus_nxt_2015_pt_generated.dbc
Normal file
@@ -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 isn't 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";
|
||||
@@ -132,6 +132,9 @@ BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
|
||||
BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
|
||||
SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" 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
|
||||
|
||||
1400
opendbc/vw_golf_mk4.dbc
Normal file
1400
opendbc/vw_golf_mk4.dbc
Normal file
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -3,6 +3,11 @@ CFLAGS = -g -Wall -Wextra -Wstrict-prototypes -Werror
|
||||
|
||||
CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m4
|
||||
CFLAGS += -mhard-float -DSTM32F4 -DSTM32F413xx -mfpu=fpv4-sp-d16 -fsingle-precision-constant
|
||||
dp_vw := $(shell cat /data/params/d/dp_vw)
|
||||
$(info dp_vw is ${dp_vw})
|
||||
ifeq ($(dp_vw), 1)
|
||||
CFLAGS += -Dvw
|
||||
endif
|
||||
STARTUP_FILE = startup_stm32f413xx
|
||||
|
||||
include build.mk
|
||||
|
||||
@@ -72,9 +72,11 @@ void uno_set_usb_power_mode(uint8_t mode) {
|
||||
bool valid = false;
|
||||
switch (mode) {
|
||||
case USB_POWER_CLIENT:
|
||||
uno_set_phone_power(false);
|
||||
valid = true;
|
||||
break;
|
||||
case USB_POWER_CDP:
|
||||
uno_set_phone_power(true);
|
||||
uno_bootkick();
|
||||
valid = true;
|
||||
break;
|
||||
|
||||
@@ -124,10 +124,24 @@ void set_safety_mode(uint16_t mode, int16_t param) {
|
||||
switch (mode_copy) {
|
||||
case SAFETY_SILENT:
|
||||
set_intercept_relay(false);
|
||||
#ifdef vw
|
||||
// Volkswagen community port:
|
||||
// J533 integrations with White/Grey Panda really need Panda to respond
|
||||
// at all times. Let the CAN transceivers ACK traffic unless this is
|
||||
// BP/Uno where the physical relay makes it irrelevant. This makes
|
||||
// SILENT identical to NOOUTPUT for White/Grey Panda.
|
||||
if (board_has_obd()) {
|
||||
current_board->set_can_mode(CAN_MODE_NORMAL);
|
||||
can_silent = ALL_CAN_SILENT;
|
||||
} else {
|
||||
can_silent = ALL_CAN_LIVE;
|
||||
}
|
||||
#else
|
||||
if (board_has_obd()) {
|
||||
current_board->set_can_mode(CAN_MODE_NORMAL);
|
||||
}
|
||||
can_silent = ALL_CAN_SILENT;
|
||||
#endif
|
||||
break;
|
||||
case SAFETY_NOOUTPUT:
|
||||
set_intercept_relay(false);
|
||||
|
||||
@@ -28,7 +28,14 @@ void set_power_save_state(int state) {
|
||||
enable = true;
|
||||
}
|
||||
|
||||
#ifdef vw
|
||||
// Volkswagen community port:
|
||||
// If this is a White or Grey Panda, always keep the CAN transceivers
|
||||
// powered up so that transparent forwarding is maintained.
|
||||
current_board->enable_can_transceivers(board_has_obd() ? enable : true);
|
||||
#else
|
||||
current_board->enable_can_transceivers(enable);
|
||||
#endif
|
||||
|
||||
// Switch EPS/GPS
|
||||
if (enable) {
|
||||
|
||||
@@ -24,9 +24,31 @@ static int nooutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
|
||||
}
|
||||
|
||||
static int default_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
|
||||
UNUSED(bus_num);
|
||||
UNUSED(to_fwd);
|
||||
#ifdef vw
|
||||
// Volkswagen community port: Advanced Virtual Relay Technology!
|
||||
// Make Panda fully transparent from bus 0->2 and bus 2->0 if not otherwise
|
||||
// instructed by EON/OP, returning the car to stock behavior under NOOUTPUT.
|
||||
// Don't do this for BP/C2, where we have Advanced Actual Relay Technology.
|
||||
int bus_fwd = -1;
|
||||
|
||||
if(!board_has_relay()) {
|
||||
switch (bus_num) {
|
||||
case 0:
|
||||
bus_fwd = 2;
|
||||
break;
|
||||
case 2:
|
||||
bus_fwd = 0;
|
||||
break;
|
||||
default:
|
||||
bus_fwd = -1;
|
||||
break;
|
||||
}
|
||||
}
|
||||
#else
|
||||
UNUSED(bus_num);
|
||||
return -1;
|
||||
#endif
|
||||
}
|
||||
|
||||
const safety_hooks nooutput_hooks = {
|
||||
|
||||
@@ -1,8 +1,8 @@
|
||||
// Safety-relevant steering constants for Volkswagen
|
||||
const int VOLKSWAGEN_MAX_STEER = 300; // 3.0 Nm (EPS side max of 3.0Nm with fault if violated)
|
||||
const int VOLKSWAGEN_MAX_RT_DELTA = 75; // 4 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 50 ; 50 * 1.5 for safety pad = 75
|
||||
const int VOLKSWAGEN_MAX_RT_DELTA = 188; // 10 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 125 ; 125 * 1.5 for safety pad = 187.5
|
||||
const uint32_t VOLKSWAGEN_RT_INTERVAL = 250000; // 250ms between real time checks
|
||||
const int VOLKSWAGEN_MAX_RATE_UP = 4; // 2.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
|
||||
const int VOLKSWAGEN_MAX_RATE_UP = 10; // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
|
||||
const int VOLKSWAGEN_MAX_RATE_DOWN = 10; // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s)
|
||||
const int VOLKSWAGEN_DRIVER_TORQUE_ALLOWANCE = 80;
|
||||
const int VOLKSWAGEN_DRIVER_TORQUE_FACTOR = 3;
|
||||
|
||||
@@ -38,6 +38,11 @@ enum FONSalign {
|
||||
FONS_ALIGN_BASELINE = 1<<6, // Default
|
||||
};
|
||||
|
||||
enum FONSglyphBitmap {
|
||||
FONS_GLYPH_BITMAP_OPTIONAL = 1,
|
||||
FONS_GLYPH_BITMAP_REQUIRED = 2,
|
||||
};
|
||||
|
||||
enum FONSerrorCode {
|
||||
// Font atlas is full.
|
||||
FONS_ATLAS_FULL = 1,
|
||||
@@ -78,6 +83,7 @@ struct FONStextIter {
|
||||
const char* next;
|
||||
const char* end;
|
||||
unsigned int utf8state;
|
||||
int bitmapOption;
|
||||
};
|
||||
typedef struct FONStextIter FONStextIter;
|
||||
|
||||
@@ -87,6 +93,8 @@ typedef struct FONScontext FONScontext;
|
||||
FONScontext* fonsCreateInternal(FONSparams* params);
|
||||
void fonsDeleteInternal(FONScontext* s);
|
||||
|
||||
void fontsDeleteFontByName(FONScontext* stash, const char* name);
|
||||
|
||||
void fonsSetErrorCallback(FONScontext* s, void (*callback)(void* uptr, int error, int val), void* uptr);
|
||||
// Returns current atlas size.
|
||||
void fonsGetAtlasSize(FONScontext* s, int* width, int* height);
|
||||
@@ -122,7 +130,7 @@ void fonsLineBounds(FONScontext* s, float y, float* miny, float* maxy);
|
||||
void fonsVertMetrics(FONScontext* s, float* ascender, float* descender, float* lineh);
|
||||
|
||||
// Text iterator
|
||||
int fonsTextIterInit(FONScontext* stash, FONStextIter* iter, float x, float y, const char* str, const char* end);
|
||||
int fonsTextIterInit(FONScontext* stash, FONStextIter* iter, float x, float y, const char* str, const char* end, int bitmapOption);
|
||||
int fonsTextIterNext(FONScontext* stash, FONStextIter* iter, struct FONSquad* quad);
|
||||
|
||||
// Pull texture changes
|
||||
@@ -156,11 +164,19 @@ static FT_Library ftLibrary;
|
||||
int fons__tt_init(FONScontext *context)
|
||||
{
|
||||
FT_Error ftError;
|
||||
FONS_NOTUSED(context);
|
||||
FONS_NOTUSED(context);
|
||||
ftError = FT_Init_FreeType(&ftLibrary);
|
||||
return ftError == 0;
|
||||
}
|
||||
|
||||
int fons__tt_done(FONScontext *context)
|
||||
{
|
||||
FT_Error ftError;
|
||||
FONS_NOTUSED(context);
|
||||
ftError = FT_Done_FreeType(ftLibrary);
|
||||
return ftError == 0;
|
||||
}
|
||||
|
||||
int fons__tt_loadFont(FONScontext *context, FONSttFontImpl *font, unsigned char *data, int dataSize)
|
||||
{
|
||||
FT_Error ftError;
|
||||
@@ -198,7 +214,7 @@ int fons__tt_buildGlyphBitmap(FONSttFontImpl *font, int glyph, float size, float
|
||||
|
||||
ftError = FT_Set_Pixel_Sizes(font->font, 0, (FT_UInt)(size * (float)font->font->units_per_EM / (float)(font->font->ascender - font->font->descender)));
|
||||
if (ftError) return 0;
|
||||
ftError = FT_Load_Glyph(font->font, glyph, FT_LOAD_RENDER);
|
||||
ftError = FT_Load_Glyph(font->font, glyph, FT_LOAD_RENDER | FT_LOAD_FORCE_AUTOHINT);
|
||||
if (ftError) return 0;
|
||||
ftError = FT_Get_Advance(font->font, glyph, FT_LOAD_NO_SCALE, &advFixed);
|
||||
if (ftError) return 0;
|
||||
@@ -258,6 +274,12 @@ int fons__tt_init(FONScontext *context)
|
||||
return 1;
|
||||
}
|
||||
|
||||
int fons__tt_done(FONScontext *context)
|
||||
{
|
||||
FONS_NOTUSED(context);
|
||||
return 1;
|
||||
}
|
||||
|
||||
int fons__tt_loadFont(FONScontext *context, FONSttFontImpl *font, unsigned char *data, int dataSize)
|
||||
{
|
||||
int stbError;
|
||||
@@ -265,6 +287,7 @@ int fons__tt_loadFont(FONScontext *context, FONSttFontImpl *font, unsigned char
|
||||
|
||||
font->font.userdata = context;
|
||||
stbError = stbtt_InitFont(&font->font, data, 0);
|
||||
|
||||
return stbError;
|
||||
}
|
||||
|
||||
@@ -306,7 +329,7 @@ int fons__tt_getGlyphKernAdvance(FONSttFontImpl *font, int glyph1, int glyph2)
|
||||
#endif
|
||||
|
||||
#ifndef FONS_SCRATCH_BUF_SIZE
|
||||
# define FONS_SCRATCH_BUF_SIZE 64000
|
||||
# define FONS_SCRATCH_BUF_SIZE 96000
|
||||
#endif
|
||||
#ifndef FONS_HASH_LUT_SIZE
|
||||
# define FONS_HASH_LUT_SIZE 256
|
||||
@@ -869,7 +892,6 @@ error:
|
||||
|
||||
return FONS_INVALID;
|
||||
}
|
||||
|
||||
int fonsAddFont(FONScontext* stash, const char* name, const char* path)
|
||||
{
|
||||
FILE* fp = 0;
|
||||
@@ -922,7 +944,7 @@ int fonsAddFontMem(FONScontext* stash, const char* name, unsigned char* data, in
|
||||
// Init font
|
||||
stash->nscratch = 0;
|
||||
if (!fons__tt_loadFont(stash, &font->font, data, dataSize)) goto error;
|
||||
|
||||
|
||||
// Store normalized line height. The real line height is got
|
||||
// by multiplying the lineh by font size.
|
||||
fons__tt_getFontVMetrics( &font->font, &ascent, &descent, &lineGap);
|
||||
@@ -1028,7 +1050,7 @@ static void fons__blur(FONScontext* stash, unsigned char* dst, int w, int h, int
|
||||
}
|
||||
|
||||
static FONSglyph* fons__getGlyph(FONScontext* stash, FONSfont* font, unsigned int codepoint,
|
||||
short isize, short iblur)
|
||||
short isize, short iblur, int bitmapOption)
|
||||
{
|
||||
int i, g, advance, lsb, x0, y0, x1, y1, gw, gh, gx, gy, x, y;
|
||||
float scale;
|
||||
@@ -1038,6 +1060,7 @@ static FONSglyph* fons__getGlyph(FONScontext* stash, FONSfont* font, unsigned in
|
||||
int pad, added;
|
||||
unsigned char* bdst;
|
||||
unsigned char* dst;
|
||||
FONSfont* renderFont = font;
|
||||
|
||||
if (isize < 2) return NULL;
|
||||
if (iblur > 20) iblur = 20;
|
||||
@@ -1050,41 +1073,66 @@ static FONSglyph* fons__getGlyph(FONScontext* stash, FONSfont* font, unsigned in
|
||||
h = fons__hashint(codepoint) & (FONS_HASH_LUT_SIZE-1);
|
||||
i = font->lut[h];
|
||||
while (i != -1) {
|
||||
if (font->glyphs[i].codepoint == codepoint && font->glyphs[i].size == isize && font->glyphs[i].blur == iblur)
|
||||
return &font->glyphs[i];
|
||||
if (font->glyphs[i].codepoint == codepoint && font->glyphs[i].size == isize && font->glyphs[i].blur == iblur) {
|
||||
glyph = &font->glyphs[i];
|
||||
if (bitmapOption == FONS_GLYPH_BITMAP_OPTIONAL || (glyph->x0 >= 0 && glyph->y0 >= 0)) {
|
||||
return glyph;
|
||||
}
|
||||
// At this point, glyph exists but the bitmap data is not yet created.
|
||||
break;
|
||||
}
|
||||
i = font->glyphs[i].next;
|
||||
}
|
||||
|
||||
// Could not find glyph, create it.
|
||||
scale = fons__tt_getPixelHeightScale(&font->font, size);
|
||||
// Create a new glyph or rasterize bitmap data for a cached glyph.
|
||||
g = fons__tt_getGlyphIndex(&font->font, codepoint);
|
||||
// Try to find the glyph in fallback fonts.
|
||||
if (g == 0) {
|
||||
for (i = 0; i < font->nfallbacks; ++i) {
|
||||
FONSglyph* fallbackGlyph = fons__getGlyph(stash, stash->fonts[font->fallbacks[i]], codepoint, isize, iblur);
|
||||
if (fallbackGlyph != NULL && fallbackGlyph->index != 0) {
|
||||
return fallbackGlyph;
|
||||
FONSfont* fallbackFont = stash->fonts[font->fallbacks[i]];
|
||||
int fallbackIndex = fons__tt_getGlyphIndex(&fallbackFont->font, codepoint);
|
||||
if (fallbackIndex != 0) {
|
||||
g = fallbackIndex;
|
||||
renderFont = fallbackFont;
|
||||
break;
|
||||
}
|
||||
}
|
||||
// It is possible that we did not find a fallback glyph.
|
||||
// In that case the glyph index 'g' is 0, and we'll proceed below and cache empty glyph.
|
||||
}
|
||||
fons__tt_buildGlyphBitmap(&font->font, g, size, scale, &advance, &lsb, &x0, &y0, &x1, &y1);
|
||||
scale = fons__tt_getPixelHeightScale(&renderFont->font, size);
|
||||
fons__tt_buildGlyphBitmap(&renderFont->font, g, size, scale, &advance, &lsb, &x0, &y0, &x1, &y1);
|
||||
gw = x1-x0 + pad*2;
|
||||
gh = y1-y0 + pad*2;
|
||||
|
||||
// Find free spot for the rect in the atlas
|
||||
added = fons__atlasAddRect(stash->atlas, gw, gh, &gx, &gy);
|
||||
if (added == 0 && stash->handleError != NULL) {
|
||||
// Atlas is full, let the user to resize the atlas (or not), and try again.
|
||||
stash->handleError(stash->errorUptr, FONS_ATLAS_FULL, 0);
|
||||
// Determines the spot to draw glyph in the atlas.
|
||||
if (bitmapOption == FONS_GLYPH_BITMAP_REQUIRED) {
|
||||
// Find free spot for the rect in the atlas
|
||||
added = fons__atlasAddRect(stash->atlas, gw, gh, &gx, &gy);
|
||||
if (added == 0 && stash->handleError != NULL) {
|
||||
// Atlas is full, let the user to resize the atlas (or not), and try again.
|
||||
stash->handleError(stash->errorUptr, FONS_ATLAS_FULL, 0);
|
||||
added = fons__atlasAddRect(stash->atlas, gw, gh, &gx, &gy);
|
||||
}
|
||||
if (added == 0) return NULL;
|
||||
} else {
|
||||
// Negative coordinate indicates there is no bitmap data created.
|
||||
gx = -1;
|
||||
gy = -1;
|
||||
}
|
||||
if (added == 0) return NULL;
|
||||
|
||||
// Init glyph.
|
||||
glyph = fons__allocGlyph(font);
|
||||
glyph->codepoint = codepoint;
|
||||
glyph->size = isize;
|
||||
glyph->blur = iblur;
|
||||
if (glyph == NULL) {
|
||||
glyph = fons__allocGlyph(font);
|
||||
glyph->codepoint = codepoint;
|
||||
glyph->size = isize;
|
||||
glyph->blur = iblur;
|
||||
glyph->next = 0;
|
||||
|
||||
// Insert char to hash lookup.
|
||||
glyph->next = font->lut[h];
|
||||
font->lut[h] = font->nglyphs-1;
|
||||
}
|
||||
glyph->index = g;
|
||||
glyph->x0 = (short)gx;
|
||||
glyph->y0 = (short)gy;
|
||||
@@ -1093,15 +1141,14 @@ static FONSglyph* fons__getGlyph(FONScontext* stash, FONSfont* font, unsigned in
|
||||
glyph->xadv = (short)(scale * advance * 10.0f);
|
||||
glyph->xoff = (short)(x0 - pad);
|
||||
glyph->yoff = (short)(y0 - pad);
|
||||
glyph->next = 0;
|
||||
|
||||
// Insert char to hash lookup.
|
||||
glyph->next = font->lut[h];
|
||||
font->lut[h] = font->nglyphs-1;
|
||||
if (bitmapOption == FONS_GLYPH_BITMAP_OPTIONAL) {
|
||||
return glyph;
|
||||
}
|
||||
|
||||
// Rasterize
|
||||
dst = &stash->texData[(glyph->x0+pad) + (glyph->y0+pad) * stash->params.width];
|
||||
fons__tt_renderGlyphBitmap(&font->font, dst, gw-pad*2,gh-pad*2, stash->params.width, scale,scale, g);
|
||||
fons__tt_renderGlyphBitmap(&renderFont->font, dst, gw-pad*2,gh-pad*2, stash->params.width, scale, scale, g);
|
||||
|
||||
// Make sure there is one pixel empty border.
|
||||
dst = &stash->texData[glyph->x0 + glyph->y0 * stash->params.width];
|
||||
@@ -1128,7 +1175,7 @@ static FONSglyph* fons__getGlyph(FONScontext* stash, FONSfont* font, unsigned in
|
||||
if (iblur > 0) {
|
||||
stash->nscratch = 0;
|
||||
bdst = &stash->texData[glyph->x0 + glyph->y0 * stash->params.width];
|
||||
fons__blur(stash, bdst, gw,gh, stash->params.width, iblur);
|
||||
fons__blur(stash, bdst, gw, gh, stash->params.width, iblur);
|
||||
}
|
||||
|
||||
stash->dirtyRect[0] = fons__mini(stash->dirtyRect[0], glyph->x0);
|
||||
@@ -1290,7 +1337,7 @@ float fonsDrawText(FONScontext* stash,
|
||||
for (; str != end; ++str) {
|
||||
if (fons__decutf8(&utf8state, &codepoint, *(const unsigned char*)str))
|
||||
continue;
|
||||
glyph = fons__getGlyph(stash, font, codepoint, isize, iblur);
|
||||
glyph = fons__getGlyph(stash, font, codepoint, isize, iblur, FONS_GLYPH_BITMAP_REQUIRED);
|
||||
if (glyph != NULL) {
|
||||
fons__getQuad(stash, font, prevGlyphIndex, glyph, scale, state->spacing, &x, &y, &q);
|
||||
|
||||
@@ -1313,7 +1360,7 @@ float fonsDrawText(FONScontext* stash,
|
||||
}
|
||||
|
||||
int fonsTextIterInit(FONScontext* stash, FONStextIter* iter,
|
||||
float x, float y, const char* str, const char* end)
|
||||
float x, float y, const char* str, const char* end, int bitmapOption)
|
||||
{
|
||||
FONSstate* state = fons__getState(stash);
|
||||
float width;
|
||||
@@ -1353,6 +1400,7 @@ int fonsTextIterInit(FONScontext* stash, FONStextIter* iter,
|
||||
iter->end = end;
|
||||
iter->codepoint = 0;
|
||||
iter->prevGlyphIndex = -1;
|
||||
iter->bitmapOption = bitmapOption;
|
||||
|
||||
return 1;
|
||||
}
|
||||
@@ -1373,7 +1421,8 @@ int fonsTextIterNext(FONScontext* stash, FONStextIter* iter, FONSquad* quad)
|
||||
// Get glyph and quad
|
||||
iter->x = iter->nextx;
|
||||
iter->y = iter->nexty;
|
||||
glyph = fons__getGlyph(stash, iter->font, iter->codepoint, iter->isize, iter->iblur);
|
||||
glyph = fons__getGlyph(stash, iter->font, iter->codepoint, iter->isize, iter->iblur, iter->bitmapOption);
|
||||
// If the iterator was initialized with FONS_GLYPH_BITMAP_OPTIONAL, then the UV coordinates of the quad will be invalid.
|
||||
if (glyph != NULL)
|
||||
fons__getQuad(stash, iter->font, iter->prevGlyphIndex, glyph, iter->scale, iter->spacing, &iter->nextx, &iter->nexty, quad);
|
||||
iter->prevGlyphIndex = glyph != NULL ? glyph->index : -1;
|
||||
@@ -1470,7 +1519,7 @@ float fonsTextBounds(FONScontext* stash,
|
||||
for (; str != end; ++str) {
|
||||
if (fons__decutf8(&utf8state, &codepoint, *(const unsigned char*)str))
|
||||
continue;
|
||||
glyph = fons__getGlyph(stash, font, codepoint, isize, iblur);
|
||||
glyph = fons__getGlyph(stash, font, codepoint, isize, iblur, FONS_GLYPH_BITMAP_OPTIONAL);
|
||||
if (glyph != NULL) {
|
||||
fons__getQuad(stash, font, prevGlyphIndex, glyph, scale, state->spacing, &x, &y, &q);
|
||||
if (q.x0 < minx) minx = q.x0;
|
||||
@@ -1579,6 +1628,35 @@ int fonsValidateTexture(FONScontext* stash, int* dirty)
|
||||
return 0;
|
||||
}
|
||||
|
||||
void fontsDeleteFontByName(FONScontext* stash, const char* name)
|
||||
{
|
||||
int id = 0;
|
||||
if (stash == NULL) return;
|
||||
if(name == NULL) {
|
||||
for (id = 0; id < stash->nfonts; ++id) {
|
||||
fons__freeFont(stash->fonts[id]);
|
||||
}
|
||||
stash->nfonts = 0;
|
||||
}
|
||||
else {
|
||||
id = fonsGetFontByName(stash, name);
|
||||
if(id >= 0) {
|
||||
fons__freeFont(stash->fonts[id]);
|
||||
|
||||
for(; id < stash->nfonts; id++) {
|
||||
if(id + 1 < stash->nfonts) {
|
||||
stash->fonts[id] = stash->fonts[id + 1];
|
||||
}
|
||||
else {
|
||||
stash->fonts[id] = NULL;
|
||||
break;
|
||||
}
|
||||
}
|
||||
stash->nfonts--;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void fonsDeleteInternal(FONScontext* stash)
|
||||
{
|
||||
int i;
|
||||
@@ -1595,6 +1673,7 @@ void fonsDeleteInternal(FONScontext* stash)
|
||||
if (stash->texData) free(stash->texData);
|
||||
if (stash->scratch) free(stash->scratch);
|
||||
free(stash);
|
||||
fons__tt_done(stash);
|
||||
}
|
||||
|
||||
void fonsSetErrorCallback(FONScontext* stash, void (*callback)(void* uptr, int error, int val), void* uptr)
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
//
|
||||
//
|
||||
// Copyright (c) 2013 Mikko Mononen memon@inside.org
|
||||
//
|
||||
// This software is provided 'as-is', without any express or implied
|
||||
@@ -17,15 +17,20 @@
|
||||
//
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <math.h>
|
||||
#include <memory.h>
|
||||
|
||||
#include "nanovg.h"
|
||||
|
||||
#ifdef WITH_NANOVG_GPU
|
||||
#include <stdio.h>
|
||||
#include <memory.h>
|
||||
#define FONTSTASH_IMPLEMENTATION
|
||||
#include "fontstash.h"
|
||||
#define STB_IMAGE_IMPLEMENTATION
|
||||
#include "stb_image.h"
|
||||
#else
|
||||
#include <string.h>
|
||||
#define printf(...)
|
||||
#endif/*WITH_NANOVG_GPU*/
|
||||
|
||||
#ifdef _MSC_VER
|
||||
#pragma warning(disable: 4100) // unreferenced formal parameter
|
||||
@@ -67,6 +72,7 @@ enum NVGpointFlags
|
||||
|
||||
struct NVGstate {
|
||||
NVGcompositeOperationState compositeOperation;
|
||||
int shapeAntiAlias;
|
||||
NVGpaint fill;
|
||||
NVGpaint stroke;
|
||||
float strokeWidth;
|
||||
@@ -140,7 +146,7 @@ static float nvg__acosf(float a) { return acosf(a); }
|
||||
|
||||
static int nvg__mini(int a, int b) { return a < b ? a : b; }
|
||||
static int nvg__maxi(int a, int b) { return a > b ? a : b; }
|
||||
static int nvg__clampi(int a, int mn, int mx) { return a < mn ? mn : (a > mx ? mx : a); }
|
||||
__attribute__((unused)) static int nvg__clampi(int a, int mn, int mx) { return a < mn ? mn : (a > mx ? mx : a); }
|
||||
static float nvg__minf(float a, float b) { return a < b ? a : b; }
|
||||
static float nvg__maxf(float a, float b) { return a > b ? a : b; }
|
||||
static float nvg__absf(float a) { return a >= 0.0f ? a : -a; }
|
||||
@@ -263,6 +269,11 @@ static NVGcompositeOperationState nvg__compositeOperationState(int op)
|
||||
sfactor = NVG_ONE_MINUS_DST_ALPHA;
|
||||
dfactor = NVG_ONE_MINUS_SRC_ALPHA;
|
||||
}
|
||||
else
|
||||
{
|
||||
sfactor = NVG_ONE;
|
||||
dfactor = NVG_ZERO;
|
||||
}
|
||||
|
||||
NVGcompositeOperationState state;
|
||||
state.srcRGB = sfactor;
|
||||
@@ -277,9 +288,19 @@ static NVGstate* nvg__getState(NVGcontext* ctx)
|
||||
return &ctx->states[ctx->nstates-1];
|
||||
}
|
||||
|
||||
void nvgGetStateXfrom(NVGcontext* ctx, float* xform)
|
||||
{
|
||||
if(xform != NULL) {
|
||||
memcpy(xform, &(ctx->states[ctx->nstates-1].xform), sizeof(float) * 6);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
NVGcontext* nvgCreateInternal(NVGparams* params)
|
||||
{
|
||||
#ifdef WITH_NANOVG_GPU
|
||||
FONSparams fontParams;
|
||||
#endif/*WITH_NANOVG_GPU*/
|
||||
NVGcontext* ctx = (NVGcontext*)malloc(sizeof(NVGcontext));
|
||||
int i;
|
||||
if (ctx == NULL) goto error;
|
||||
@@ -304,6 +325,7 @@ NVGcontext* nvgCreateInternal(NVGparams* params)
|
||||
|
||||
if (ctx->params.renderCreate(ctx->params.userPtr) == 0) goto error;
|
||||
|
||||
#ifdef WITH_NANOVG_GPU
|
||||
// Init font rendering
|
||||
memset(&fontParams, 0, sizeof(fontParams));
|
||||
fontParams.width = NVG_INIT_FONTIMAGE_SIZE;
|
||||
@@ -318,9 +340,10 @@ NVGcontext* nvgCreateInternal(NVGparams* params)
|
||||
if (ctx->fs == NULL) goto error;
|
||||
|
||||
// Create font texture
|
||||
ctx->fontImages[0] = ctx->params.renderCreateTexture(ctx->params.userPtr, NVG_TEXTURE_ALPHA, fontParams.width, fontParams.height, 0, NULL);
|
||||
ctx->fontImages[0] = ctx->params.renderCreateTexture(ctx->params.userPtr, NVG_TEXTURE_ALPHA, fontParams.width, fontParams.height, 0, 0, NULL);
|
||||
if (ctx->fontImages[0] == 0) goto error;
|
||||
ctx->fontImageIdx = 0;
|
||||
#endif/*WITH_NANOVG_GPU*/
|
||||
|
||||
return ctx;
|
||||
|
||||
@@ -341,6 +364,7 @@ void nvgDeleteInternal(NVGcontext* ctx)
|
||||
if (ctx->commands != NULL) free(ctx->commands);
|
||||
if (ctx->cache != NULL) nvg__deletePathCache(ctx->cache);
|
||||
|
||||
#ifdef WITH_NANOVG_GPU
|
||||
if (ctx->fs)
|
||||
fonsDeleteInternal(ctx->fs);
|
||||
|
||||
@@ -350,6 +374,9 @@ void nvgDeleteInternal(NVGcontext* ctx)
|
||||
ctx->fontImages[i] = 0;
|
||||
}
|
||||
}
|
||||
#else
|
||||
(void)i;
|
||||
#endif/*WITH_NANOVG_GPU*/
|
||||
|
||||
if (ctx->params.renderDelete != NULL)
|
||||
ctx->params.renderDelete(ctx->params.userPtr);
|
||||
@@ -357,7 +384,7 @@ void nvgDeleteInternal(NVGcontext* ctx)
|
||||
free(ctx);
|
||||
}
|
||||
|
||||
void nvgBeginFrame(NVGcontext* ctx, int windowWidth, int windowHeight, float devicePixelRatio)
|
||||
void nvgBeginFrame(NVGcontext* ctx, float windowWidth, float windowHeight, float devicePixelRatio)
|
||||
{
|
||||
/* printf("Tris: draws:%d fill:%d stroke:%d text:%d TOT:%d\n",
|
||||
ctx->drawCallCount, ctx->fillTriCount, ctx->strokeTriCount, ctx->textTriCount,
|
||||
@@ -384,8 +411,7 @@ void nvgCancelFrame(NVGcontext* ctx)
|
||||
|
||||
void nvgEndFrame(NVGcontext* ctx)
|
||||
{
|
||||
NVGstate* state = nvg__getState(ctx);
|
||||
ctx->params.renderFlush(ctx->params.userPtr, state->compositeOperation);
|
||||
ctx->params.renderFlush(ctx->params.userPtr);
|
||||
if (ctx->fontImageIdx != 0) {
|
||||
int fontImage = ctx->fontImages[ctx->fontImageIdx];
|
||||
int i, j, iw, ih;
|
||||
@@ -461,7 +487,7 @@ NVGcolor nvgLerpRGBA(NVGcolor c0, NVGcolor c1, float u)
|
||||
{
|
||||
int i;
|
||||
float oneminu;
|
||||
NVGcolor cint = {0};
|
||||
NVGcolor cint = {{{0}}};
|
||||
|
||||
u = nvg__clampf(u, 0.0f, 1.0f);
|
||||
oneminu = 1.0f - u;
|
||||
@@ -641,6 +667,7 @@ void nvgReset(NVGcontext* ctx)
|
||||
nvg__setPaintColor(&state->fill, nvgRGBA(255,255,255,255));
|
||||
nvg__setPaintColor(&state->stroke, nvgRGBA(0,0,0,255));
|
||||
state->compositeOperation = nvg__compositeOperationState(NVG_SOURCE_OVER);
|
||||
state->shapeAntiAlias = 1;
|
||||
state->strokeWidth = 1.0f;
|
||||
state->miterLimit = 10.0f;
|
||||
state->lineCap = NVG_BUTT;
|
||||
@@ -660,6 +687,12 @@ void nvgReset(NVGcontext* ctx)
|
||||
}
|
||||
|
||||
// State setting
|
||||
void nvgShapeAntiAlias(NVGcontext* ctx, int enabled)
|
||||
{
|
||||
NVGstate* state = nvg__getState(ctx);
|
||||
state->shapeAntiAlias = enabled;
|
||||
}
|
||||
|
||||
void nvgStrokeWidth(NVGcontext* ctx, float width)
|
||||
{
|
||||
NVGstate* state = nvg__getState(ctx);
|
||||
@@ -676,12 +709,20 @@ void nvgLineCap(NVGcontext* ctx, int cap)
|
||||
{
|
||||
NVGstate* state = nvg__getState(ctx);
|
||||
state->lineCap = cap;
|
||||
if(ctx->params.setLineJoin != NULL)
|
||||
{
|
||||
ctx->params.setLineCap(ctx->params.userPtr, cap);
|
||||
}
|
||||
}
|
||||
|
||||
void nvgLineJoin(NVGcontext* ctx, int join)
|
||||
{
|
||||
NVGstate* state = nvg__getState(ctx);
|
||||
state->lineJoin = join;
|
||||
if(ctx->params.setLineJoin != NULL)
|
||||
{
|
||||
ctx->params.setLineJoin(ctx->params.userPtr, join);
|
||||
}
|
||||
}
|
||||
|
||||
void nvgGlobalAlpha(NVGcontext* ctx, float alpha)
|
||||
@@ -776,6 +817,7 @@ void nvgFillPaint(NVGcontext* ctx, NVGpaint paint)
|
||||
nvgTransformMultiply(state->fill.xform, state->xform);
|
||||
}
|
||||
|
||||
#ifdef WITH_NANOVG_GPU
|
||||
int nvgCreateImage(NVGcontext* ctx, const char* filename, int imageFlags)
|
||||
{
|
||||
int w, h, n, image;
|
||||
@@ -804,10 +846,21 @@ int nvgCreateImageMem(NVGcontext* ctx, int imageFlags, unsigned char* data, int
|
||||
stbi_image_free(img);
|
||||
return image;
|
||||
}
|
||||
#else
|
||||
int nvgCreateImage(NVGcontext* ctx, const char* filename, int imageFlags)
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
|
||||
int nvgCreateImageMem(NVGcontext* ctx, int imageFlags, unsigned char* data, int ndata)
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
#endif/*WITH_NANOVG_GPU*/
|
||||
|
||||
int nvgCreateImageRGBA(NVGcontext* ctx, int w, int h, int imageFlags, const unsigned char* data)
|
||||
{
|
||||
return ctx->params.renderCreateTexture(ctx->params.userPtr, NVG_TEXTURE_RGBA, w, h, imageFlags, data);
|
||||
return ctx->params.renderCreateTexture(ctx->params.userPtr, NVG_TEXTURE_RGBA, w, h, w * 4, imageFlags, data);
|
||||
}
|
||||
|
||||
void nvgUpdateImage(NVGcontext* ctx, int image, const unsigned char* data)
|
||||
@@ -822,6 +875,15 @@ void nvgImageSize(NVGcontext* ctx, int image, int* w, int* h)
|
||||
ctx->params.renderGetTextureSize(ctx->params.userPtr, image, w, h);
|
||||
}
|
||||
|
||||
void nvgDeleteFontByName(NVGcontext* ctx, const char* name)
|
||||
{
|
||||
#ifdef WITH_NANOVG_GPU
|
||||
if (ctx->fs) {
|
||||
fontsDeleteFontByName(ctx->fs, name);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
void nvgDeleteImage(NVGcontext* ctx, int image)
|
||||
{
|
||||
ctx->params.renderDeleteTexture(ctx->params.userPtr, image);
|
||||
@@ -948,7 +1010,12 @@ void nvgScissor(NVGcontext* ctx, float x, float y, float w, float h)
|
||||
|
||||
w = nvg__maxf(0.0f, w);
|
||||
h = nvg__maxf(0.0f, h);
|
||||
|
||||
/* 消除着色器精度不够引起的漏出颜色的问题 */
|
||||
if (w == 0.0f || h == 0.0f) {
|
||||
w = 0.0f;
|
||||
h = 0.0f;
|
||||
}
|
||||
|
||||
nvgTransformIdentity(state->scissor.xform);
|
||||
state->scissor.xform[4] = x+w*0.5f;
|
||||
state->scissor.xform[5] = y+h*0.5f;
|
||||
@@ -972,6 +1039,66 @@ static void nvg__isectRects(float* dst,
|
||||
dst[3] = nvg__maxf(0.0f, maxy - miny);
|
||||
}
|
||||
|
||||
|
||||
void nvgIntersectScissorForOtherRect(NVGcontext* ctx, float x, float y, float w, float h, float dx, float dy, float dw, float dh)
|
||||
{
|
||||
NVGstate* state = nvg__getState(ctx);
|
||||
float rect[4];
|
||||
float invxorm[6];
|
||||
float ex = 0.0f, ey = 0.0f, tex = 0.0f, tey = 0.0f;
|
||||
/* 因为脏矩形默认坐标系就是没有旋转没有缩放没有平移的状态 */
|
||||
float pxform[6] = { 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f };
|
||||
ex = dw * 0.5f;
|
||||
ey = dh * 0.5f;
|
||||
pxform[4] = dx + dw * 0.5f;
|
||||
pxform[5] = dy + dh * 0.5f;
|
||||
memset(invxorm, 0, sizeof(float) * 6);
|
||||
nvgTransformInverse(invxorm, state->xform);
|
||||
nvgTransformMultiply(pxform, invxorm);
|
||||
tex = ex*nvg__absf(pxform[0]) + ey*nvg__absf(pxform[2]);
|
||||
tey = ex*nvg__absf(pxform[1]) + ey*nvg__absf(pxform[3]);
|
||||
|
||||
// Intersect rects.
|
||||
nvg__isectRects(rect, pxform[4] - tex, pxform[5] - tey, tex * 2, tey * 2, x, y, w, h);
|
||||
|
||||
nvgScissor(ctx, rect[0], rect[1], rect[2], rect[3]);
|
||||
}
|
||||
|
||||
void nvgIntersectScissor_ex(NVGcontext* ctx, float* x, float* y, float* w, float* h)
|
||||
{
|
||||
NVGstate* state = nvg__getState(ctx);
|
||||
float pxform[6], invxorm[6];
|
||||
float rect[4];
|
||||
float ex, ey, tex, tey;
|
||||
|
||||
// If no previous scissor has been set, set the scissor as current scissor.
|
||||
if (state->scissor.extent[0] < 0) {
|
||||
nvgScissor(ctx, *x, *y, *w, *h);
|
||||
return;
|
||||
}
|
||||
|
||||
// Transform the current scissor rect into current transform space.
|
||||
// If there is difference in rotation, this will be approximation.
|
||||
memcpy(pxform, state->scissor.xform, sizeof(float)*6);
|
||||
ex = state->scissor.extent[0];
|
||||
ey = state->scissor.extent[1];
|
||||
nvgTransformInverse(invxorm, state->xform);
|
||||
nvgTransformMultiply(pxform, invxorm);
|
||||
tex = ex*nvg__absf(pxform[0]) + ey*nvg__absf(pxform[2]);
|
||||
tey = ex*nvg__absf(pxform[1]) + ey*nvg__absf(pxform[3]);
|
||||
|
||||
// Intersect rects.
|
||||
nvg__isectRects(rect, pxform[4]-tex,pxform[5]-tey,tex*2,tey*2, *x, *y, *w, *h);
|
||||
|
||||
*x = rect[0];
|
||||
*y = rect[1];
|
||||
*w = rect[2];
|
||||
*h = rect[3];
|
||||
|
||||
nvgScissor(ctx, rect[0], rect[1], rect[2], rect[3]);
|
||||
}
|
||||
|
||||
|
||||
void nvgIntersectScissor(NVGcontext* ctx, float x, float y, float w, float h)
|
||||
{
|
||||
NVGstate* state = nvg__getState(ctx);
|
||||
@@ -1411,6 +1538,7 @@ static int nvg__curveDivs(float r, float arc, float tol)
|
||||
return nvg__maxi(2, (int)ceilf(arc / da));
|
||||
}
|
||||
|
||||
#ifdef WITH_NANOVG_GPU
|
||||
static void nvg__chooseBevel(int bevel, NVGpoint* p0, NVGpoint* p1, float w,
|
||||
float* x0, float* y0, float* x1, float* y1)
|
||||
{
|
||||
@@ -1428,7 +1556,8 @@ static void nvg__chooseBevel(int bevel, NVGpoint* p0, NVGpoint* p1, float w,
|
||||
}
|
||||
|
||||
static NVGvertex* nvg__roundJoin(NVGvertex* dst, NVGpoint* p0, NVGpoint* p1,
|
||||
float lw, float rw, float lu, float ru, int ncap, float fringe)
|
||||
float lw, float rw, float lu, float ru, int ncap,
|
||||
float fringe)
|
||||
{
|
||||
int i, n;
|
||||
float dlx0 = p0->dy;
|
||||
@@ -1561,36 +1690,39 @@ static NVGvertex* nvg__bevelJoin(NVGvertex* dst, NVGpoint* p0, NVGpoint* p1,
|
||||
}
|
||||
|
||||
static NVGvertex* nvg__buttCapStart(NVGvertex* dst, NVGpoint* p,
|
||||
float dx, float dy, float w, float d, float aa)
|
||||
float dx, float dy, float w, float d,
|
||||
float aa, float u0, float u1)
|
||||
{
|
||||
float px = p->x - dx*d;
|
||||
float py = p->y - dy*d;
|
||||
float dlx = dy;
|
||||
float dly = -dx;
|
||||
nvg__vset(dst, px + dlx*w - dx*aa, py + dly*w - dy*aa, 0,0); dst++;
|
||||
nvg__vset(dst, px - dlx*w - dx*aa, py - dly*w - dy*aa, 1,0); dst++;
|
||||
nvg__vset(dst, px + dlx*w, py + dly*w, 0,1); dst++;
|
||||
nvg__vset(dst, px - dlx*w, py - dly*w, 1,1); dst++;
|
||||
nvg__vset(dst, px + dlx*w - dx*aa, py + dly*w - dy*aa, u0,0); dst++;
|
||||
nvg__vset(dst, px - dlx*w - dx*aa, py - dly*w - dy*aa, u1,0); dst++;
|
||||
nvg__vset(dst, px + dlx*w, py + dly*w, u0,1); dst++;
|
||||
nvg__vset(dst, px - dlx*w, py - dly*w, u1,1); dst++;
|
||||
return dst;
|
||||
}
|
||||
|
||||
static NVGvertex* nvg__buttCapEnd(NVGvertex* dst, NVGpoint* p,
|
||||
float dx, float dy, float w, float d, float aa)
|
||||
float dx, float dy, float w, float d,
|
||||
float aa, float u0, float u1)
|
||||
{
|
||||
float px = p->x + dx*d;
|
||||
float py = p->y + dy*d;
|
||||
float dlx = dy;
|
||||
float dly = -dx;
|
||||
nvg__vset(dst, px + dlx*w, py + dly*w, 0,1); dst++;
|
||||
nvg__vset(dst, px - dlx*w, py - dly*w, 1,1); dst++;
|
||||
nvg__vset(dst, px + dlx*w + dx*aa, py + dly*w + dy*aa, 0,0); dst++;
|
||||
nvg__vset(dst, px - dlx*w + dx*aa, py - dly*w + dy*aa, 1,0); dst++;
|
||||
nvg__vset(dst, px + dlx*w, py + dly*w, u0,1); dst++;
|
||||
nvg__vset(dst, px - dlx*w, py - dly*w, u1,1); dst++;
|
||||
nvg__vset(dst, px + dlx*w + dx*aa, py + dly*w + dy*aa, u0,0); dst++;
|
||||
nvg__vset(dst, px - dlx*w + dx*aa, py - dly*w + dy*aa, u1,0); dst++;
|
||||
return dst;
|
||||
}
|
||||
|
||||
|
||||
static NVGvertex* nvg__roundCapStart(NVGvertex* dst, NVGpoint* p,
|
||||
float dx, float dy, float w, int ncap, float aa)
|
||||
float dx, float dy, float w, int ncap,
|
||||
float aa, float u0, float u1)
|
||||
{
|
||||
int i;
|
||||
float px = p->x;
|
||||
@@ -1601,16 +1733,17 @@ static NVGvertex* nvg__roundCapStart(NVGvertex* dst, NVGpoint* p,
|
||||
for (i = 0; i < ncap; i++) {
|
||||
float a = i/(float)(ncap-1)*NVG_PI;
|
||||
float ax = cosf(a) * w, ay = sinf(a) * w;
|
||||
nvg__vset(dst, px - dlx*ax - dx*ay, py - dly*ax - dy*ay, 0,1); dst++;
|
||||
nvg__vset(dst, px - dlx*ax - dx*ay, py - dly*ax - dy*ay, u0,1); dst++;
|
||||
nvg__vset(dst, px, py, 0.5f,1); dst++;
|
||||
}
|
||||
nvg__vset(dst, px + dlx*w, py + dly*w, 0,1); dst++;
|
||||
nvg__vset(dst, px - dlx*w, py - dly*w, 1,1); dst++;
|
||||
nvg__vset(dst, px + dlx*w, py + dly*w, u0,1); dst++;
|
||||
nvg__vset(dst, px - dlx*w, py - dly*w, u1,1); dst++;
|
||||
return dst;
|
||||
}
|
||||
|
||||
static NVGvertex* nvg__roundCapEnd(NVGvertex* dst, NVGpoint* p,
|
||||
float dx, float dy, float w, int ncap, float aa)
|
||||
float dx, float dy, float w, int ncap,
|
||||
float aa, float u0, float u1)
|
||||
{
|
||||
int i;
|
||||
float px = p->x;
|
||||
@@ -1618,13 +1751,13 @@ static NVGvertex* nvg__roundCapEnd(NVGvertex* dst, NVGpoint* p,
|
||||
float dlx = dy;
|
||||
float dly = -dx;
|
||||
NVG_NOTUSED(aa);
|
||||
nvg__vset(dst, px + dlx*w, py + dly*w, 0,1); dst++;
|
||||
nvg__vset(dst, px - dlx*w, py - dly*w, 1,1); dst++;
|
||||
nvg__vset(dst, px + dlx*w, py + dly*w, u0,1); dst++;
|
||||
nvg__vset(dst, px - dlx*w, py - dly*w, u1,1); dst++;
|
||||
for (i = 0; i < ncap; i++) {
|
||||
float a = i/(float)(ncap-1)*NVG_PI;
|
||||
float ax = cosf(a) * w, ay = sinf(a) * w;
|
||||
nvg__vset(dst, px, py, 0.5f,1); dst++;
|
||||
nvg__vset(dst, px - dlx*ax + dx*ay, py - dly*ax + dy*ay, 0,1); dst++;
|
||||
nvg__vset(dst, px - dlx*ax + dx*ay, py - dly*ax + dy*ay, u0,1); dst++;
|
||||
}
|
||||
return dst;
|
||||
}
|
||||
@@ -1700,15 +1833,24 @@ static void nvg__calculateJoins(NVGcontext* ctx, float w, int lineJoin, float mi
|
||||
}
|
||||
|
||||
|
||||
static int nvg__expandStroke(NVGcontext* ctx, float w, int lineCap, int lineJoin, float miterLimit)
|
||||
static int nvg__expandStroke(NVGcontext* ctx, float w, float fringe, int lineCap, int lineJoin, float miterLimit)
|
||||
{
|
||||
NVGpathCache* cache = ctx->cache;
|
||||
NVGvertex* verts;
|
||||
NVGvertex* dst;
|
||||
int cverts, i, j;
|
||||
float aa = ctx->fringeWidth;
|
||||
float aa = fringe;//ctx->fringeWidth;
|
||||
float u0 = 0.0f, u1 = 1.0f;
|
||||
int ncap = nvg__curveDivs(w, NVG_PI, ctx->tessTol); // Calculate divisions per half circle.
|
||||
|
||||
w += aa * 0.5f;
|
||||
|
||||
// Disable the gradient used for antialiasing when antialiasing is not used.
|
||||
if (aa == 0.0f) {
|
||||
u0 = 0.5f;
|
||||
u1 = 0.5f;
|
||||
}
|
||||
|
||||
nvg__calculateJoins(ctx, w, lineJoin, miterLimit);
|
||||
|
||||
// Calculate max vertex usage.
|
||||
@@ -1769,42 +1911,42 @@ static int nvg__expandStroke(NVGcontext* ctx, float w, int lineCap, int lineJoin
|
||||
dy = p1->y - p0->y;
|
||||
nvg__normalize(&dx, &dy);
|
||||
if (lineCap == NVG_BUTT)
|
||||
dst = nvg__buttCapStart(dst, p0, dx, dy, w, -aa*0.5f, aa);
|
||||
dst = nvg__buttCapStart(dst, p0, dx, dy, w, -aa*0.5f, aa, u0, u1);
|
||||
else if (lineCap == NVG_BUTT || lineCap == NVG_SQUARE)
|
||||
dst = nvg__buttCapStart(dst, p0, dx, dy, w, w-aa, aa);
|
||||
dst = nvg__buttCapStart(dst, p0, dx, dy, w, w-aa, aa, u0, u1);
|
||||
else if (lineCap == NVG_ROUND)
|
||||
dst = nvg__roundCapStart(dst, p0, dx, dy, w, ncap, aa);
|
||||
dst = nvg__roundCapStart(dst, p0, dx, dy, w, ncap, aa, u0, u1);
|
||||
}
|
||||
|
||||
for (j = s; j < e; ++j) {
|
||||
if ((p1->flags & (NVG_PT_BEVEL | NVG_PR_INNERBEVEL)) != 0) {
|
||||
if (lineJoin == NVG_ROUND) {
|
||||
dst = nvg__roundJoin(dst, p0, p1, w, w, 0, 1, ncap, aa);
|
||||
dst = nvg__roundJoin(dst, p0, p1, w, w, u0, u1, ncap, aa);
|
||||
} else {
|
||||
dst = nvg__bevelJoin(dst, p0, p1, w, w, 0, 1, aa);
|
||||
dst = nvg__bevelJoin(dst, p0, p1, w, w, u0, u1, aa);
|
||||
}
|
||||
} else {
|
||||
nvg__vset(dst, p1->x + (p1->dmx * w), p1->y + (p1->dmy * w), 0,1); dst++;
|
||||
nvg__vset(dst, p1->x - (p1->dmx * w), p1->y - (p1->dmy * w), 1,1); dst++;
|
||||
nvg__vset(dst, p1->x + (p1->dmx * w), p1->y + (p1->dmy * w), u0,1); dst++;
|
||||
nvg__vset(dst, p1->x - (p1->dmx * w), p1->y - (p1->dmy * w), u1,1); dst++;
|
||||
}
|
||||
p0 = p1++;
|
||||
}
|
||||
|
||||
if (loop) {
|
||||
// Loop it
|
||||
nvg__vset(dst, verts[0].x, verts[0].y, 0,1); dst++;
|
||||
nvg__vset(dst, verts[1].x, verts[1].y, 1,1); dst++;
|
||||
nvg__vset(dst, verts[0].x, verts[0].y, u0,1); dst++;
|
||||
nvg__vset(dst, verts[1].x, verts[1].y, u1,1); dst++;
|
||||
} else {
|
||||
// Add cap
|
||||
dx = p1->x - p0->x;
|
||||
dy = p1->y - p0->y;
|
||||
nvg__normalize(&dx, &dy);
|
||||
if (lineCap == NVG_BUTT)
|
||||
dst = nvg__buttCapEnd(dst, p1, dx, dy, w, -aa*0.5f, aa);
|
||||
dst = nvg__buttCapEnd(dst, p1, dx, dy, w, -aa*0.5f, aa, u0, u1);
|
||||
else if (lineCap == NVG_BUTT || lineCap == NVG_SQUARE)
|
||||
dst = nvg__buttCapEnd(dst, p1, dx, dy, w, w-aa, aa);
|
||||
dst = nvg__buttCapEnd(dst, p1, dx, dy, w, w-aa, aa, u0, u1);
|
||||
else if (lineCap == NVG_ROUND)
|
||||
dst = nvg__roundCapEnd(dst, p1, dx, dy, w, ncap, aa);
|
||||
dst = nvg__roundCapEnd(dst, p1, dx, dy, w, ncap, aa, u0, u1);
|
||||
}
|
||||
|
||||
path->nstroke = (int)(dst - verts);
|
||||
@@ -1935,6 +2077,197 @@ static int nvg__expandFill(NVGcontext* ctx, float w, int lineJoin, float miterLi
|
||||
return 1;
|
||||
}
|
||||
|
||||
#else
|
||||
|
||||
static int nvg__expandStroke(NVGcontext* ctx, float w, float fringe, int lineCap, int lineJoin, float miterLimit)
|
||||
{
|
||||
NVGpathCache* cache = ctx->cache;
|
||||
NVGvertex* verts;
|
||||
NVGvertex* dst;
|
||||
int cverts, i, j;
|
||||
float aa = fringe;//ctx->fringeWidth;
|
||||
float u0 = 0.0f, u1 = 1.0f;
|
||||
int ncap = nvg__curveDivs(w, NVG_PI, ctx->tessTol); // Calculate divisions per half circle.
|
||||
|
||||
w += aa * 0.5f;
|
||||
|
||||
// Disable the gradient used for antialiasing when antialiasing is not used.
|
||||
if (aa == 0.0f) {
|
||||
u0 = 0.5f;
|
||||
u1 = 0.5f;
|
||||
}
|
||||
|
||||
// Calculate max vertex usage.
|
||||
cverts = 0;
|
||||
for (i = 0; i < cache->npaths; i++) {
|
||||
NVGpath* path = &cache->paths[i];
|
||||
int loop = (path->closed == 0) ? 0 : 1;
|
||||
cverts += (path->count + path->nbevel*5 + 1) * 2; // plus one for loop
|
||||
if (loop == 0) {
|
||||
// space for caps
|
||||
if (lineCap == NVG_ROUND) {
|
||||
cverts += (ncap*2 + 2)*2;
|
||||
} else {
|
||||
cverts += (3+3)*2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
verts = nvg__allocTempVerts(ctx, cverts);
|
||||
if (verts == NULL) return 0;
|
||||
|
||||
for (i = 0; i < cache->npaths; i++) {
|
||||
NVGpath* path = &cache->paths[i];
|
||||
NVGpoint* pts = &cache->points[path->first];
|
||||
NVGpoint* p0;
|
||||
NVGpoint* p1;
|
||||
int s, e, loop;
|
||||
|
||||
path->fill = 0;
|
||||
path->nfill = 0;
|
||||
|
||||
// Calculate fringe or stroke
|
||||
loop = (path->closed == 0) ? 0 : 1;
|
||||
dst = verts;
|
||||
path->stroke = dst;
|
||||
|
||||
if (loop) {
|
||||
// Looping
|
||||
p0 = &pts[path->count-1];
|
||||
p1 = &pts[0];
|
||||
s = 0;
|
||||
e = path->count;
|
||||
} else {
|
||||
// Add cap
|
||||
p0 = &pts[0];
|
||||
p1 = &pts[1];
|
||||
s = 1;
|
||||
e = path->count-1;
|
||||
}
|
||||
|
||||
if (loop == 0) {
|
||||
// Add cap
|
||||
nvg__vset(dst, p0->x, p0->y, u0,1); dst++;
|
||||
}
|
||||
|
||||
for (j = s; j < e; ++j) {
|
||||
nvg__vset(dst, p1->x + (p1->dmx * w), p1->y + (p1->dmy * w), u0,1); dst++;
|
||||
nvg__vset(dst, p1->x - (p1->dmx * w), p1->y - (p1->dmy * w), u1,1); dst++;
|
||||
p0 = p1++;
|
||||
}
|
||||
|
||||
if (loop) {
|
||||
// Loop it
|
||||
nvg__vset(dst, verts[0].x, verts[0].y, u0,1); dst++;
|
||||
nvg__vset(dst, verts[1].x, verts[1].y, u1,1); dst++;
|
||||
} else {
|
||||
// Add cap
|
||||
nvg__vset(dst, p1->x, p1->y, u0,1); dst++;
|
||||
}
|
||||
|
||||
path->nstroke = (int)(dst - verts);
|
||||
|
||||
verts = dst;
|
||||
}
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
static int nvg__expandFill(NVGcontext* ctx, float w, int lineJoin, float miterLimit)
|
||||
{
|
||||
NVGpathCache* cache = ctx->cache;
|
||||
NVGvertex* verts;
|
||||
NVGvertex* dst;
|
||||
int cverts, convex, i, j;
|
||||
float aa = ctx->fringeWidth;
|
||||
int fringe = w > 0.0f;
|
||||
|
||||
// Calculate max vertex usage.
|
||||
cverts = 0;
|
||||
for (i = 0; i < cache->npaths; i++) {
|
||||
NVGpath* path = &cache->paths[i];
|
||||
cverts += path->count + path->nbevel + 1;
|
||||
if (fringe)
|
||||
cverts += (path->count + path->nbevel*5 + 1) * 2; // plus one for loop
|
||||
}
|
||||
|
||||
verts = nvg__allocTempVerts(ctx, cverts);
|
||||
if (verts == NULL) return 0;
|
||||
|
||||
convex = cache->npaths == 1 && cache->paths[0].convex;
|
||||
|
||||
for (i = 0; i < cache->npaths; i++) {
|
||||
NVGpath* path = &cache->paths[i];
|
||||
NVGpoint* pts = &cache->points[path->first];
|
||||
NVGpoint* p0;
|
||||
NVGpoint* p1;
|
||||
float rw, lw, woff;
|
||||
float ru, lu;
|
||||
|
||||
// Calculate shape vertices.
|
||||
woff = 0.5f*aa;
|
||||
dst = verts;
|
||||
path->fill = dst;
|
||||
|
||||
if (fringe) {
|
||||
// Looping
|
||||
p0 = &pts[path->count-1];
|
||||
p1 = &pts[0];
|
||||
for (j = 0; j < path->count; ++j) {
|
||||
nvg__vset(dst, p1->x + (p1->dmx * woff), p1->y + (p1->dmy * woff), 0.5f,1); dst++;
|
||||
p0 = p1++;
|
||||
}
|
||||
} else {
|
||||
for (j = 0; j < path->count; ++j) {
|
||||
nvg__vset(dst, pts[j].x, pts[j].y, 0.5f,1);
|
||||
dst++;
|
||||
}
|
||||
}
|
||||
|
||||
path->nfill = (int)(dst - verts);
|
||||
verts = dst;
|
||||
|
||||
// Calculate fringe
|
||||
if (fringe) {
|
||||
lw = w + woff;
|
||||
rw = w - woff;
|
||||
lu = 0;
|
||||
ru = 1;
|
||||
dst = verts;
|
||||
path->stroke = dst;
|
||||
|
||||
// Create only half a fringe for convex shapes so that
|
||||
// the shape can be rendered without stenciling.
|
||||
if (convex) {
|
||||
lw = woff; // This should generate the same vertex as fill inset above.
|
||||
lu = 0.5f; // Set outline fade at middle.
|
||||
}
|
||||
|
||||
// Looping
|
||||
p0 = &pts[path->count-1];
|
||||
p1 = &pts[0];
|
||||
|
||||
for (j = 0; j < path->count; ++j) {
|
||||
nvg__vset(dst, p1->x + (p1->dmx * lw), p1->y + (p1->dmy * lw), lu,1); dst++;
|
||||
nvg__vset(dst, p1->x - (p1->dmx * rw), p1->y - (p1->dmy * rw), ru,1); dst++;
|
||||
p0 = p1++;
|
||||
}
|
||||
|
||||
// Loop it
|
||||
nvg__vset(dst, verts[0].x, verts[0].y, lu,1); dst++;
|
||||
nvg__vset(dst, verts[1].x, verts[1].y, ru,1); dst++;
|
||||
|
||||
path->nstroke = (int)(dst - verts);
|
||||
verts = dst;
|
||||
} else {
|
||||
path->stroke = NULL;
|
||||
path->nstroke = 0;
|
||||
}
|
||||
}
|
||||
|
||||
return 1;
|
||||
}
|
||||
#endif/*WITH_NANOVG_GPU*/
|
||||
|
||||
// Draw
|
||||
void nvgBeginPath(NVGcontext* ctx)
|
||||
@@ -2168,6 +2501,14 @@ void nvgCircle(NVGcontext* ctx, float cx, float cy, float r)
|
||||
nvgEllipse(ctx, cx,cy, r,r);
|
||||
}
|
||||
|
||||
int nvgClearCache(NVGcontext* ctx) {
|
||||
if(ctx->params.clearCache != NULL) {
|
||||
ctx->params.clearCache(ctx->params.userPtr);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
#ifdef WITH_NANOVG_GPU
|
||||
void nvgDebugDumpPathCache(NVGcontext* ctx)
|
||||
{
|
||||
const NVGpath* path;
|
||||
@@ -2189,6 +2530,7 @@ void nvgDebugDumpPathCache(NVGcontext* ctx)
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif/*WITH_NANOVG_GPU*/
|
||||
|
||||
void nvgFill(NVGcontext* ctx)
|
||||
{
|
||||
@@ -2198,7 +2540,7 @@ void nvgFill(NVGcontext* ctx)
|
||||
int i;
|
||||
|
||||
nvg__flattenPaths(ctx);
|
||||
if (ctx->params.edgeAntiAlias)
|
||||
if (ctx->params.edgeAntiAlias && state->shapeAntiAlias)
|
||||
nvg__expandFill(ctx, ctx->fringeWidth, NVG_MITER, 2.4f);
|
||||
else
|
||||
nvg__expandFill(ctx, 0.0f, NVG_MITER, 2.4f);
|
||||
@@ -2207,7 +2549,12 @@ void nvgFill(NVGcontext* ctx)
|
||||
fillPaint.innerColor.a *= state->alpha;
|
||||
fillPaint.outerColor.a *= state->alpha;
|
||||
|
||||
ctx->params.renderFill(ctx->params.userPtr, &fillPaint, &state->scissor, ctx->fringeWidth,
|
||||
/* 把 nanovg 的坐标系传入到适量画布算法中 */
|
||||
if(ctx->params.setStateXfrom != NULL) {
|
||||
ctx->params.setStateXfrom(ctx->params.userPtr, state->xform);
|
||||
}
|
||||
|
||||
ctx->params.renderFill(ctx->params.userPtr, &fillPaint, state->compositeOperation, &state->scissor, ctx->fringeWidth,
|
||||
ctx->cache->bounds, ctx->cache->paths, ctx->cache->npaths);
|
||||
|
||||
// Count triangles
|
||||
@@ -2228,6 +2575,7 @@ void nvgStroke(NVGcontext* ctx)
|
||||
const NVGpath* path;
|
||||
int i;
|
||||
|
||||
|
||||
if (strokeWidth < ctx->fringeWidth) {
|
||||
// If the stroke width is less than pixel size, use alpha to emulate coverage.
|
||||
// Since coverage is area, scale by alpha*alpha.
|
||||
@@ -2243,12 +2591,17 @@ void nvgStroke(NVGcontext* ctx)
|
||||
|
||||
nvg__flattenPaths(ctx);
|
||||
|
||||
if (ctx->params.edgeAntiAlias)
|
||||
nvg__expandStroke(ctx, strokeWidth*0.5f + ctx->fringeWidth*0.5f, state->lineCap, state->lineJoin, state->miterLimit);
|
||||
if (ctx->params.edgeAntiAlias && state->shapeAntiAlias)
|
||||
nvg__expandStroke(ctx, strokeWidth*0.5f, ctx->fringeWidth, state->lineCap, state->lineJoin, state->miterLimit);
|
||||
else
|
||||
nvg__expandStroke(ctx, strokeWidth*0.5f, state->lineCap, state->lineJoin, state->miterLimit);
|
||||
nvg__expandStroke(ctx, strokeWidth*0.5f, 0.0f, state->lineCap, state->lineJoin, state->miterLimit);
|
||||
|
||||
ctx->params.renderStroke(ctx->params.userPtr, &strokePaint, &state->scissor, ctx->fringeWidth,
|
||||
/* 把 nanovg 的坐标系传入到适量画布算法中 */
|
||||
if(ctx->params.setStateXfrom != NULL) {
|
||||
ctx->params.setStateXfrom(ctx->params.userPtr, state->xform);
|
||||
}
|
||||
|
||||
ctx->params.renderStroke(ctx->params.userPtr, &strokePaint, state->compositeOperation, &state->scissor, ctx->fringeWidth,
|
||||
strokeWidth, ctx->cache->paths, ctx->cache->npaths);
|
||||
|
||||
// Count triangles
|
||||
@@ -2259,6 +2612,7 @@ void nvgStroke(NVGcontext* ctx)
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef WITH_NANOVG_GPU
|
||||
// Add fonts
|
||||
int nvgCreateFont(NVGcontext* ctx, const char* name, const char* path)
|
||||
{
|
||||
@@ -2377,7 +2731,7 @@ static int nvg__allocTextAtlas(NVGcontext* ctx)
|
||||
iw *= 2;
|
||||
if (iw > NVG_MAX_FONTIMAGE_SIZE || ih > NVG_MAX_FONTIMAGE_SIZE)
|
||||
iw = ih = NVG_MAX_FONTIMAGE_SIZE;
|
||||
ctx->fontImages[ctx->fontImageIdx+1] = ctx->params.renderCreateTexture(ctx->params.userPtr, NVG_TEXTURE_ALPHA, iw, ih, 0, NULL);
|
||||
ctx->fontImages[ctx->fontImageIdx+1] = ctx->params.renderCreateTexture(ctx->params.userPtr, NVG_TEXTURE_ALPHA, iw, ih, 0, 0, NULL);
|
||||
}
|
||||
++ctx->fontImageIdx;
|
||||
fonsResetAtlas(ctx->fs, iw, ih);
|
||||
@@ -2396,7 +2750,7 @@ static void nvg__renderText(NVGcontext* ctx, NVGvertex* verts, int nverts)
|
||||
paint.innerColor.a *= state->alpha;
|
||||
paint.outerColor.a *= state->alpha;
|
||||
|
||||
ctx->params.renderTriangles(ctx->params.userPtr, &paint, &state->scissor, verts, nverts);
|
||||
ctx->params.renderTriangles(ctx->params.userPtr, &paint, state->compositeOperation, &state->scissor, verts, nverts);
|
||||
|
||||
ctx->drawCallCount++;
|
||||
ctx->textTriCount += nverts/3;
|
||||
@@ -2428,17 +2782,17 @@ float nvgText(NVGcontext* ctx, float x, float y, const char* string, const char*
|
||||
verts = nvg__allocTempVerts(ctx, cverts);
|
||||
if (verts == NULL) return x;
|
||||
|
||||
fonsTextIterInit(ctx->fs, &iter, x*scale, y*scale, string, end);
|
||||
fonsTextIterInit(ctx->fs, &iter, x*scale, y*scale, string, end, FONS_GLYPH_BITMAP_REQUIRED);
|
||||
prevIter = iter;
|
||||
while (fonsTextIterNext(ctx->fs, &iter, &q)) {
|
||||
float c[4*2];
|
||||
if (iter.prevGlyphIndex == -1) { // can not retrieve glyph?
|
||||
if (!nvg__allocTextAtlas(ctx))
|
||||
break; // no memory :(
|
||||
if (nverts != 0) {
|
||||
nvg__renderText(ctx, verts, nverts);
|
||||
nverts = 0;
|
||||
}
|
||||
if (!nvg__allocTextAtlas(ctx))
|
||||
break; // no memory :(
|
||||
iter = prevIter;
|
||||
fonsTextIterNext(ctx->fs, &iter, &q); // try again
|
||||
if (iter.prevGlyphIndex == -1) // still can not find glyph?
|
||||
@@ -2466,7 +2820,7 @@ float nvgText(NVGcontext* ctx, float x, float y, const char* string, const char*
|
||||
|
||||
nvg__renderText(ctx, verts, nverts);
|
||||
|
||||
return iter.x;
|
||||
return iter.nextx / scale;
|
||||
}
|
||||
|
||||
void nvgTextBox(NVGcontext* ctx, float x, float y, float breakRowWidth, const char* string, const char* end)
|
||||
@@ -2525,7 +2879,7 @@ int nvgTextGlyphPositions(NVGcontext* ctx, float x, float y, const char* string,
|
||||
fonsSetAlign(ctx->fs, state->textAlign);
|
||||
fonsSetFont(ctx->fs, state->fontId);
|
||||
|
||||
fonsTextIterInit(ctx->fs, &iter, x*scale, y*scale, string, end);
|
||||
fonsTextIterInit(ctx->fs, &iter, x*scale, y*scale, string, end, FONS_GLYPH_BITMAP_OPTIONAL);
|
||||
prevIter = iter;
|
||||
while (fonsTextIterNext(ctx->fs, &iter, &q)) {
|
||||
if (iter.prevGlyphIndex < 0 && nvg__allocTextAtlas(ctx)) { // can not retrieve glyph?
|
||||
@@ -2549,6 +2903,7 @@ enum NVGcodepointType {
|
||||
NVG_SPACE,
|
||||
NVG_NEWLINE,
|
||||
NVG_CHAR,
|
||||
NVG_CJK_CHAR,
|
||||
};
|
||||
|
||||
int nvgTextBreakLines(NVGcontext* ctx, const char* string, const char* end, float breakRowWidth, NVGtextRow* rows, int maxRows)
|
||||
@@ -2590,7 +2945,7 @@ int nvgTextBreakLines(NVGcontext* ctx, const char* string, const char* end, floa
|
||||
|
||||
breakRowWidth *= scale;
|
||||
|
||||
fonsTextIterInit(ctx->fs, &iter, 0, 0, string, end);
|
||||
fonsTextIterInit(ctx->fs, &iter, 0, 0, string, end, FONS_GLYPH_BITMAP_OPTIONAL);
|
||||
prevIter = iter;
|
||||
while (fonsTextIterNext(ctx->fs, &iter, &q)) {
|
||||
if (iter.prevGlyphIndex < 0 && nvg__allocTextAtlas(ctx)) { // can not retrieve glyph?
|
||||
@@ -2616,7 +2971,15 @@ int nvgTextBreakLines(NVGcontext* ctx, const char* string, const char* end, floa
|
||||
type = NVG_NEWLINE;
|
||||
break;
|
||||
default:
|
||||
type = NVG_CHAR;
|
||||
if ((iter.codepoint >= 0x4E00 && iter.codepoint <= 0x9FFF) ||
|
||||
(iter.codepoint >= 0x3000 && iter.codepoint <= 0x30FF) ||
|
||||
(iter.codepoint >= 0xFF00 && iter.codepoint <= 0xFFEF) ||
|
||||
(iter.codepoint >= 0x1100 && iter.codepoint <= 0x11FF) ||
|
||||
(iter.codepoint >= 0x3130 && iter.codepoint <= 0x318F) ||
|
||||
(iter.codepoint >= 0xAC00 && iter.codepoint <= 0xD7AF))
|
||||
type = NVG_CJK_CHAR;
|
||||
else
|
||||
type = NVG_CHAR;
|
||||
break;
|
||||
}
|
||||
|
||||
@@ -2643,7 +3006,7 @@ int nvgTextBreakLines(NVGcontext* ctx, const char* string, const char* end, floa
|
||||
} else {
|
||||
if (rowStart == NULL) {
|
||||
// Skip white space until the beginning of the line
|
||||
if (type == NVG_CHAR) {
|
||||
if (type == NVG_CHAR || type == NVG_CJK_CHAR) {
|
||||
// The current char is the row so far
|
||||
rowStartX = iter.x;
|
||||
rowStart = iter.str;
|
||||
@@ -2663,26 +3026,26 @@ int nvgTextBreakLines(NVGcontext* ctx, const char* string, const char* end, floa
|
||||
float nextWidth = iter.nextx - rowStartX;
|
||||
|
||||
// track last non-white space character
|
||||
if (type == NVG_CHAR) {
|
||||
if (type == NVG_CHAR || type == NVG_CJK_CHAR) {
|
||||
rowEnd = iter.next;
|
||||
rowWidth = iter.nextx - rowStartX;
|
||||
rowMaxX = q.x1 - rowStartX;
|
||||
}
|
||||
// track last end of a word
|
||||
if (ptype == NVG_CHAR && type == NVG_SPACE) {
|
||||
if (((ptype == NVG_CHAR || ptype == NVG_CJK_CHAR) && type == NVG_SPACE) || type == NVG_CJK_CHAR) {
|
||||
breakEnd = iter.str;
|
||||
breakWidth = rowWidth;
|
||||
breakMaxX = rowMaxX;
|
||||
}
|
||||
// track last beginning of a word
|
||||
if (ptype == NVG_SPACE && type == NVG_CHAR) {
|
||||
if ((ptype == NVG_SPACE && (type == NVG_CHAR || type == NVG_CJK_CHAR)) || type == NVG_CJK_CHAR) {
|
||||
wordStart = iter.str;
|
||||
wordStartX = iter.x;
|
||||
wordMinX = q.x0 - rowStartX;
|
||||
}
|
||||
|
||||
// Break to new line when a character is beyond break width.
|
||||
if (type == NVG_CHAR && nextWidth > breakRowWidth) {
|
||||
if ((type == NVG_CHAR || type == NVG_CJK_CHAR) && nextWidth > breakRowWidth) {
|
||||
// The run length is too long, need to break to new line.
|
||||
if (breakEnd == rowStart) {
|
||||
// The current word is longer than the row length, just break it from here.
|
||||
@@ -2867,4 +3230,73 @@ void nvgTextMetrics(NVGcontext* ctx, float* ascender, float* descender, float* l
|
||||
if (lineh != NULL)
|
||||
*lineh *= invscale;
|
||||
}
|
||||
#else
|
||||
// State setting
|
||||
void nvgFontSize(NVGcontext* ctx, float size)
|
||||
{
|
||||
NVGstate* state = nvg__getState(ctx);
|
||||
state->fontSize = size;
|
||||
}
|
||||
|
||||
void nvgFontBlur(NVGcontext* ctx, float blur)
|
||||
{
|
||||
}
|
||||
|
||||
void nvgTextLetterSpacing(NVGcontext* ctx, float spacing)
|
||||
{
|
||||
}
|
||||
|
||||
void nvgTextLineHeight(NVGcontext* ctx, float lineHeight)
|
||||
{
|
||||
}
|
||||
|
||||
void nvgTextAlign(NVGcontext* ctx, int align)
|
||||
{
|
||||
}
|
||||
|
||||
void nvgFontFaceId(NVGcontext* ctx, int font)
|
||||
{
|
||||
}
|
||||
|
||||
void nvgFontFace(NVGcontext* ctx, const char* font)
|
||||
{
|
||||
}
|
||||
|
||||
int nvgCreateFontMem(NVGcontext* ctx, const char* name, unsigned char* data, int ndata, int freeData)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
int nvgFindFont(NVGcontext* ctx, const char* name) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
float nvgText(NVGcontext* ctx, float x, float y, const char* string, const char* end) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
float nvgTextBounds(NVGcontext* ctx, float x, float y, const char* string, const char* end, float* bounds)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
#endif/*WITH_NANOVG_GPU*/
|
||||
|
||||
NVGparams* nvgGetParams(NVGcontext* ctx) {
|
||||
return &(ctx->params);
|
||||
}
|
||||
|
||||
int nvgCreateImageRaw(NVGcontext* ctx, int w, int h, int format, int stride, int imageFlags, const unsigned char* data)
|
||||
{
|
||||
return ctx->params.renderCreateTexture(ctx->params.userPtr, format, w, h, stride, imageFlags, data);
|
||||
}
|
||||
|
||||
int nvgFindTextureRaw(NVGcontext* ctx, const void* data)
|
||||
{
|
||||
if(ctx->params.findTexture != NULL) {
|
||||
return ctx->params.findTexture(ctx->params.userPtr, data);
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
// vim: ft=c nu noet ts=4
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
//
|
||||
//
|
||||
// Copyright (c) 2013 Mikko Mononen memon@inside.org
|
||||
//
|
||||
// This software is provided 'as-is', without any express or implied
|
||||
@@ -24,6 +24,7 @@ extern "C" {
|
||||
#endif
|
||||
|
||||
#define NVG_PI 3.14159265358979323846264338327f
|
||||
#define WITH_NANOVG_GPU
|
||||
|
||||
#ifdef _MSC_VER
|
||||
#pragma warning(push)
|
||||
@@ -141,6 +142,7 @@ enum NVGimageFlags {
|
||||
NVG_IMAGE_REPEATY = 1<<2, // Repeat image in Y direction.
|
||||
NVG_IMAGE_FLIPY = 1<<3, // Flips (inverses) image in Y direction when rendered.
|
||||
NVG_IMAGE_PREMULTIPLIED = 1<<4, // Image data has premultiplied alpha.
|
||||
NVG_IMAGE_NEAREST = 1<<5, // Image interpolation is Nearest instead Linear
|
||||
};
|
||||
|
||||
// Begin drawing a new frame
|
||||
@@ -151,7 +153,7 @@ enum NVGimageFlags {
|
||||
// For example, GLFW returns two dimension for an opened window: window size and
|
||||
// frame buffer size. In that case you would set windowWidth/Height to the window size
|
||||
// devicePixelRatio to: frameBufferWidth / windowWidth.
|
||||
void nvgBeginFrame(NVGcontext* ctx, int windowWidth, int windowHeight, float devicePixelRatio);
|
||||
void nvgBeginFrame(NVGcontext* ctx, float windowWidth, float windowHeight, float devicePixelRatio);
|
||||
|
||||
// Cancels drawing the current frame.
|
||||
void nvgCancelFrame(NVGcontext* ctx);
|
||||
@@ -237,6 +239,9 @@ void nvgReset(NVGcontext* ctx);
|
||||
//
|
||||
// Current render style can be saved and restored using nvgSave() and nvgRestore().
|
||||
|
||||
// Sets whether to draw antialias for nvgStroke() and nvgFill(). It's enabled by default.
|
||||
void nvgShapeAntiAlias(NVGcontext* ctx, int enabled);
|
||||
|
||||
// Sets current stroke style to a solid color.
|
||||
void nvgStrokeColor(NVGcontext* ctx, NVGcolor color);
|
||||
|
||||
@@ -384,6 +389,9 @@ void nvgImageSize(NVGcontext* ctx, int image, int* w, int* h);
|
||||
// Deletes created image.
|
||||
void nvgDeleteImage(NVGcontext* ctx, int image);
|
||||
|
||||
// Deletes font's assets for font's name.
|
||||
void nvgDeleteFontByName(NVGcontext* ctx, const char* name);
|
||||
|
||||
//
|
||||
// Paints
|
||||
//
|
||||
@@ -416,6 +424,9 @@ NVGpaint nvgRadialGradient(NVGcontext* ctx, float cx, float cy, float inr, float
|
||||
NVGpaint nvgImagePattern(NVGcontext* ctx, float ox, float oy, float ex, float ey,
|
||||
float angle, int image, float alpha);
|
||||
|
||||
// get xfrom data
|
||||
void nvgGetStateXfrom(NVGcontext* ctx, float* xform);
|
||||
|
||||
//
|
||||
// Scissoring
|
||||
//
|
||||
@@ -434,9 +445,45 @@ void nvgScissor(NVGcontext* ctx, float x, float y, float w, float h);
|
||||
// transform space. The resulting shape is always rectangle.
|
||||
void nvgIntersectScissor(NVGcontext* ctx, float x, float y, float w, float h);
|
||||
|
||||
/**
|
||||
* @method nvgIntersectScissor_ex
|
||||
* 设置一个与前一个裁剪区做交集的矩形裁剪区。
|
||||
* 输入要设置的裁剪区，做交集后把新的裁剪区返回来给用户。
|
||||
*
|
||||
* @annotation ["scriptable"]
|
||||
* @param {NVGcontext*} ctx nanovg的对象
|
||||
* @param {float_t} x 裁剪区x坐标。
|
||||
* @param {float_t} y 裁剪区y坐标。
|
||||
* @param {float_t} w 裁剪区宽度。
|
||||
* @param {float_t} h 裁剪区高度。
|
||||
*
|
||||
* @return {ret_t} 返回RET_OK表示成功，否则表示失败。
|
||||
*/
|
||||
void nvgIntersectScissor_ex(NVGcontext* ctx, float* x, float* y, float* w, float* h);
|
||||
|
||||
// Reset and disables scissoring.
|
||||
void nvgResetScissor(NVGcontext* ctx);
|
||||
|
||||
|
||||
/**
|
||||
* @method nvgIntersectScissorForOtherRect
|
||||
* 设置一个裁剪区，但是该裁剪区收到脏矩形的影响
|
||||
* 首先会把脏矩形根据当前 nanovg 的坐标系转换为新的脏矩形区域，再和裁剪区做交集，把交集设为新的裁剪区
|
||||
*
|
||||
* @annotation ["scriptable"]
|
||||
* @param {NVGcontext*} ctx nanovg的对象
|
||||
* @param {float_t} x 裁剪区x坐标。
|
||||
* @param {float_t} y 裁剪区y坐标。
|
||||
* @param {float_t} w 裁剪区宽度。
|
||||
* @param {float_t} h 裁剪区高度。
|
||||
* @param {float_t} dx 脏矩形x坐标。
|
||||
* @param {float_t} dy 脏矩形y坐标。
|
||||
* @param {float_t} dw 脏矩形宽度。
|
||||
* @param {float_t} dh 脏矩形高度。
|
||||
*
|
||||
*/
|
||||
void nvgIntersectScissorForOtherRect(NVGcontext* ctx, float x, float y, float w, float h, float dx, float dy, float dw, float dh);
|
||||
|
||||
//
|
||||
// Paths
|
||||
//
|
||||
@@ -612,8 +659,13 @@ int nvgTextBreakLines(NVGcontext* ctx, const char* string, const char* end, floa
|
||||
// Internal Render API
|
||||
//
|
||||
enum NVGtexture {
|
||||
NVG_TEXTURE_ALPHA = 0x01,
|
||||
NVG_TEXTURE_RGBA = 0x02,
|
||||
NVG_TEXTURE_ALPHA = 1,
|
||||
NVG_TEXTURE_RGBA = 2,
|
||||
NVG_TEXTURE_BGRA = 4,
|
||||
NVG_TEXTURE_RGB = 8,
|
||||
NVG_TEXTURE_BGR = 16,
|
||||
NVG_TEXTURE_RGB565 = 32,
|
||||
NVG_TEXTURE_BGR565 = 64
|
||||
};
|
||||
|
||||
struct NVGscissor {
|
||||
@@ -644,17 +696,24 @@ typedef struct NVGpath NVGpath;
|
||||
struct NVGparams {
|
||||
void* userPtr;
|
||||
int edgeAntiAlias;
|
||||
|
||||
void (*setLineCap)(void* uptr, int lineCap);
|
||||
void (*setLineJoin)(void* uptr, int lineJoin);
|
||||
|
||||
int (*clearCache)(void* uptr);
|
||||
int (*renderCreate)(void* uptr);
|
||||
int (*renderCreateTexture)(void* uptr, int type, int w, int h, int imageFlags, const unsigned char* data);
|
||||
int (*findTexture)(void* uptr, const void* data);
|
||||
void (*setStateXfrom)(void* uptr, float* xform);
|
||||
int (*renderCreateTexture)(void* uptr, int type, int w, int h, int stride, int imageFlags, const unsigned char* data);
|
||||
int (*renderDeleteTexture)(void* uptr, int image);
|
||||
int (*renderUpdateTexture)(void* uptr, int image, int x, int y, int w, int h, const unsigned char* data);
|
||||
int (*renderGetTextureSize)(void* uptr, int image, int* w, int* h);
|
||||
void (*renderViewport)(void* uptr, int width, int height, float devicePixelRatio);
|
||||
void (*renderViewport)(void* uptr, float width, float height, float devicePixelRatio);
|
||||
void (*renderCancel)(void* uptr);
|
||||
void (*renderFlush)(void* uptr, NVGcompositeOperationState compositeOperation);
|
||||
void (*renderFill)(void* uptr, NVGpaint* paint, NVGscissor* scissor, float fringe, const float* bounds, const NVGpath* paths, int npaths);
|
||||
void (*renderStroke)(void* uptr, NVGpaint* paint, NVGscissor* scissor, float fringe, float strokeWidth, const NVGpath* paths, int npaths);
|
||||
void (*renderTriangles)(void* uptr, NVGpaint* paint, NVGscissor* scissor, const NVGvertex* verts, int nverts);
|
||||
void (*renderFlush)(void* uptr);
|
||||
void (*renderFill)(void* uptr, NVGpaint* paint, NVGcompositeOperationState compositeOperation, NVGscissor* scissor, float fringe, const float* bounds, const NVGpath* paths, int npaths);
|
||||
void (*renderStroke)(void* uptr, NVGpaint* paint, NVGcompositeOperationState compositeOperation, NVGscissor* scissor, float fringe, float strokeWidth, const NVGpath* paths, int npaths);
|
||||
void (*renderTriangles)(void* uptr, NVGpaint* paint, NVGcompositeOperationState compositeOperation, NVGscissor* scissor, const NVGvertex* verts, int nverts);
|
||||
void (*renderDelete)(void* uptr);
|
||||
};
|
||||
typedef struct NVGparams NVGparams;
|
||||
@@ -674,6 +733,13 @@ void nvgDebugDumpPathCache(NVGcontext* ctx);
|
||||
|
||||
#define NVG_NOTUSED(v) for (;;) { (void)(1 ? (void)0 : ( (void)(v) ) ); break; }
|
||||
|
||||
NVGparams* nvgGetParams(NVGcontext* ctx);
|
||||
int nvgCreateImageRaw(NVGcontext* ctx, int w, int h, int format, int stride, int imageFlags, const unsigned char* data);
|
||||
|
||||
int nvgFindTextureRaw(NVGcontext* ctx, const void* data);
|
||||
|
||||
int nvgClearCache(NVGcontext* ctx);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -49,6 +49,16 @@ void nvgluDeleteFramebuffer(NVGLUframebuffer* fb);
|
||||
|
||||
static GLint defaultFBO = -1;
|
||||
|
||||
int nvgluGetCurrFramebuffer() {
|
||||
#ifdef NANOVG_FBO_VALID
|
||||
GLint defaultFBO;
|
||||
glGetIntegerv(GL_FRAMEBUFFER_BINDING, &defaultFBO);
|
||||
return defaultFBO;
|
||||
#else
|
||||
return -1;
|
||||
#endif
|
||||
}
|
||||
|
||||
NVGLUframebuffer* nvgluCreateFramebuffer(NVGcontext* ctx, int w, int h, int imageFlags)
|
||||
{
|
||||
#ifdef NANOVG_FBO_VALID
|
||||
@@ -90,7 +100,18 @@ NVGLUframebuffer* nvgluCreateFramebuffer(NVGcontext* ctx, int w, int h, int imag
|
||||
glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, fb->texture, 0);
|
||||
glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_STENCIL_ATTACHMENT, GL_RENDERBUFFER, fb->rbo);
|
||||
|
||||
if (glCheckFramebufferStatus(GL_FRAMEBUFFER) != GL_FRAMEBUFFER_COMPLETE) goto error;
|
||||
if (glCheckFramebufferStatus(GL_FRAMEBUFFER) != GL_FRAMEBUFFER_COMPLETE) {
|
||||
#ifdef GL_DEPTH24_STENCIL8
|
||||
// If GL_STENCIL_INDEX8 is not supported, try GL_DEPTH24_STENCIL8 as a fallback.
|
||||
// Some graphics cards require a depth buffer along with a stencil.
|
||||
glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH24_STENCIL8, w, h);
|
||||
glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, fb->texture, 0);
|
||||
glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_STENCIL_ATTACHMENT, GL_RENDERBUFFER, fb->rbo);
|
||||
|
||||
if (glCheckFramebufferStatus(GL_FRAMEBUFFER) != GL_FRAMEBUFFER_COMPLETE)
|
||||
#endif // GL_DEPTH24_STENCIL8
|
||||
goto error;
|
||||
}
|
||||
|
||||
glBindFramebuffer(GL_FRAMEBUFFER, defaultFBO);
|
||||
glBindRenderbuffer(GL_RENDERBUFFER, defaultRBO);
|
||||
@@ -119,6 +140,14 @@ void nvgluBindFramebuffer(NVGLUframebuffer* fb)
|
||||
#endif
|
||||
}
|
||||
|
||||
void nvgluReadCurrentFramebufferData(unsigned int x, unsigned int y, unsigned int w, unsigned int h, unsigned int width, unsigned int height, void* pixels)
|
||||
{
|
||||
if(x + w <= width && y + h <= height && pixels != NULL) {
|
||||
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
|
||||
glReadPixels(x, y, w, h, GL_RGBA, GL_UNSIGNED_BYTE, pixels);
|
||||
}
|
||||
}
|
||||
|
||||
void nvgluDeleteFramebuffer(NVGLUframebuffer* fb)
|
||||
{
|
||||
#ifdef NANOVG_FBO_VALID
|
||||
|
||||
@@ -411,7 +411,7 @@ extern "C" {
|
||||
#endif
|
||||
|
||||
#ifdef STB_IMAGE_STATIC
|
||||
#define STBIDEF static
|
||||
#define STBIDEF static inline
|
||||
#else
|
||||
#define STBIDEF extern
|
||||
#endif
|
||||
|
||||
21
scripts/atl.sh
Executable file
21
scripts/atl.sh
Executable file
@@ -0,0 +1,21 @@
|
||||
#!/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
|
||||
echo -n 1 > /data/params/d/dp_is_updating
|
||||
if [ $1 -eq 1 ]; then
|
||||
printf %s "1" > /data/params/d/CommunityFeaturesToggle
|
||||
printf %s "1" > /data/params/d/dp_atl
|
||||
printf %s "0" > /data/params/d/dp_uploader
|
||||
printf %s "0" > /data/params/d/dp_accel_profile
|
||||
printf %s "0" > /data/params/d/dp_dynamic_follow
|
||||
fi
|
||||
if [ $1 -eq 0 ]; then
|
||||
printf %s "0" > /data/params/d/dp_atl
|
||||
cd /data/openpilot || exit
|
||||
git reset --hard @{u}
|
||||
git clean -xdf
|
||||
fi
|
||||
reboot
|
||||
9
scripts/complete_setup.sh
Executable file
9
scripts/complete_setup.sh
Executable file
@@ -0,0 +1,9 @@
|
||||
#!/usr/bin/bash
|
||||
|
||||
touch /data/data/com.termux/files/continue.sh
|
||||
echo "#!/usr/bin/bash" >> /data/data/com.termux/files/continue.sh
|
||||
echo "cd /data/openpilot" >> /data/data/com.termux/files/continue.sh
|
||||
echo "exec ./launch_openpilot.sh" >> /data/data/com.termux/files/continue.sh
|
||||
|
||||
chmod u+x /data/data/com.termux/files/continue.sh
|
||||
reboot
|
||||
10
scripts/disable_relay.sh
Executable file
10
scripts/disable_relay.sh
Executable file
@@ -0,0 +1,10 @@
|
||||
#!/usr/bin/bash
|
||||
|
||||
if [ $1 -eq 1 ]; then
|
||||
printf %s "1" > /data/params/d/dp_disable_relay
|
||||
fi
|
||||
if [ $1 -eq 0 ]; then
|
||||
printf %s "0" > /data/params/d/dp_disable_relay
|
||||
fi
|
||||
|
||||
rm -rf /data/openpilot/selfdrive/boardd/boardd && reboot
|
||||
13
scripts/rebuild.sh
Executable file
13
scripts/rebuild.sh
Executable file
@@ -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
|
||||
10
scripts/reset_dp.sh
Executable file
10
scripts/reset_dp.sh
Executable file
@@ -0,0 +1,10 @@
|
||||
#!/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
|
||||
echo -n 1 > /data/params/d/dp_is_updating
|
||||
rm -fr /data/params/d/dp_*
|
||||
rm -fr /data/params/d/Dragon*
|
||||
reboot
|
||||
9
scripts/reset_update.sh
Executable file
9
scripts/reset_update.sh
Executable file
@@ -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
|
||||
echo -n 1 > /data/params/d/dp_is_updating
|
||||
rm /data/openpilot/panda/board/obj/panda.bin
|
||||
cd /data/openpilot && git fetch --all && git reset --hard @{u} && git clean -xdf && scons --clean && reboot
|
||||
9
scripts/update_panda_firmware.sh
Executable file
9
scripts/update_panda_firmware.sh
Executable file
@@ -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 || exit ; pkill -f boardd ; python -c "from panda import Panda; Panda().flash()" && reboot
|
||||
9
scripts/vw.sh
Executable file
9
scripts/vw.sh
Executable file
@@ -0,0 +1,9 @@
|
||||
#!/usr/bin/bash
|
||||
|
||||
if [ $1 -eq 1 ]; then
|
||||
printf %s "1" > /data/params/d/dp_vw
|
||||
fi
|
||||
if [ $1 -eq 0 ]; then
|
||||
printf %s "0" > /data/params/d/dp_vw
|
||||
fi
|
||||
rm /data/openpilot/panda/board/obj/panda.bin
|
||||
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 |
540
selfdrive/assets/locales/events.pot
Normal file
540
selfdrive/assets/locales/events.pot
Normal file
@@ -0,0 +1,540 @@
|
||||
# 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: 2020-10-15 13:37+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"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:153
|
||||
msgid "openpilot Unavailable"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:160 selfdrive/controls/lib/events.py:167
|
||||
msgid "TAKE CONTROL IMMEDIATELY"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:187 selfdrive/controls/lib/events.py:328
|
||||
#: selfdrive/controls/lib/events.py:354 selfdrive/controls/lib/events.py:418
|
||||
#: selfdrive/controls/lib/events.py:470 selfdrive/controls/lib/events.py:522
|
||||
#: selfdrive/controls/lib/events.py:532
|
||||
msgid "TAKE CONTROL"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:188
|
||||
#, python-format
|
||||
msgid "Steer Unavailable Below %(speed)d %(unit)s"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:196
|
||||
#, python-format
|
||||
msgid "Calibration in Progress: %d%%"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:197
|
||||
#, python-format
|
||||
msgid "Drive Above %(speed)d %(unit)s"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:204
|
||||
msgid "Poor GPS reception"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:205
|
||||
msgid "If sky is visible, contact support"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:205
|
||||
msgid "Check GPS antenna placement"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:210
|
||||
msgid "Cruise Mode Disabled"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:212
|
||||
msgid "Main Switch Off"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:222
|
||||
msgid "DEBUG ALERT"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:230
|
||||
msgid "Be ready to take over at any time"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:231 selfdrive/controls/lib/events.py:239
|
||||
#: selfdrive/controls/lib/events.py:247 selfdrive/controls/lib/events.py:255
|
||||
msgid "Always keep hands on wheel and eyes on road"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:238
|
||||
msgid "WARNING: This branch is not tested"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:246
|
||||
msgid "Dashcam mode"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:254
|
||||
msgid "Dashcam mode for unsupported car"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:262
|
||||
msgid "Unsupported Giraffe Configuration"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:263
|
||||
msgid "Visit comma.ai/tg"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:270
|
||||
msgid "White Panda Is No Longer Supported"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:271
|
||||
msgid "Upgrade to comma two or black panda"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:274
|
||||
msgid "White panda is no longer supported"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:279
|
||||
msgid "Stock LKAS is turned on"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:280
|
||||
msgid "Turn off stock LKAS to engage"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:288
|
||||
msgid "Community Feature Detected"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:289
|
||||
msgid "Enable Community Features in Developer Settings"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:296
|
||||
msgid "Dashcam Mode"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:297
|
||||
msgid "Car Unrecognized"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:304 selfdrive/controls/lib/events.py:312
|
||||
#: selfdrive/controls/lib/events.py:320
|
||||
msgid "BRAKE!"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:305
|
||||
msgid "Stock AEB: Risk of Collision"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:313
|
||||
msgid "Stock FCW: Risk of Collision"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:321
|
||||
msgid "Risk of Collision"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:329
|
||||
msgid "Lane Departure Detected"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:338
|
||||
msgid "openpilot will not brake while gas pressed"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:346
|
||||
msgid "Vehicle Parameter Identification Failed"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:355 selfdrive/controls/lib/events.py:523
|
||||
#: selfdrive/controls/lib/events.py:526
|
||||
msgid "Steering Temporarily Unavailable"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:362
|
||||
msgid "KEEP EYES ON ROAD: Driver Distracted"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:370
|
||||
msgid "KEEP EYES ON ROAD"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:371
|
||||
msgid "Driver Appears Distracted"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:378 selfdrive/controls/lib/events.py:402
|
||||
msgid "DISENGAGE IMMEDIATELY"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:379
|
||||
msgid "Driver Was Distracted"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:386
|
||||
msgid "TOUCH STEERING WHEEL: No Face Detected"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:394
|
||||
msgid "TOUCH STEERING WHEEL"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:395
|
||||
msgid "Driver Is Unresponsive"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:403
|
||||
msgid "Driver Was Unresponsive"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:410
|
||||
msgid "CHECK DRIVER FACE VISIBILITY"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:411
|
||||
msgid "Driver Monitor Model Output Uncertain"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:419
|
||||
msgid "Resume Driving Manually"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:426
|
||||
msgid "STOPPED"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:427
|
||||
msgid "Press Resume to Move"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:438
|
||||
msgid "Steer Left to Start Lane Change"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:439 selfdrive/controls/lib/events.py:447
|
||||
#: selfdrive/controls/lib/events.py:455 selfdrive/controls/lib/events.py:463
|
||||
#: selfdrive/controls/lib/events.py:802 selfdrive/controls/lib/events.py:810
|
||||
msgid "Monitor Other Vehicles"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:446
|
||||
msgid "Steer Right to Start Lane Change"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:454
|
||||
msgid "Car Detected in Blindspot"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:462
|
||||
msgid "Changing Lane"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:471
|
||||
msgid "Turn Exceeds Steering Limit"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:496
|
||||
msgid "Brake Hold Active"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:501
|
||||
msgid "Park Brake Engaged"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:506
|
||||
msgid "Pedal Pressed During Attempt"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:517
|
||||
msgid "Enable Adaptive Cruise"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:533
|
||||
msgid "Attempting Refocus: Camera Focus Invalid"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:539
|
||||
msgid "Out of Storage Space"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:544
|
||||
msgid "Speed Too Low"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:549 selfdrive/controls/lib/events.py:553
|
||||
msgid "NEOS Update Required"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:550
|
||||
msgid "Please Wait for Update"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:558 selfdrive/controls/lib/events.py:562
|
||||
msgid "No Data from Device Sensors"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:559 selfdrive/controls/lib/events.py:572
|
||||
#: selfdrive/controls/lib/events.py:669
|
||||
msgid "Reboot your Device"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:571 selfdrive/controls/lib/events.py:575
|
||||
msgid "Speaker not found"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:579
|
||||
msgid "Distraction Level Too High"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:583
|
||||
msgid "System Overheated"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:584
|
||||
msgid "System overheated"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:588 selfdrive/controls/lib/events.py:589
|
||||
msgid "Gear not D"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:594
|
||||
msgid "Calibration Invalid"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:595
|
||||
msgid "Reposition Device and Recalibrate"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:598 selfdrive/controls/lib/events.py:599
|
||||
msgid "Calibration Invalid: Reposition Device & Recalibrate"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:603 selfdrive/controls/lib/events.py:605
|
||||
msgid "Calibration in Progress"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:609
|
||||
msgid "Door Open"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:610
|
||||
msgid "Door open"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:614
|
||||
msgid "Seatbelt Unlatched"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:615
|
||||
msgid "Seatbelt unlatched"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:619 selfdrive/controls/lib/events.py:620
|
||||
msgid "ESP Off"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:624 selfdrive/controls/lib/events.py:625
|
||||
msgid "Low Battery"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:629 selfdrive/controls/lib/events.py:630
|
||||
msgid "Communication Issue between Processes"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:635 selfdrive/controls/lib/events.py:636
|
||||
msgid "Radar Communication Issue"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:641 selfdrive/controls/lib/events.py:642
|
||||
#: selfdrive/controls/lib/events.py:646 selfdrive/controls/lib/events.py:647
|
||||
msgid "Radar Error: Restart the Car"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:651 selfdrive/controls/lib/events.py:652
|
||||
msgid "Driving model lagging"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:656 selfdrive/controls/lib/events.py:657
|
||||
msgid "Vision Model Output Uncertain"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:661 selfdrive/controls/lib/events.py:662
|
||||
msgid "Device Fell Off Mount"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:666 selfdrive/controls/lib/events.py:672
|
||||
msgid "Low Memory: Reboot Your Device"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:668
|
||||
msgid "RAM Critically Low"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:677 selfdrive/controls/lib/events.py:678
|
||||
msgid "Controls Failed"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:682
|
||||
msgid "Controls Mismatch"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:686 selfdrive/controls/lib/events.py:688
|
||||
#: selfdrive/controls/lib/events.py:692
|
||||
msgid "CAN Error: Check Connections"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:696 selfdrive/controls/lib/events.py:702
|
||||
msgid "LKAS Fault: Restart the Car"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:698
|
||||
msgid "LKAS Fault: Restart the car to engage"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:706 selfdrive/controls/lib/events.py:712
|
||||
#: selfdrive/controls/lib/events.py:795
|
||||
msgid "Cruise Fault: Restart the Car"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:708 selfdrive/controls/lib/events.py:791
|
||||
msgid "Cruise Fault: Restart the car to engage"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:716
|
||||
msgid "Gas Fault: Restart the Car"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:717
|
||||
msgid "Gas Error: Restart the Car"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:722
|
||||
msgid ""
|
||||
"Reverse\n"
|
||||
"Gear"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:726
|
||||
msgid "Reverse Gear"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:731
|
||||
msgid "Cruise Is Off"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:735 selfdrive/controls/lib/events.py:736
|
||||
msgid "Planner Solution Error"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:740 selfdrive/controls/lib/events.py:742
|
||||
#: selfdrive/controls/lib/events.py:746
|
||||
msgid "Harness Malfunction"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:743
|
||||
msgid "Please Check Hardware"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:751 selfdrive/controls/lib/events.py:760
|
||||
msgid "openpilot Canceled"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:752
|
||||
msgid "No close lead car"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:755
|
||||
msgid "No Close Lead Car"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:761
|
||||
msgid "Speed too low"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:768 selfdrive/controls/lib/events.py:773
|
||||
msgid "Speed Too High"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:769
|
||||
msgid "Slow down to resume operation"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:774
|
||||
msgid "Slow down to engage"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:781
|
||||
msgid "Please connect to Internet"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:782
|
||||
msgid "An Update Check Is Required to Engage"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:785
|
||||
msgid "Please Connect to Internet"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:801
|
||||
msgid "Left ALC will start in 3s"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:809
|
||||
msgid "Right ALC will start in 3s"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:817
|
||||
msgid "STEERING REQUIRED: Lane Keeping OFF"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:825
|
||||
msgid "STEERING REQUIRED: Blinkers ON"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:833 selfdrive/controls/lib/events.py:838
|
||||
msgid "Lead Car Is Moving"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:847
|
||||
msgid "WARNING"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:848
|
||||
msgid "Grab wheel to start bypass"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:855
|
||||
msgid "BYPASSING"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:856
|
||||
msgid "HOLD WHEEL"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:863
|
||||
msgid "Bypassed!"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:864
|
||||
msgid "Release wheel when ready"
|
||||
msgstr ""
|
||||
BIN
selfdrive/assets/locales/ja-JP/LC_MESSAGES/events.mo
Normal file
BIN
selfdrive/assets/locales/ja-JP/LC_MESSAGES/events.mo
Normal file
Binary file not shown.
545
selfdrive/assets/locales/ja-JP/LC_MESSAGES/events.po
Normal file
545
selfdrive/assets/locales/ja-JP/LC_MESSAGES/events.po
Normal file
@@ -0,0 +1,545 @@
|
||||
# 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.
|
||||
#
|
||||
msgid ""
|
||||
msgstr ""
|
||||
"Project-Id-Version: PACKAGE VERSION\n"
|
||||
"Report-Msgid-Bugs-To: \n"
|
||||
"POT-Creation-Date: 2020-10-15 13:37+1000\n"
|
||||
"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
|
||||
"Last-Translator: nikkurie <@nikkurie>\n"
|
||||
"Language-Team: LANGUAGE <LL@li.org>\n"
|
||||
"Language: ja-JP\n"
|
||||
"MIME-Version: 1.0\n"
|
||||
"Content-Type: text/plain; charset=UTF-8\n"
|
||||
"Content-Transfer-Encoding: 8bit\n"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:153
|
||||
msgid "openpilot Unavailable"
|
||||
msgstr "オープンパイロットは利用できません"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:160 selfdrive/controls/lib/events.py:167
|
||||
msgid "TAKE CONTROL IMMEDIATELY"
|
||||
msgstr "すぐにハンドルを持って"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:187 selfdrive/controls/lib/events.py:328
|
||||
#: selfdrive/controls/lib/events.py:354 selfdrive/controls/lib/events.py:418
|
||||
#: selfdrive/controls/lib/events.py:470 selfdrive/controls/lib/events.py:522
|
||||
#: selfdrive/controls/lib/events.py:532
|
||||
msgid "TAKE CONTROL"
|
||||
msgstr "ハンドルを持って"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:188
|
||||
#, fuzzy, python-format
|
||||
msgid "Steer Unavailable Below %(speed)d %(unit)s"
|
||||
msgstr "横の制御が無効になり速度が以下になります"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:196
|
||||
#, fuzzy, python-format
|
||||
msgid "Calibration in Progress: %d%%"
|
||||
msgstr "キャリブレーション中:"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:197
|
||||
#, python-format
|
||||
msgid "Drive Above %(speed)d %(unit)s"
|
||||
msgstr "%(speed)d %(unit)s 制限速度以上の運転をしてください"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:204
|
||||
msgid "Poor GPS reception"
|
||||
msgstr "GPS受信不良"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:205
|
||||
msgid "If sky is visible, contact support"
|
||||
msgstr "地下・トンネルでない場合は、カスタマーサービスに連絡ください"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:205
|
||||
msgid "Check GPS antenna placement"
|
||||
msgstr "GPSアンテナの位置を確認してください。"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:210
|
||||
msgid "Cruise Mode Disabled"
|
||||
msgstr "クルーズモードをオフ"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:212
|
||||
msgid "Main Switch Off"
|
||||
msgstr "メインスイッチをオフ"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:222
|
||||
msgid "DEBUG ALERT"
|
||||
msgstr "テストメッセージを削除"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:230
|
||||
msgid "Be ready to take over at any time"
|
||||
msgstr "いつでも引き継げるよう準備しておいてください。"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:231 selfdrive/controls/lib/events.py:239
|
||||
#: selfdrive/controls/lib/events.py:247 selfdrive/controls/lib/events.py:255
|
||||
msgid "Always keep hands on wheel and eyes on road"
|
||||
msgstr "常にハンドルに触れ、道路から目を離さない"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:238
|
||||
msgid "WARNING: This branch is not tested"
|
||||
msgstr "警告: このブランチはテストされていません"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:246
|
||||
msgid "Dashcam mode"
|
||||
msgstr "ダッシュカムモード"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:254
|
||||
msgid "Dashcam mode for unsupported car"
|
||||
msgstr "未対応車のためダッシュカムモードのみ"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:262
|
||||
msgid "Unsupported Giraffe Configuration"
|
||||
msgstr "サポートされていないGiraffeの設定"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:263
|
||||
msgid "Visit comma.ai/tg"
|
||||
msgstr "comma.ai/tg を参照"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:270
|
||||
msgid "White Panda Is No Longer Supported"
|
||||
msgstr "ホワイトパンダはサポート終了しました"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:271
|
||||
msgid "Upgrade to comma two or black panda"
|
||||
msgstr "コンマ2やブラックパンダにアップグレード"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:274
|
||||
msgid "White panda is no longer supported"
|
||||
msgstr "ホワイトパンダはサポート終了しました"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:279
|
||||
msgid "Stock LKAS is turned on"
|
||||
msgstr "純正LKASがオン"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:280
|
||||
msgid "Turn off stock LKAS to engage"
|
||||
msgstr "純正LKASをオフにしてエンゲージ"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:288
|
||||
msgid "Community Feature Detected"
|
||||
msgstr "コミュニティ開発の機能を検出"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:289
|
||||
msgid "Enable Community Features in Developer Settings"
|
||||
msgstr "開発者設定でコミュニティ機能を有効にする"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:296
|
||||
msgid "Dashcam Mode"
|
||||
msgstr "ダッシュカムモード"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:297
|
||||
msgid "Car Unrecognized"
|
||||
msgstr "認識できない車"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:304 selfdrive/controls/lib/events.py:312
|
||||
#: selfdrive/controls/lib/events.py:320
|
||||
msgid "BRAKE!"
|
||||
msgstr "ブレーキ！"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:305
|
||||
msgid "Stock AEB: Risk of Collision"
|
||||
msgstr "衝突の危険"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:313
|
||||
msgid "Stock FCW: Risk of Collision"
|
||||
msgstr "衝突の危険"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:321
|
||||
msgid "Risk of Collision"
|
||||
msgstr "衝突の危険"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:329
|
||||
msgid "Lane Departure Detected"
|
||||
msgstr "車線逸脱を検知"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:338
|
||||
msgid "openpilot will not brake while gas pressed"
|
||||
msgstr "アクセル中、オープンパイロットはブレーキをかけません"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:346
|
||||
msgid "Vehicle Parameter Identification Failed"
|
||||
msgstr "車両パラメータの識別に失敗しました。"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:355 selfdrive/controls/lib/events.py:523
|
||||
#: selfdrive/controls/lib/events.py:526
|
||||
msgid "Steering Temporarily Unavailable"
|
||||
msgstr "ステアリングは一時的に利用不可"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:362
|
||||
msgid "KEEP EYES ON ROAD: Driver Distracted"
|
||||
msgstr "道路から目を離さないで:注意散漫です"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:370
|
||||
msgid "KEEP EYES ON ROAD"
|
||||
msgstr "道路から目を離さないで"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:371
|
||||
msgid "Driver Appears Distracted"
|
||||
msgstr "ドライバーは注意散漫に見えます"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:378 selfdrive/controls/lib/events.py:402
|
||||
msgid "DISENGAGE IMMEDIATELY"
|
||||
msgstr "すぐに解除してください"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:379
|
||||
msgid "Driver Was Distracted"
|
||||
msgstr "ドライバーは注意力散漫"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:386
|
||||
msgid "TOUCH STEERING WHEEL: No Face Detected"
|
||||
msgstr "ハンドルに触れて:顔が検出できない"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:394
|
||||
msgid "TOUCH STEERING WHEEL"
|
||||
msgstr "ハンドルに触れて"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:395
|
||||
msgid "Driver Is Unresponsive"
|
||||
msgstr "ドライバーが無反応"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:403
|
||||
msgid "Driver Was Unresponsive"
|
||||
msgstr "ドライバーが無反応でした"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:410
|
||||
msgid "CHECK DRIVER FACE VISIBILITY"
|
||||
msgstr "ドライバーの顔の視認性を確認"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:411
|
||||
msgid "Driver Monitor Model Output Uncertain"
|
||||
msgstr "ドライバー監視モデルが不完全"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:419
|
||||
msgid "Resume Driving Manually"
|
||||
msgstr "手動で運転を再開"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:426
|
||||
msgid "STOPPED"
|
||||
msgstr "停止"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:427
|
||||
msgid "Press Resume to Move"
|
||||
msgstr "Resumeを押して移動します。"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:438
|
||||
msgid "Steer Left to Start Lane Change"
|
||||
msgstr "左ハンドルで車線変更を開始"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:439 selfdrive/controls/lib/events.py:447
|
||||
#: selfdrive/controls/lib/events.py:455 selfdrive/controls/lib/events.py:463
|
||||
#: selfdrive/controls/lib/events.py:802 selfdrive/controls/lib/events.py:810
|
||||
msgid "Monitor Other Vehicles"
|
||||
msgstr "他の車両を監視"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:446
|
||||
msgid "Steer Right to Start Lane Change"
|
||||
msgstr "右ハンドルで車線変更を開始"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:454
|
||||
msgid "Car Detected in Blindspot"
|
||||
msgstr "ブラインドスポットで車両を発見"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:462
|
||||
msgid "Changing Lane"
|
||||
msgstr "レーンチェンジ中"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:471
|
||||
msgid "Turn Exceeds Steering Limit"
|
||||
msgstr "ステアリングリミットを超えています"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:496
|
||||
msgid "Brake Hold Active"
|
||||
msgstr "サイドブレーキが作動"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:501
|
||||
msgid "Park Brake Engaged"
|
||||
msgstr "サイドブレーキ作動中"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:506
|
||||
msgid "Pedal Pressed During Attempt"
|
||||
msgstr "ペダル/ブレーキを検出"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:517
|
||||
msgid "Enable Adaptive Cruise"
|
||||
msgstr "ACCを有効化"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:533
|
||||
msgid "Attempting Refocus: Camera Focus Invalid"
|
||||
msgstr "再フォーカス中です"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:539
|
||||
msgid "Out of Storage Space"
|
||||
msgstr "空き容量不足"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:544
|
||||
msgid "Speed Too Low"
|
||||
msgstr "速度が遅すぎます"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:549 selfdrive/controls/lib/events.py:553
|
||||
msgid "NEOS Update Required"
|
||||
msgstr "NEOSの更新が必要"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:550
|
||||
msgid "Please Wait for Update"
|
||||
msgstr "更新をお待ちください"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:558 selfdrive/controls/lib/events.py:562
|
||||
msgid "No Data from Device Sensors"
|
||||
msgstr "デバイスセンサからのデータがありません"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:559 selfdrive/controls/lib/events.py:572
|
||||
#: selfdrive/controls/lib/events.py:669
|
||||
msgid "Reboot your Device"
|
||||
msgstr "デバイスを再起動"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:571 selfdrive/controls/lib/events.py:575
|
||||
msgid "Speaker not found"
|
||||
msgstr "スピーカーが見つかりません"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:579
|
||||
msgid "Distraction Level Too High"
|
||||
msgstr "注意力散漫すぎます"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:583
|
||||
msgid "System Overheated"
|
||||
msgstr "オーバーヒート"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:584
|
||||
msgid "System overheated"
|
||||
msgstr "オーバーヒート"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:588 selfdrive/controls/lib/events.py:589
|
||||
msgid "Gear not D"
|
||||
msgstr "Dではない"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:594
|
||||
#, fuzzy
|
||||
msgid "Calibration Invalid"
|
||||
msgstr "キャリブレーション"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:595
|
||||
#, fuzzy
|
||||
msgid "Reposition Device and Recalibrate"
|
||||
msgstr "キャリブレーションが無効です。再実行してください。"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:598 selfdrive/controls/lib/events.py:599
|
||||
msgid "Calibration Invalid: Reposition Device & Recalibrate"
|
||||
msgstr "キャリブレーションが無効です。再実行してください。"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:603 selfdrive/controls/lib/events.py:605
|
||||
msgid "Calibration in Progress"
|
||||
msgstr "キャリブレーション"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:609
|
||||
msgid "Door Open"
|
||||
msgstr "ドアが開いています"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:610
|
||||
msgid "Door open"
|
||||
msgstr "ドアが開いています"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:614
|
||||
msgid "Seatbelt Unlatched"
|
||||
msgstr "シートベルト未着用"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:615
|
||||
msgid "Seatbelt unlatched"
|
||||
msgstr "シートベルト未着用"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:619 selfdrive/controls/lib/events.py:620
|
||||
msgid "ESP Off"
|
||||
msgstr "ESPオフ"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:624 selfdrive/controls/lib/events.py:625
|
||||
msgid "Low Battery"
|
||||
msgstr "低バッテリー"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:629 selfdrive/controls/lib/events.py:630
|
||||
msgid "Communication Issue between Processes"
|
||||
msgstr "プロセス間の通信の問題"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:635 selfdrive/controls/lib/events.py:636
|
||||
msgid "Radar Communication Issue"
|
||||
msgstr "レーダー通信問題"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:641 selfdrive/controls/lib/events.py:642
|
||||
#: selfdrive/controls/lib/events.py:646 selfdrive/controls/lib/events.py:647
|
||||
msgid "Radar Error: Restart the Car"
|
||||
msgstr "レーダーエラー:車を再起動"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:651 selfdrive/controls/lib/events.py:652
|
||||
msgid "Driving model lagging"
|
||||
msgstr "制御モデルに遅延がある"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:656 selfdrive/controls/lib/events.py:657
|
||||
msgid "Vision Model Output Uncertain"
|
||||
msgstr "映像が不明瞭です"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:661 selfdrive/controls/lib/events.py:662
|
||||
msgid "Device Fell Off Mount"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:666 selfdrive/controls/lib/events.py:672
|
||||
msgid "Low Memory: Reboot Your Device"
|
||||
msgstr "ローメモリ:デバイスを再起動"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:668
|
||||
msgid "RAM Critically Low"
|
||||
msgstr "RAMが致命的に低い"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:677 selfdrive/controls/lib/events.py:678
|
||||
msgid "Controls Failed"
|
||||
msgstr "制御失敗"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:682
|
||||
msgid "Controls Mismatch"
|
||||
msgstr "制御不一致"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:686 selfdrive/controls/lib/events.py:688
|
||||
#: selfdrive/controls/lib/events.py:692
|
||||
msgid "CAN Error: Check Connections"
|
||||
msgstr "CANエラー:接続を確認"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:696 selfdrive/controls/lib/events.py:702
|
||||
msgid "LKAS Fault: Restart the Car"
|
||||
msgstr "LKASの故障:車を再起動"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:698
|
||||
msgid "LKAS Fault: Restart the car to engage"
|
||||
msgstr "LKASの故障:車を再起動後発進"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:706 selfdrive/controls/lib/events.py:712
|
||||
#: selfdrive/controls/lib/events.py:795
|
||||
msgid "Cruise Fault: Restart the Car"
|
||||
msgstr "クルーズ失敗:車を再起動"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:708 selfdrive/controls/lib/events.py:791
|
||||
msgid "Cruise Fault: Restart the car to engage"
|
||||
msgstr "クルーズ失敗:車を再起動後発進"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:716
|
||||
msgid "Gas Fault: Restart the Car"
|
||||
msgstr "アクセル故障:車を再起動"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:717
|
||||
msgid "Gas Error: Restart the Car"
|
||||
msgstr "アクセルエラー:車を再起動"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:722
|
||||
#, fuzzy
|
||||
msgid ""
|
||||
"Reverse\n"
|
||||
"Gear"
|
||||
msgstr "Rに切り替え"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:726
|
||||
msgid "Reverse Gear"
|
||||
msgstr "Rに切り替え"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:731
|
||||
msgid "Cruise Is Off"
|
||||
msgstr "クルーズコントロールオフ"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:735 selfdrive/controls/lib/events.py:736
|
||||
msgid "Planner Solution Error"
|
||||
msgstr "Planner Solution エラー"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:740 selfdrive/controls/lib/events.py:742
|
||||
#: selfdrive/controls/lib/events.py:746
|
||||
msgid "Harness Malfunction"
|
||||
msgstr "ハーネスが故障"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:743
|
||||
msgid "Please Check Hardware"
|
||||
msgstr "ハードウェアを確認して"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:751 selfdrive/controls/lib/events.py:760
|
||||
msgid "openpilot Canceled"
|
||||
msgstr "オープンパイロットはキャンセルされました"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:752
|
||||
msgid "No close lead car"
|
||||
msgstr "リードカー不在"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:755
|
||||
msgid "No Close Lead Car"
|
||||
msgstr "リードカー不在"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:761
|
||||
msgid "Speed too low"
|
||||
msgstr "速度が遅すぎる"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:768 selfdrive/controls/lib/events.py:773
|
||||
msgid "Speed Too High"
|
||||
msgstr "速度が速すぎる"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:769
|
||||
msgid "Slow down to resume operation"
|
||||
msgstr "速度を下げてオープンパイロットを再開"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:774
|
||||
msgid "Slow down to engage"
|
||||
msgstr "速度を落として発進"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:781
|
||||
msgid "Please connect to Internet"
|
||||
msgstr "インターネット接続を確認"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:782
|
||||
msgid "An Update Check Is Required to Engage"
|
||||
msgstr "発進するには更新が必要です"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:785
|
||||
msgid "Please Connect to Internet"
|
||||
msgstr "インターネット接続を確認"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:801
|
||||
msgid "Left ALC will start in 3s"
|
||||
msgstr "左車線に移動します"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:809
|
||||
msgid "Right ALC will start in 3s"
|
||||
msgstr "右車線に移動します"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:817
|
||||
msgid "STEERING REQUIRED: Lane Keeping OFF"
|
||||
msgstr "操作が必要:レーンキープオフ"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:825
|
||||
msgid "STEERING REQUIRED: Blinkers ON"
|
||||
msgstr "操作が必要:ウインカーオン"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:833 selfdrive/controls/lib/events.py:838
|
||||
msgid "Lead Car Is Moving"
|
||||
msgstr "リードカーが移動しました"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:847
|
||||
msgid "WARNING"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:848
|
||||
msgid "Grab wheel to start bypass"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:855
|
||||
msgid "BYPASSING"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:856
|
||||
msgid "HOLD WHEEL"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:863
|
||||
msgid "Bypassed!"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:864
|
||||
msgid "Release wheel when ready"
|
||||
msgstr ""
|
||||
|
||||
#~ msgid "Drive Above"
|
||||
#~ msgstr "制限速度以上の運転をしてください"
|
||||
BIN
selfdrive/assets/locales/ko-KR/LC_MESSAGES/events.mo
Normal file
BIN
selfdrive/assets/locales/ko-KR/LC_MESSAGES/events.mo
Normal file
Binary file not shown.
543
selfdrive/assets/locales/ko-KR/LC_MESSAGES/events.po
Normal file
543
selfdrive/assets/locales/ko-KR/LC_MESSAGES/events.po
Normal file
@@ -0,0 +1,543 @@
|
||||
# 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: 2020-10-15 13:37+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: ko-KR\n"
|
||||
"MIME-Version: 1.0\n"
|
||||
"Content-Type: text/plain; charset=UTF-8\n"
|
||||
"Content-Transfer-Encoding: 8bit\n"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:153
|
||||
msgid "openpilot Unavailable"
|
||||
msgstr "오픈파일럿 사용불가"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:160 selfdrive/controls/lib/events.py:167
|
||||
msgid "TAKE CONTROL IMMEDIATELY"
|
||||
msgstr "핸들을 잡아주세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:187 selfdrive/controls/lib/events.py:328
|
||||
#: selfdrive/controls/lib/events.py:354 selfdrive/controls/lib/events.py:418
|
||||
#: selfdrive/controls/lib/events.py:470 selfdrive/controls/lib/events.py:522
|
||||
#: selfdrive/controls/lib/events.py:532
|
||||
msgid "TAKE CONTROL"
|
||||
msgstr "핸들을 잡아주세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:188
|
||||
#, fuzzy, python-format
|
||||
msgid "Steer Unavailable Below %(speed)d %(unit)s"
|
||||
msgstr "%d %s 이하에서는 조향제어가 불가합니다"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:196
|
||||
#, fuzzy, python-format
|
||||
msgid "Calibration in Progress: %d%%"
|
||||
msgstr "캘리브레이션 진행중: %d%%"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:197
|
||||
#, fuzzy, python-format
|
||||
msgid "Drive Above %(speed)d %(unit)s"
|
||||
msgstr "%(speed)d %(unit)s 이상의 속도로 주행하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:204
|
||||
msgid "Poor GPS reception"
|
||||
msgstr "GPS 신호 약함"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:205
|
||||
msgid "If sky is visible, contact support"
|
||||
msgstr "환경에 문제가 없을경우 서비스팀에 연락하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:205
|
||||
msgid "Check GPS antenna placement"
|
||||
msgstr "GPS안테나 위치를 점검하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:210
|
||||
msgid "Cruise Mode Disabled"
|
||||
msgstr "크루즈 모드 꺼짐"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:212
|
||||
msgid "Main Switch Off"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:222
|
||||
msgid "DEBUG ALERT"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:230
|
||||
msgid "Be ready to take over at any time"
|
||||
msgstr "오픈파일럿 사용준비가 되었습니다"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:231 selfdrive/controls/lib/events.py:239
|
||||
#: selfdrive/controls/lib/events.py:247 selfdrive/controls/lib/events.py:255
|
||||
msgid "Always keep hands on wheel and eyes on road"
|
||||
msgstr "안전운전을 위해 항상 핸들을 잡고 도로교통 상황을 주시하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:238
|
||||
msgid "WARNING: This branch is not tested"
|
||||
msgstr "경고: 이 Branch는 테스트되지 않았습니다"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:246
|
||||
msgid "Dashcam mode"
|
||||
msgstr "대시캠 모드"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:254
|
||||
msgid "Dashcam mode for unsupported car"
|
||||
msgstr "안전운전을 위해 항상 핸들을 잡고 도로교통 상황을 주시하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:262
|
||||
msgid "Unsupported Giraffe Configuration"
|
||||
msgstr "지원되지 않는 지라프 설정"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:263
|
||||
msgid "Visit comma.ai/tg"
|
||||
msgstr "comma.ai/tg 방문하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:270
|
||||
msgid "White Panda Is No Longer Supported"
|
||||
msgstr "화이트판다는 더 이상 지원되지 않습니다"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:271
|
||||
msgid "Upgrade to comma two or black panda"
|
||||
msgstr "콤마2나 블랙판다로 업그레이드 하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:274
|
||||
msgid "White panda is no longer supported"
|
||||
msgstr "화이트판다는 더 이상 지원되지 않습니다"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:279
|
||||
msgid "Stock LKAS is turned on"
|
||||
msgstr "차량의 LKAS 기능이 켜져 있습니다"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:280
|
||||
msgid "Turn off stock LKAS to engage"
|
||||
msgstr "오픈파일럿 사용을 위해 LKAS를 끄세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:288
|
||||
msgid "Community Feature Detected"
|
||||
msgstr "커뮤니티 기능 감지됨"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:289
|
||||
msgid "Enable Community Features in Developer Settings"
|
||||
msgstr "개발자 설정에서 커뮤니티 기능을 활성화하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:296
|
||||
msgid "Dashcam Mode"
|
||||
msgstr "대시캠 모드"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:297
|
||||
msgid "Car Unrecognized"
|
||||
msgstr "미인식 차량"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:304 selfdrive/controls/lib/events.py:312
|
||||
#: selfdrive/controls/lib/events.py:320
|
||||
msgid "BRAKE!"
|
||||
msgstr "브레이크!"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:305
|
||||
msgid "Stock AEB: Risk of Collision"
|
||||
msgstr "순정 AEB: 충돌 위험"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:313
|
||||
msgid "Stock FCW: Risk of Collision"
|
||||
msgstr "순정 FCW: 충돌 위험"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:321
|
||||
msgid "Risk of Collision"
|
||||
msgstr "충돌 위험"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:329
|
||||
msgid "Lane Departure Detected"
|
||||
msgstr "차선이탈이 감지되었습니다"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:338
|
||||
msgid "openpilot will not brake while gas pressed"
|
||||
msgstr "가속중에는 오픈파일럿 브레이크 작동불가"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:346
|
||||
msgid "Vehicle Parameter Identification Failed"
|
||||
msgstr "차량 매개 변수 식별 실패"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:355 selfdrive/controls/lib/events.py:523
|
||||
#: selfdrive/controls/lib/events.py:526
|
||||
msgid "Steering Temporarily Unavailable"
|
||||
msgstr "조향제어가 일시적으로 비활성화 되었습니다"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:362
|
||||
msgid "KEEP EYES ON ROAD: Driver Distracted"
|
||||
msgstr "도로상황에 주의를 기울이세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:370
|
||||
msgid "KEEP EYES ON ROAD"
|
||||
msgstr "도로상황에 주의하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:371
|
||||
msgid "Driver Appears Distracted"
|
||||
msgstr "전방주시 필요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:378 selfdrive/controls/lib/events.py:402
|
||||
msgid "DISENGAGE IMMEDIATELY"
|
||||
msgstr "경고: 조향제어가 즉시 해제됩니다"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:379
|
||||
msgid "Driver Was Distracted"
|
||||
msgstr "운전자 전방주시 불안"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:386
|
||||
msgid "TOUCH STEERING WHEEL: No Face Detected"
|
||||
msgstr "핸들을 터치하세요: 모니터링 없음"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:394
|
||||
msgid "TOUCH STEERING WHEEL"
|
||||
msgstr "핸들을 터치하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:395
|
||||
msgid "Driver Is Unresponsive"
|
||||
msgstr "운전자 모니터링 없음"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:403
|
||||
msgid "Driver Was Unresponsive"
|
||||
msgstr "운전자 모니터링 없음"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:410
|
||||
msgid "CHECK DRIVER FACE VISIBILITY"
|
||||
msgstr "운전자 얼굴 확인 중"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:411
|
||||
msgid "Driver Monitor Model Output Uncertain"
|
||||
msgstr "운전자 얼굴 인식이 어렵습니다"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:419
|
||||
msgid "Resume Driving Manually"
|
||||
msgstr "수동으로 재출발 하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:426
|
||||
msgid "STOPPED"
|
||||
msgstr "잠시멈춤"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:427
|
||||
msgid "Press Resume to Move"
|
||||
msgstr "재출발을 위해 RES버튼을 누르세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:438
|
||||
msgid "Steer Left to Start Lane Change"
|
||||
msgstr "차선 변경을 위해 핸들을 좌측으로 살짝 돌리세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:439 selfdrive/controls/lib/events.py:447
|
||||
#: selfdrive/controls/lib/events.py:455 selfdrive/controls/lib/events.py:463
|
||||
#: selfdrive/controls/lib/events.py:802 selfdrive/controls/lib/events.py:810
|
||||
msgid "Monitor Other Vehicles"
|
||||
msgstr "다른 차량에 주의하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:446
|
||||
msgid "Steer Right to Start Lane Change"
|
||||
msgstr "차선 변경을 위해 핸들을 우측으로 살짝 돌리세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:454
|
||||
msgid "Car Detected in Blindspot"
|
||||
msgstr "측면 차량 접근 중"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:462
|
||||
msgid "Changing Lane"
|
||||
msgstr "차선 변경 중"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:471
|
||||
msgid "Turn Exceeds Steering Limit"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:496
|
||||
msgid "Brake Hold Active"
|
||||
msgstr "브레이크 홀드 중"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:501
|
||||
msgid "Park Brake Engaged"
|
||||
msgstr "파킹브레이크 체결 됨"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:506
|
||||
msgid "Pedal Pressed During Attempt"
|
||||
msgstr "시작 중 페달 밟음"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:517
|
||||
msgid "Enable Adaptive Cruise"
|
||||
msgstr "어댑티브 크루즈를 활성화하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:533
|
||||
msgid "Attempting Refocus: Camera Focus Invalid"
|
||||
msgstr "카메라 포커스 조정중: 카메라 포커스 부정확"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:539
|
||||
msgid "Out of Storage Space"
|
||||
msgstr "저장공간 부족"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:544
|
||||
msgid "Speed Too Low"
|
||||
msgstr "차량의 속도 낮음"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:549 selfdrive/controls/lib/events.py:553
|
||||
msgid "NEOS Update Required"
|
||||
msgstr "NEOS 업데이트 필요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:550
|
||||
msgid "Please Wait for Update"
|
||||
msgstr "업데이트를 위해 기다리세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:558 selfdrive/controls/lib/events.py:562
|
||||
msgid "No Data from Device Sensors"
|
||||
msgstr "EON센서로부터 데이터를 받지 못했습니다"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:559 selfdrive/controls/lib/events.py:572
|
||||
#: selfdrive/controls/lib/events.py:669
|
||||
msgid "Reboot your Device"
|
||||
msgstr "장치를 재시작 하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:571 selfdrive/controls/lib/events.py:575
|
||||
msgid "Speaker not found"
|
||||
msgstr "스피커를 찾을 수 없습니다"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:579
|
||||
msgid "Distraction Level Too High"
|
||||
msgstr "운전자 전방주시 매우 불안"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:583
|
||||
msgid "System Overheated"
|
||||
msgstr "시스템이 과열되었습니다"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:584
|
||||
msgid "System overheated"
|
||||
msgstr "시스템이 과열되었습니다"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:588 selfdrive/controls/lib/events.py:589
|
||||
msgid "Gear not D"
|
||||
msgstr "기어가 드라이브모드가 아닙니다"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:594
|
||||
#, fuzzy
|
||||
msgid "Calibration Invalid"
|
||||
msgstr "캘리브레이션 진행 중"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:595
|
||||
#, fuzzy
|
||||
msgid "Reposition Device and Recalibrate"
|
||||
msgstr "캘리브레이션 유효하지 않음: 장치 위치 조정 및 재 캘리브레이션"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:598 selfdrive/controls/lib/events.py:599
|
||||
msgid "Calibration Invalid: Reposition Device & Recalibrate"
|
||||
msgstr "캘리브레이션 유효하지 않음: 장치 위치 조정 및 재 캘리브레이션"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:603 selfdrive/controls/lib/events.py:605
|
||||
msgid "Calibration in Progress"
|
||||
msgstr "캘리브레이션 진행 중"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:609
|
||||
msgid "Door Open"
|
||||
msgstr "도어가 열려있습니다"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:610
|
||||
msgid "Door open"
|
||||
msgstr "도어가 열려있습니다"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:614
|
||||
msgid "Seatbelt Unlatched"
|
||||
msgstr "안전벨트를 체결하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:615
|
||||
msgid "Seatbelt unlatched"
|
||||
msgstr "안전벨트를 체결하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:619 selfdrive/controls/lib/events.py:620
|
||||
msgid "ESP Off"
|
||||
msgstr "ESP 꺼짐"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:624 selfdrive/controls/lib/events.py:625
|
||||
msgid "Low Battery"
|
||||
msgstr "배터리 부족"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:629 selfdrive/controls/lib/events.py:630
|
||||
msgid "Communication Issue between Processes"
|
||||
msgstr "프로세스 간 통신 오류가 있습니다"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:635 selfdrive/controls/lib/events.py:636
|
||||
msgid "Radar Communication Issue"
|
||||
msgstr "레이더 오류: 차량을 재시작하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:641 selfdrive/controls/lib/events.py:642
|
||||
#: selfdrive/controls/lib/events.py:646 selfdrive/controls/lib/events.py:647
|
||||
msgid "Radar Error: Restart the Car"
|
||||
msgstr "레이더 오류: 차량을 재시작하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:651 selfdrive/controls/lib/events.py:652
|
||||
msgid "Driving model lagging"
|
||||
msgstr "주행 모델 지연"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:656 selfdrive/controls/lib/events.py:657
|
||||
msgid "Vision Model Output Uncertain"
|
||||
msgstr "전방 영상 인식 불안"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:661 selfdrive/controls/lib/events.py:662
|
||||
msgid "Device Fell Off Mount"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:666 selfdrive/controls/lib/events.py:672
|
||||
msgid "Low Memory: Reboot Your Device"
|
||||
msgstr "메모리 부족: 장치를 재시작하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:668
|
||||
msgid "RAM Critically Low"
|
||||
msgstr "메모리 부족 심각"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:677 selfdrive/controls/lib/events.py:678
|
||||
msgid "Controls Failed"
|
||||
msgstr "차량제어 불가"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:682
|
||||
msgid "Controls Mismatch"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:686 selfdrive/controls/lib/events.py:688
|
||||
#: selfdrive/controls/lib/events.py:692
|
||||
msgid "CAN Error: Check Connections"
|
||||
msgstr "CAN 오류: CAN 신호를 확인하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:696 selfdrive/controls/lib/events.py:702
|
||||
msgid "LKAS Fault: Restart the Car"
|
||||
msgstr "LKAS 오류: 차량을 재시작하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:698
|
||||
msgid "LKAS Fault: Restart the car to engage"
|
||||
msgstr "LKAS 오류: 시작을 위해 차량을 재시작하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:706 selfdrive/controls/lib/events.py:712
|
||||
#: selfdrive/controls/lib/events.py:795
|
||||
msgid "Cruise Fault: Restart the Car"
|
||||
msgstr "크루즈 오류: 차량을 재시작하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:708 selfdrive/controls/lib/events.py:791
|
||||
msgid "Cruise Fault: Restart the car to engage"
|
||||
msgstr "크루즈 오류: 시작을 위해 차량을 재시작하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:716
|
||||
msgid "Gas Fault: Restart the Car"
|
||||
msgstr "가속페달 오류: 차량을 재시작하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:717
|
||||
msgid "Gas Error: Restart the Car"
|
||||
msgstr "가속페달 오류: 차량을 재시작하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:722
|
||||
#, fuzzy
|
||||
msgid ""
|
||||
"Reverse\n"
|
||||
"Gear"
|
||||
msgstr "후진 기어"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:726
|
||||
msgid "Reverse Gear"
|
||||
msgstr "후진 기어"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:731
|
||||
msgid "Cruise Is Off"
|
||||
msgstr "크루즈 꺼짐"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:735 selfdrive/controls/lib/events.py:736
|
||||
msgid "Planner Solution Error"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:740 selfdrive/controls/lib/events.py:742
|
||||
#: selfdrive/controls/lib/events.py:746
|
||||
msgid "Harness Malfunction"
|
||||
msgstr "하네스 오작동"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:743
|
||||
msgid "Please Check Hardware"
|
||||
msgstr "장치를 점검하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:751 selfdrive/controls/lib/events.py:760
|
||||
msgid "openpilot Canceled"
|
||||
msgstr "오픈파일럿 시작불가"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:752
|
||||
msgid "No close lead car"
|
||||
msgstr "선행차량이 없습니다"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:755
|
||||
msgid "No Close Lead Car"
|
||||
msgstr "선행차량이 없습니다"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:761
|
||||
msgid "Speed too low"
|
||||
msgstr "선행차량이 없습니다"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:768 selfdrive/controls/lib/events.py:773
|
||||
msgid "Speed Too High"
|
||||
msgstr "속도가 너무 높습니다"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:769
|
||||
msgid "Slow down to resume operation"
|
||||
msgstr "재 작동을 위해 차량의 속도를 낮추세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:774
|
||||
msgid "Slow down to engage"
|
||||
msgstr "시작을 위해 차량의 속도를 낮추세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:781
|
||||
msgid "Please connect to Internet"
|
||||
msgstr "인터넷에 연결하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:782
|
||||
msgid "An Update Check Is Required to Engage"
|
||||
msgstr "시작을 위해 업데이트를 확인해야 합니다"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:785
|
||||
msgid "Please Connect to Internet"
|
||||
msgstr "인터넷에 연결하세요"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:801
|
||||
msgid "Left ALC will start in 3s"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:809
|
||||
msgid "Right ALC will start in 3s"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:817
|
||||
msgid "STEERING REQUIRED: Lane Keeping OFF"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:825
|
||||
msgid "STEERING REQUIRED: Blinkers ON"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:833 selfdrive/controls/lib/events.py:838
|
||||
msgid "Lead Car Is Moving"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:847
|
||||
msgid "WARNING"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:848
|
||||
msgid "Grab wheel to start bypass"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:855
|
||||
msgid "BYPASSING"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:856
|
||||
msgid "HOLD WHEEL"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:863
|
||||
msgid "Bypassed!"
|
||||
msgstr ""
|
||||
|
||||
#: selfdrive/controls/lib/events.py:864
|
||||
msgid "Release wheel when ready"
|
||||
msgstr ""
|
||||
BIN
selfdrive/assets/locales/zh-CN/LC_MESSAGES/events.mo
Normal file
BIN
selfdrive/assets/locales/zh-CN/LC_MESSAGES/events.mo
Normal file
Binary file not shown.
542
selfdrive/assets/locales/zh-CN/LC_MESSAGES/events.po
Normal file
542
selfdrive/assets/locales/zh-CN/LC_MESSAGES/events.po
Normal file
@@ -0,0 +1,542 @@
|
||||
# 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.
|
||||
#
|
||||
msgid ""
|
||||
msgstr ""
|
||||
"Project-Id-Version: PACKAGE VERSION\n"
|
||||
"Report-Msgid-Bugs-To: \n"
|
||||
"POT-Creation-Date: 2020-10-15 13:37+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"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:153
|
||||
msgid "openpilot Unavailable"
|
||||
msgstr "无法使用 openpilot"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:160 selfdrive/controls/lib/events.py:167
|
||||
msgid "TAKE CONTROL IMMEDIATELY"
|
||||
msgstr "即刻接管控制"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:187 selfdrive/controls/lib/events.py:328
|
||||
#: selfdrive/controls/lib/events.py:354 selfdrive/controls/lib/events.py:418
|
||||
#: selfdrive/controls/lib/events.py:470 selfdrive/controls/lib/events.py:522
|
||||
#: selfdrive/controls/lib/events.py:532
|
||||
msgid "TAKE CONTROL"
|
||||
msgstr "接管控制"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:188
|
||||
#, fuzzy, python-format
|
||||
msgid "Steer Unavailable Below %(speed)d %(unit)s"
|
||||
msgstr "横向控制暂时失效，车速低于 %d %s"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:196
|
||||
#, fuzzy, python-format
|
||||
msgid "Calibration in Progress: %d%%"
|
||||
msgstr "正在校准中：%d%%"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:197
|
||||
#, fuzzy, python-format
|
||||
msgid "Drive Above %(speed)d %(unit)s"
|
||||
msgstr "车速请高于 %(speed)d %(unit)s"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:204
|
||||
msgid "Poor GPS reception"
|
||||
msgstr "GPS 讯号不良"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:205
|
||||
msgid "If sky is visible, contact support"
|
||||
msgstr "如果您不在地下室/隧道，请联系客服"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:205
|
||||
msgid "Check GPS antenna placement"
|
||||
msgstr "请检查 GPS 天线位置"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:210
|
||||
msgid "Cruise Mode Disabled"
|
||||
msgstr "巡航模式关闭"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:212
|
||||
msgid "Main Switch Off"
|
||||
msgstr "主开关已关闭"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:222
|
||||
msgid "DEBUG ALERT"
|
||||
msgstr "除错用警示讯息"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:230
|
||||
msgid "Be ready to take over at any time"
|
||||
msgstr "请准备好随时接管"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:231 selfdrive/controls/lib/events.py:239
|
||||
#: selfdrive/controls/lib/events.py:247 selfdrive/controls/lib/events.py:255
|
||||
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"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:238
|
||||
msgid "WARNING: This branch is not tested"
|
||||
msgstr "注意：这个分支未经过测试"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:246
|
||||
msgid "Dashcam mode"
|
||||
msgstr "行车记录模式"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:254
|
||||
msgid "Dashcam mode for unsupported car"
|
||||
msgstr "行车记录模式 (尚未支援车种)"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:262
|
||||
msgid "Unsupported Giraffe Configuration"
|
||||
msgstr "未支援的 Giraffe 设置"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:263
|
||||
msgid "Visit comma.ai/tg"
|
||||
msgstr "请查阅 comma.ai/tg"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:270
|
||||
msgid "White Panda Is No Longer Supported"
|
||||
msgstr "不再支持 White Panda"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:271
|
||||
msgid "Upgrade to comma two or black panda"
|
||||
msgstr "请升级至 comma two 或是使用 black panda"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:274
|
||||
msgid "White panda is no longer supported"
|
||||
msgstr "不再支持 White panda"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:279
|
||||
msgid "Stock LKAS is turned on"
|
||||
msgstr "原厂 LKAS 已开启"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:280
|
||||
msgid "Turn off stock LKAS to engage"
|
||||
msgstr "需关闭原厂 LKAS 才能启用"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:288
|
||||
msgid "Community Feature Detected"
|
||||
msgstr "检测到社群开发功能"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:289
|
||||
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"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:296
|
||||
msgid "Dashcam Mode"
|
||||
msgstr "行车记录模式"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:297
|
||||
msgid "Car Unrecognized"
|
||||
msgstr "无法辨识车款"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:304 selfdrive/controls/lib/events.py:312
|
||||
#: selfdrive/controls/lib/events.py:320
|
||||
msgid "BRAKE!"
|
||||
msgstr "刹车！"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:305
|
||||
msgid "Stock AEB: Risk of Collision"
|
||||
msgstr "有碰撞的风险"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:313
|
||||
msgid "Stock FCW: Risk of Collision"
|
||||
msgstr "有碰撞的风险"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:321
|
||||
msgid "Risk of Collision"
|
||||
msgstr "有碰撞的风险"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:329
|
||||
msgid "Lane Departure Detected"
|
||||
msgstr "偏离车道"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:338
|
||||
msgid "openpilot will not brake while gas pressed"
|
||||
msgstr "在您踩着油门的时候 openpilot 将不会刹车"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:346
|
||||
msgid "Vehicle Parameter Identification Failed"
|
||||
msgstr "车子参数识别失败"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:355 selfdrive/controls/lib/events.py:523
|
||||
#: selfdrive/controls/lib/events.py:526
|
||||
msgid "Steering Temporarily Unavailable"
|
||||
msgstr "横向控制暂时失效"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:362
|
||||
msgid "KEEP EYES ON ROAD: Driver Distracted"
|
||||
msgstr "注意路况：驾驶分心"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:370
|
||||
msgid "KEEP EYES ON ROAD"
|
||||
msgstr "注意路况"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:371
|
||||
msgid "Driver Appears Distracted"
|
||||
msgstr "驾驶分心"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:378 selfdrive/controls/lib/events.py:402
|
||||
msgid "DISENGAGE IMMEDIATELY"
|
||||
msgstr "立即解除"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:379
|
||||
msgid "Driver Was Distracted"
|
||||
msgstr "驾驶分心"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:386
|
||||
msgid "TOUCH STEERING WHEEL: No Face Detected"
|
||||
msgstr "请触碰方向盘：未侦测到驾驶面容"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:394
|
||||
msgid "TOUCH STEERING WHEEL"
|
||||
msgstr "请触碰方向盘"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:395
|
||||
msgid "Driver Is Unresponsive"
|
||||
msgstr "驾驶没有反应"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:403
|
||||
msgid "Driver Was Unresponsive"
|
||||
msgstr "驾驶没有反应"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:410
|
||||
msgid "CHECK DRIVER FACE VISIBILITY"
|
||||
msgstr "请检查驾驶面部的可见度"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:411
|
||||
msgid "Driver Monitor Model Output Uncertain"
|
||||
msgstr "驾驶监控模型判断不明确"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:419
|
||||
msgid "Resume Driving Manually"
|
||||
msgstr "请自行恢復驾驶"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:426
|
||||
msgid "STOPPED"
|
||||
msgstr "已停止"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:427
|
||||
msgid "Press Resume to Move"
|
||||
msgstr "请按 RES 继续"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:438
|
||||
msgid "Steer Left to Start Lane Change"
|
||||
msgstr "请往左打方向盘切换至左车道"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:439 selfdrive/controls/lib/events.py:447
|
||||
#: selfdrive/controls/lib/events.py:455 selfdrive/controls/lib/events.py:463
|
||||
#: selfdrive/controls/lib/events.py:802 selfdrive/controls/lib/events.py:810
|
||||
msgid "Monitor Other Vehicles"
|
||||
msgstr "请注意其它车辆"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:446
|
||||
msgid "Steer Right to Start Lane Change"
|
||||
msgstr "请往右打方向盘切换至右车道"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:454
|
||||
msgid "Car Detected in Blindspot"
|
||||
msgstr "盲点侦测到车辆"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:462
|
||||
msgid "Changing Lane"
|
||||
msgstr "切换车道中"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:471
|
||||
msgid "Turn Exceeds Steering Limit"
|
||||
msgstr "弯道超过横向操控限制"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:496
|
||||
msgid "Brake Hold Active"
|
||||
msgstr "驻车煞车已启用"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:501
|
||||
msgid "Park Brake Engaged"
|
||||
msgstr "电子驻车已启动"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:506
|
||||
msgid "Pedal Pressed During Attempt"
|
||||
msgstr "启用时侦测到驾驶踩踏油门/刹车"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:517
|
||||
msgid "Enable Adaptive Cruise"
|
||||
msgstr "启用自适应巡航"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:533
|
||||
msgid "Attempting Refocus: Camera Focus Invalid"
|
||||
msgstr "尝试对焦：相机已失焦"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:539
|
||||
msgid "Out of Storage Space"
|
||||
msgstr "存储空间不足"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:544
|
||||
msgid "Speed Too Low"
|
||||
msgstr "车速过慢"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:549 selfdrive/controls/lib/events.py:553
|
||||
msgid "NEOS Update Required"
|
||||
msgstr "NEOS 需要更新"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:550
|
||||
msgid "Please Wait for Update"
|
||||
msgstr "更新中请稍候"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:558 selfdrive/controls/lib/events.py:562
|
||||
msgid "No Data from Device Sensors"
|
||||
msgstr "未收到装置传感器数据"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:559 selfdrive/controls/lib/events.py:572
|
||||
#: selfdrive/controls/lib/events.py:669
|
||||
msgid "Reboot your Device"
|
||||
msgstr "请重启装置"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:571 selfdrive/controls/lib/events.py:575
|
||||
msgid "Speaker not found"
|
||||
msgstr "找不到音效装置"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:579
|
||||
msgid "Distraction Level Too High"
|
||||
msgstr "驾驶分心太多次"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:583
|
||||
msgid "System Overheated"
|
||||
msgstr "系统过热"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:584
|
||||
msgid "System overheated"
|
||||
msgstr "系统过热"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:588 selfdrive/controls/lib/events.py:589
|
||||
msgid "Gear not D"
|
||||
msgstr "不在 D 档位"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:594
|
||||
#, fuzzy
|
||||
msgid "Calibration Invalid"
|
||||
msgstr "正在校准中"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:595
|
||||
#, fuzzy
|
||||
msgid "Reposition Device and Recalibrate"
|
||||
msgstr "校准无效：请将装置放于新的位置并重新校准"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:598 selfdrive/controls/lib/events.py:599
|
||||
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"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:603 selfdrive/controls/lib/events.py:605
|
||||
msgid "Calibration in Progress"
|
||||
msgstr "正在校准中"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:609
|
||||
msgid "Door Open"
|
||||
msgstr "车门开启"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:610
|
||||
msgid "Door open"
|
||||
msgstr "车门未关"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:614
|
||||
msgid "Seatbelt Unlatched"
|
||||
msgstr "安全带未繫"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:615
|
||||
msgid "Seatbelt unlatched"
|
||||
msgstr "安全带未繫"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:619 selfdrive/controls/lib/events.py:620
|
||||
msgid "ESP Off"
|
||||
msgstr "ESP 关闭"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:624 selfdrive/controls/lib/events.py:625
|
||||
msgid "Low Battery"
|
||||
msgstr "电量过低"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:629 selfdrive/controls/lib/events.py:630
|
||||
msgid "Communication Issue between Processes"
|
||||
msgstr "行程间出现通讯问题"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:635 selfdrive/controls/lib/events.py:636
|
||||
msgid "Radar Communication Issue"
|
||||
msgstr "雷达通讯出现问题"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:641 selfdrive/controls/lib/events.py:642
|
||||
#: selfdrive/controls/lib/events.py:646 selfdrive/controls/lib/events.py:647
|
||||
msgid "Radar Error: Restart the Car"
|
||||
msgstr "雷达讯号错误：请重新发动车辆"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:651 selfdrive/controls/lib/events.py:652
|
||||
msgid "Driving model lagging"
|
||||
msgstr "操控模型有延迟"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:656 selfdrive/controls/lib/events.py:657
|
||||
msgid "Vision Model Output Uncertain"
|
||||
msgstr "视觉模型判断不明确"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:661 selfdrive/controls/lib/events.py:662
|
||||
msgid "Device Fell Off Mount"
|
||||
msgstr "装置掉落侦测"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:666 selfdrive/controls/lib/events.py:672
|
||||
msgid "Low Memory: Reboot Your Device"
|
||||
msgstr "记忆体不足：请重启您的装置"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:668
|
||||
msgid "RAM Critically Low"
|
||||
msgstr "记忆体严重不足"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:677 selfdrive/controls/lib/events.py:678
|
||||
msgid "Controls Failed"
|
||||
msgstr "控制发生错误"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:682
|
||||
msgid "Controls Mismatch"
|
||||
msgstr "控制不匹配"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:686 selfdrive/controls/lib/events.py:688
|
||||
#: selfdrive/controls/lib/events.py:692
|
||||
msgid "CAN Error: Check Connections"
|
||||
msgstr "CAN 讯号错误：请检查线路"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:696 selfdrive/controls/lib/events.py:702
|
||||
msgid "LKAS Fault: Restart the Car"
|
||||
msgstr "LKAS 错误：请重新发动车辆"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:698
|
||||
msgid "LKAS Fault: Restart the car to engage"
|
||||
msgstr "LKAS 错误：请重新发动车辆"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:706 selfdrive/controls/lib/events.py:712
|
||||
#: selfdrive/controls/lib/events.py:795
|
||||
msgid "Cruise Fault: Restart the Car"
|
||||
msgstr "巡航系统错误：请重新发动车辆"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:708 selfdrive/controls/lib/events.py:791
|
||||
msgid "Cruise Fault: Restart the car to engage"
|
||||
msgstr "巡航系统错误：请重新发动车辆"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:716
|
||||
msgid "Gas Fault: Restart the Car"
|
||||
msgstr "油门错误：请重新发动车辆"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:717
|
||||
msgid "Gas Error: Restart the Car"
|
||||
msgstr "油门错误：请重新发动车辆"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:722
|
||||
#, fuzzy
|
||||
msgid ""
|
||||
"Reverse\n"
|
||||
"Gear"
|
||||
msgstr "切换至倒车档"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:726
|
||||
msgid "Reverse Gear"
|
||||
msgstr "切换至倒车档"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:731
|
||||
msgid "Cruise Is Off"
|
||||
msgstr "巡航系统关闭"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:735 selfdrive/controls/lib/events.py:736
|
||||
msgid "Planner Solution Error"
|
||||
msgstr "Planner Solution 错误"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:740 selfdrive/controls/lib/events.py:742
|
||||
#: selfdrive/controls/lib/events.py:746
|
||||
msgid "Harness Malfunction"
|
||||
msgstr "Harness 故障"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:743
|
||||
msgid "Please Check Hardware"
|
||||
msgstr "请检查硬体"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:751 selfdrive/controls/lib/events.py:760
|
||||
msgid "openpilot Canceled"
|
||||
msgstr "openpilot 已取消"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:752
|
||||
msgid "No close lead car"
|
||||
msgstr "前方没有车辆"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:755
|
||||
msgid "No Close Lead Car"
|
||||
msgstr "前方没有车辆"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:761
|
||||
msgid "Speed too low"
|
||||
msgstr "车速过慢"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:768 selfdrive/controls/lib/events.py:773
|
||||
msgid "Speed Too High"
|
||||
msgstr "车速过快"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:769
|
||||
msgid "Slow down to resume operation"
|
||||
msgstr "请减速后再启用"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:774
|
||||
msgid "Slow down to engage"
|
||||
msgstr "请减速后再启用"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:781
|
||||
msgid "Please connect to Internet"
|
||||
msgstr "请连接网路"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:782
|
||||
msgid "An Update Check Is Required to Engage"
|
||||
msgstr "需检查更新后才能启用"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:785
|
||||
msgid "Please Connect to Internet"
|
||||
msgstr "请连接网路"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:801
|
||||
msgid "Left ALC will start in 3s"
|
||||
msgstr "准备自动切至左车道"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:809
|
||||
msgid "Right ALC will start in 3s"
|
||||
msgstr "准备自动切至右车道"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:817
|
||||
msgid "STEERING REQUIRED: Lane Keeping OFF"
|
||||
msgstr "请接管方向盘：车道维持关闭"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:825
|
||||
msgid "STEERING REQUIRED: Blinkers ON"
|
||||
msgstr "请接管方向盘：方向灯开启"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:833 selfdrive/controls/lib/events.py:838
|
||||
msgid "Lead Car Is Moving"
|
||||
msgstr "前方车辆车移动中"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:847
|
||||
msgid "WARNING"
|
||||
msgstr "警告"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:848
|
||||
msgid "Grab wheel to start bypass"
|
||||
msgstr "请握好方向盘以绕过时间限制"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:855
|
||||
msgid "BYPASSING"
|
||||
msgstr "绕过时间限制中"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:856
|
||||
msgid "HOLD WHEEL"
|
||||
msgstr "握好方向盘"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:863
|
||||
msgid "Bypassed!"
|
||||
msgstr "时间限制已绕过"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:864
|
||||
msgid "Release wheel when ready"
|
||||
msgstr "准备好后请松开放向盘"
|
||||
BIN
selfdrive/assets/locales/zh-TW/LC_MESSAGES/events.mo
Normal file
BIN
selfdrive/assets/locales/zh-TW/LC_MESSAGES/events.mo
Normal file
Binary file not shown.
542
selfdrive/assets/locales/zh-TW/LC_MESSAGES/events.po
Normal file
542
selfdrive/assets/locales/zh-TW/LC_MESSAGES/events.po
Normal file
@@ -0,0 +1,542 @@
|
||||
# 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.
|
||||
#
|
||||
msgid ""
|
||||
msgstr ""
|
||||
"Project-Id-Version: PACKAGE VERSION\n"
|
||||
"Report-Msgid-Bugs-To: \n"
|
||||
"POT-Creation-Date: 2020-10-15 13:37+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"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:153
|
||||
msgid "openpilot Unavailable"
|
||||
msgstr "無法使用 openpilot"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:160 selfdrive/controls/lib/events.py:167
|
||||
msgid "TAKE CONTROL IMMEDIATELY"
|
||||
msgstr "即刻接管控制"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:187 selfdrive/controls/lib/events.py:328
|
||||
#: selfdrive/controls/lib/events.py:354 selfdrive/controls/lib/events.py:418
|
||||
#: selfdrive/controls/lib/events.py:470 selfdrive/controls/lib/events.py:522
|
||||
#: selfdrive/controls/lib/events.py:532
|
||||
msgid "TAKE CONTROL"
|
||||
msgstr "接管控制"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:188
|
||||
#, fuzzy, python-format
|
||||
msgid "Steer Unavailable Below %(speed)d %(unit)s"
|
||||
msgstr "橫向控制暫時失效，車速低於 %d %s"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:196
|
||||
#, fuzzy, python-format
|
||||
msgid "Calibration in Progress: %d%%"
|
||||
msgstr "正在校準中：%d%%"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:197
|
||||
#, fuzzy, python-format
|
||||
msgid "Drive Above %(speed)d %(unit)s"
|
||||
msgstr "車速請高於 %(speed)d %(unit)s"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:204
|
||||
msgid "Poor GPS reception"
|
||||
msgstr "GPS 訊號不良"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:205
|
||||
msgid "If sky is visible, contact support"
|
||||
msgstr "如果您不在地下室/隧道，請聯系客服"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:205
|
||||
msgid "Check GPS antenna placement"
|
||||
msgstr "請檢查 GPS 天線位置"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:210
|
||||
msgid "Cruise Mode Disabled"
|
||||
msgstr "巡航模式關閉"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:212
|
||||
msgid "Main Switch Off"
|
||||
msgstr "主開關已關閉"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:222
|
||||
msgid "DEBUG ALERT"
|
||||
msgstr "除錯用警示訊息"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:230
|
||||
msgid "Be ready to take over at any time"
|
||||
msgstr "請準備好隨時接管"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:231 selfdrive/controls/lib/events.py:239
|
||||
#: selfdrive/controls/lib/events.py:247 selfdrive/controls/lib/events.py:255
|
||||
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"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:238
|
||||
msgid "WARNING: This branch is not tested"
|
||||
msgstr "注意：這個分支未經過測試"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:246
|
||||
msgid "Dashcam mode"
|
||||
msgstr "行車記錄模式"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:254
|
||||
msgid "Dashcam mode for unsupported car"
|
||||
msgstr "行車記錄模式 (尚未支援車種)"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:262
|
||||
msgid "Unsupported Giraffe Configuration"
|
||||
msgstr "未支援的 Giraffe 設置"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:263
|
||||
msgid "Visit comma.ai/tg"
|
||||
msgstr "請查閱 comma.ai/tg"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:270
|
||||
msgid "White Panda Is No Longer Supported"
|
||||
msgstr "不再支援 White Panda"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:271
|
||||
msgid "Upgrade to comma two or black panda"
|
||||
msgstr "請升級至 comma two 或是使用 black panda"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:274
|
||||
msgid "White panda is no longer supported"
|
||||
msgstr "不再支援 White panda"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:279
|
||||
msgid "Stock LKAS is turned on"
|
||||
msgstr "原廠 LKAS 已開啟"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:280
|
||||
msgid "Turn off stock LKAS to engage"
|
||||
msgstr "需關閉原廠 LKAS 才能啟用"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:288
|
||||
msgid "Community Feature Detected"
|
||||
msgstr "檢測到社群開發功能"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:289
|
||||
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"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:296
|
||||
msgid "Dashcam Mode"
|
||||
msgstr "行車記錄模式"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:297
|
||||
msgid "Car Unrecognized"
|
||||
msgstr "無法辨識車款"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:304 selfdrive/controls/lib/events.py:312
|
||||
#: selfdrive/controls/lib/events.py:320
|
||||
msgid "BRAKE!"
|
||||
msgstr "剎車！"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:305
|
||||
msgid "Stock AEB: Risk of Collision"
|
||||
msgstr "有碰撞的風險"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:313
|
||||
msgid "Stock FCW: Risk of Collision"
|
||||
msgstr "有碰撞的風險"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:321
|
||||
msgid "Risk of Collision"
|
||||
msgstr "有碰撞的風險"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:329
|
||||
msgid "Lane Departure Detected"
|
||||
msgstr "偏離車道"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:338
|
||||
msgid "openpilot will not brake while gas pressed"
|
||||
msgstr "在您踩著油門的時候 openpilot 將不會剎車"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:346
|
||||
msgid "Vehicle Parameter Identification Failed"
|
||||
msgstr "車子參數識別失敗"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:355 selfdrive/controls/lib/events.py:523
|
||||
#: selfdrive/controls/lib/events.py:526
|
||||
msgid "Steering Temporarily Unavailable"
|
||||
msgstr "橫向控制暫時失效"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:362
|
||||
msgid "KEEP EYES ON ROAD: Driver Distracted"
|
||||
msgstr "注意路況：駕駛分心"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:370
|
||||
msgid "KEEP EYES ON ROAD"
|
||||
msgstr "注意路況"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:371
|
||||
msgid "Driver Appears Distracted"
|
||||
msgstr "駕駛分心"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:378 selfdrive/controls/lib/events.py:402
|
||||
msgid "DISENGAGE IMMEDIATELY"
|
||||
msgstr "立即解除"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:379
|
||||
msgid "Driver Was Distracted"
|
||||
msgstr "駕駛分心"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:386
|
||||
msgid "TOUCH STEERING WHEEL: No Face Detected"
|
||||
msgstr "請觸碰方向盤：未偵測到駕駛面容"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:394
|
||||
msgid "TOUCH STEERING WHEEL"
|
||||
msgstr "請觸碰方向盤"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:395
|
||||
msgid "Driver Is Unresponsive"
|
||||
msgstr "駕駛沒有反應"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:403
|
||||
msgid "Driver Was Unresponsive"
|
||||
msgstr "駕駛沒有反應"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:410
|
||||
msgid "CHECK DRIVER FACE VISIBILITY"
|
||||
msgstr "請檢查駕駛面部的可見度"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:411
|
||||
msgid "Driver Monitor Model Output Uncertain"
|
||||
msgstr "駕駛監控模型判斷不明確"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:419
|
||||
msgid "Resume Driving Manually"
|
||||
msgstr "請自行恢復駕駛"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:426
|
||||
msgid "STOPPED"
|
||||
msgstr "已停止"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:427
|
||||
msgid "Press Resume to Move"
|
||||
msgstr "請按 RES 繼續"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:438
|
||||
msgid "Steer Left to Start Lane Change"
|
||||
msgstr "請往左打方向盤切換至左車道"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:439 selfdrive/controls/lib/events.py:447
|
||||
#: selfdrive/controls/lib/events.py:455 selfdrive/controls/lib/events.py:463
|
||||
#: selfdrive/controls/lib/events.py:802 selfdrive/controls/lib/events.py:810
|
||||
msgid "Monitor Other Vehicles"
|
||||
msgstr "請注意其它車輛"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:446
|
||||
msgid "Steer Right to Start Lane Change"
|
||||
msgstr "請往右打方向盤切換至右車道"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:454
|
||||
msgid "Car Detected in Blindspot"
|
||||
msgstr "盲點偵測到車輛"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:462
|
||||
msgid "Changing Lane"
|
||||
msgstr "切換車道中"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:471
|
||||
msgid "Turn Exceeds Steering Limit"
|
||||
msgstr "彎道超過橫向操控限制"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:496
|
||||
msgid "Brake Hold Active"
|
||||
msgstr "駐車煞車已啟用"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:501
|
||||
msgid "Park Brake Engaged"
|
||||
msgstr "電子駐車已啟動"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:506
|
||||
msgid "Pedal Pressed During Attempt"
|
||||
msgstr "啟用時偵測到駕駛踩踏油門/剎車"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:517
|
||||
msgid "Enable Adaptive Cruise"
|
||||
msgstr "啟用主動定速巡航"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:533
|
||||
msgid "Attempting Refocus: Camera Focus Invalid"
|
||||
msgstr "嘗試對焦：相機已失焦"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:539
|
||||
msgid "Out of Storage Space"
|
||||
msgstr "儲存空間不足"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:544
|
||||
msgid "Speed Too Low"
|
||||
msgstr "車速過慢"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:549 selfdrive/controls/lib/events.py:553
|
||||
msgid "NEOS Update Required"
|
||||
msgstr "NEOS 需要更新"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:550
|
||||
msgid "Please Wait for Update"
|
||||
msgstr "更新中請稍候"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:558 selfdrive/controls/lib/events.py:562
|
||||
msgid "No Data from Device Sensors"
|
||||
msgstr "未收到裝置傳感器數據"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:559 selfdrive/controls/lib/events.py:572
|
||||
#: selfdrive/controls/lib/events.py:669
|
||||
msgid "Reboot your Device"
|
||||
msgstr "請重啟裝置"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:571 selfdrive/controls/lib/events.py:575
|
||||
msgid "Speaker not found"
|
||||
msgstr "找不到音效裝置"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:579
|
||||
msgid "Distraction Level Too High"
|
||||
msgstr "駕駛分心太多次"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:583
|
||||
msgid "System Overheated"
|
||||
msgstr "系統過熱"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:584
|
||||
msgid "System overheated"
|
||||
msgstr "系統過熱"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:588 selfdrive/controls/lib/events.py:589
|
||||
msgid "Gear not D"
|
||||
msgstr "不在 D 檔位"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:594
|
||||
#, fuzzy
|
||||
msgid "Calibration Invalid"
|
||||
msgstr "正在校準中"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:595
|
||||
#, fuzzy
|
||||
msgid "Reposition Device and Recalibrate"
|
||||
msgstr "校準無效：請將裝置放於新的位置並重新校準"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:598 selfdrive/controls/lib/events.py:599
|
||||
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"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:603 selfdrive/controls/lib/events.py:605
|
||||
msgid "Calibration in Progress"
|
||||
msgstr "正在校準中"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:609
|
||||
msgid "Door Open"
|
||||
msgstr "車門開啟"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:610
|
||||
msgid "Door open"
|
||||
msgstr "車門未關"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:614
|
||||
msgid "Seatbelt Unlatched"
|
||||
msgstr "安全帶未繫"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:615
|
||||
msgid "Seatbelt unlatched"
|
||||
msgstr "安全帶未繫"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:619 selfdrive/controls/lib/events.py:620
|
||||
msgid "ESP Off"
|
||||
msgstr "ESP 關閉"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:624 selfdrive/controls/lib/events.py:625
|
||||
msgid "Low Battery"
|
||||
msgstr "電量過低"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:629 selfdrive/controls/lib/events.py:630
|
||||
msgid "Communication Issue between Processes"
|
||||
msgstr "行程間出現通訊問題"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:635 selfdrive/controls/lib/events.py:636
|
||||
msgid "Radar Communication Issue"
|
||||
msgstr "雷達通訊出現問題"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:641 selfdrive/controls/lib/events.py:642
|
||||
#: selfdrive/controls/lib/events.py:646 selfdrive/controls/lib/events.py:647
|
||||
msgid "Radar Error: Restart the Car"
|
||||
msgstr "雷達訊號錯誤：請重新發動車輛"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:651 selfdrive/controls/lib/events.py:652
|
||||
msgid "Driving model lagging"
|
||||
msgstr "操控模型有延遲"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:656 selfdrive/controls/lib/events.py:657
|
||||
msgid "Vision Model Output Uncertain"
|
||||
msgstr "視覺模型判斷不明確"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:661 selfdrive/controls/lib/events.py:662
|
||||
msgid "Device Fell Off Mount"
|
||||
msgstr "裝置掉落偵測"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:666 selfdrive/controls/lib/events.py:672
|
||||
msgid "Low Memory: Reboot Your Device"
|
||||
msgstr "記憶體不足：請重啟您的裝置"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:668
|
||||
msgid "RAM Critically Low"
|
||||
msgstr "記憶體嚴重不足"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:677 selfdrive/controls/lib/events.py:678
|
||||
msgid "Controls Failed"
|
||||
msgstr "控制發生錯誤"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:682
|
||||
msgid "Controls Mismatch"
|
||||
msgstr "控制不匹配"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:686 selfdrive/controls/lib/events.py:688
|
||||
#: selfdrive/controls/lib/events.py:692
|
||||
msgid "CAN Error: Check Connections"
|
||||
msgstr "CAN 訊號錯誤：請檢查線路"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:696 selfdrive/controls/lib/events.py:702
|
||||
msgid "LKAS Fault: Restart the Car"
|
||||
msgstr "LKAS 錯誤：請重新發動車輛"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:698
|
||||
msgid "LKAS Fault: Restart the car to engage"
|
||||
msgstr "LKAS 錯誤：請重新發動車輛"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:706 selfdrive/controls/lib/events.py:712
|
||||
#: selfdrive/controls/lib/events.py:795
|
||||
msgid "Cruise Fault: Restart the Car"
|
||||
msgstr "巡航系統錯誤：請重新發動車輛"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:708 selfdrive/controls/lib/events.py:791
|
||||
msgid "Cruise Fault: Restart the car to engage"
|
||||
msgstr "巡航系統錯誤：請重新發動車輛"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:716
|
||||
msgid "Gas Fault: Restart the Car"
|
||||
msgstr "油門錯誤：請重新發動車輛"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:717
|
||||
msgid "Gas Error: Restart the Car"
|
||||
msgstr "油門錯誤：請重新發動車輛"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:722
|
||||
#, fuzzy
|
||||
msgid ""
|
||||
"Reverse\n"
|
||||
"Gear"
|
||||
msgstr "切換至倒車檔"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:726
|
||||
msgid "Reverse Gear"
|
||||
msgstr "切換至倒車檔"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:731
|
||||
msgid "Cruise Is Off"
|
||||
msgstr "巡航系統關閉"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:735 selfdrive/controls/lib/events.py:736
|
||||
msgid "Planner Solution Error"
|
||||
msgstr "Planner Solution 錯誤"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:740 selfdrive/controls/lib/events.py:742
|
||||
#: selfdrive/controls/lib/events.py:746
|
||||
msgid "Harness Malfunction"
|
||||
msgstr "Harness 故障"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:743
|
||||
msgid "Please Check Hardware"
|
||||
msgstr "請檢查硬體"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:751 selfdrive/controls/lib/events.py:760
|
||||
msgid "openpilot Canceled"
|
||||
msgstr "openpilot 已取消"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:752
|
||||
msgid "No close lead car"
|
||||
msgstr "前方沒有車輛"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:755
|
||||
msgid "No Close Lead Car"
|
||||
msgstr "前方沒有車輛"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:761
|
||||
msgid "Speed too low"
|
||||
msgstr "車速過慢"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:768 selfdrive/controls/lib/events.py:773
|
||||
msgid "Speed Too High"
|
||||
msgstr "車速過快"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:769
|
||||
msgid "Slow down to resume operation"
|
||||
msgstr "請減速後再啟用"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:774
|
||||
msgid "Slow down to engage"
|
||||
msgstr "請減速後再啟用"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:781
|
||||
msgid "Please connect to Internet"
|
||||
msgstr "請連接網路"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:782
|
||||
msgid "An Update Check Is Required to Engage"
|
||||
msgstr "需檢查更新後才能啟用"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:785
|
||||
msgid "Please Connect to Internet"
|
||||
msgstr "請連接網路"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:801
|
||||
msgid "Left ALC will start in 3s"
|
||||
msgstr "準備自動切至左車道"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:809
|
||||
msgid "Right ALC will start in 3s"
|
||||
msgstr "準備自動切至右車道"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:817
|
||||
msgid "STEERING REQUIRED: Lane Keeping OFF"
|
||||
msgstr "請接管方向盤：車道維持關閉"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:825
|
||||
msgid "STEERING REQUIRED: Blinkers ON"
|
||||
msgstr "請接管方向盤：方向燈開啟"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:833 selfdrive/controls/lib/events.py:838
|
||||
msgid "Lead Car Is Moving"
|
||||
msgstr "前方車輛車移動中"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:847
|
||||
msgid "WARNING"
|
||||
msgstr "警告"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:848
|
||||
msgid "Grab wheel to start bypass"
|
||||
msgstr "請握好方向盤以繞過時間限制"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:855
|
||||
msgid "BYPASSING"
|
||||
msgstr "繞過時間限制中"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:856
|
||||
msgid "HOLD WHEEL"
|
||||
msgstr "握好方向盤"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:863
|
||||
msgid "Bypassed!"
|
||||
msgstr "時間限制已繞過"
|
||||
|
||||
#: selfdrive/controls/lib/events.py:864
|
||||
msgid "Release wheel when ready"
|
||||
msgstr "準備好後請鬆開放向盤"
|
||||
@@ -1,5 +1,9 @@
|
||||
Import('env', 'envCython', 'common', 'cereal', 'messaging')
|
||||
|
||||
# dp - Add read dp_disable_relay value
|
||||
if FindFile('dp_disable_relay', '/data/params/d') != None:
|
||||
with open('/data/params/d/dp_disable_relay') as f:
|
||||
if (int(f.read())) == 1:
|
||||
env.Append(CCFLAGS='-DDisableRelay')
|
||||
env.Program('boardd', ['boardd.cc', 'panda.cc', 'pigeon.cc'], LIBS=['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'])
|
||||
env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
|
||||
|
||||
|
||||
@@ -62,6 +62,7 @@ bool time_valid(struct tm sys_time){
|
||||
}
|
||||
|
||||
void safety_setter_thread() {
|
||||
#ifndef DisableRelay
|
||||
LOGD("Starting safety setter thread");
|
||||
// diagnostic only is the default, needed for VIN query
|
||||
panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327);
|
||||
@@ -86,7 +87,7 @@ void safety_setter_thread() {
|
||||
|
||||
// VIN query done, stop listening to OBDII
|
||||
panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
|
||||
|
||||
#endif
|
||||
std::vector<char> params;
|
||||
LOGW("waiting for params to set safety model");
|
||||
while (1) {
|
||||
@@ -109,7 +110,7 @@ void safety_setter_thread() {
|
||||
cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
|
||||
cereal::CarParams::SafetyModel safety_model = car_params.getSafetyModel();
|
||||
|
||||
panda->set_unsafe_mode(0); // see safety_declarations.h for allowed values
|
||||
panda->set_unsafe_mode(9); // see safety_declarations.h for allowed values
|
||||
|
||||
auto safety_param = car_params.getSafetyParam();
|
||||
LOGW("setting safety model: %d with param %d", (int)safety_model, safety_param);
|
||||
@@ -297,12 +298,12 @@ void can_health_thread() {
|
||||
if (spoofing_started) {
|
||||
health.ignition_line = 1;
|
||||
}
|
||||
|
||||
#ifndef DisableRelay
|
||||
// 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)) {
|
||||
panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
|
||||
}
|
||||
|
||||
#endif
|
||||
ignition = ((health.ignition_line != 0) || (health.ignition_can != 0));
|
||||
|
||||
if (ignition) {
|
||||
@@ -316,11 +317,12 @@ void can_health_thread() {
|
||||
if (health.power_save_enabled != power_save_desired){
|
||||
panda->set_power_saving(power_save_desired);
|
||||
}
|
||||
|
||||
#ifndef DisableRelay
|
||||
// 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))) {
|
||||
panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// clear VIN, CarParams, and set new safety on car start
|
||||
@@ -483,6 +485,11 @@ void pigeon_thread() {
|
||||
|
||||
pigeon->init();
|
||||
|
||||
// dp
|
||||
#ifdef DisableRelay
|
||||
panda->set_safety_model(cereal::CarParams::SafetyModel::TOYOTA);
|
||||
#endif
|
||||
|
||||
while (!do_exit && panda->connected) {
|
||||
std::string recv = pigeon->receive();
|
||||
if (recv.length() > 0) {
|
||||
@@ -505,7 +512,9 @@ void pigeon_thread() {
|
||||
int main() {
|
||||
int err;
|
||||
LOGW("starting boardd");
|
||||
|
||||
#ifdef DisableRelay
|
||||
LOGW("boardd is in DisableRelay mode.");
|
||||
#endif
|
||||
// set process priority and affinity
|
||||
err = set_realtime_priority(54);
|
||||
LOG("set priority returns %d", err);
|
||||
|
||||
@@ -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.version import comma_remote, tested_branch
|
||||
from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_known_cars
|
||||
@@ -9,15 +9,16 @@ from selfdrive.swaglog import cloudlog
|
||||
import cereal.messaging as messaging
|
||||
from selfdrive.car import gen_empty_fingerprint
|
||||
|
||||
from common.dp_common import is_online
|
||||
import threading
|
||||
import selfdrive.crash as crash
|
||||
|
||||
from cereal import car
|
||||
EventName = car.CarEvent.EventName
|
||||
|
||||
|
||||
def get_startup_event(car_recognized, controller_available):
|
||||
if comma_remote and tested_branch:
|
||||
event = EventName.startup
|
||||
else:
|
||||
event = EventName.startupMaster
|
||||
event = EventName.startup
|
||||
|
||||
if not car_recognized:
|
||||
event = EventName.startupNoCar
|
||||
@@ -82,14 +83,23 @@ def only_toyota_left(candidate_cars):
|
||||
|
||||
# **** for use live only ****
|
||||
def fingerprint(logcan, sendcan):
|
||||
params = Params()
|
||||
car_selected = params.get('dp_car_selected', encoding='utf8')
|
||||
car_detected = params.get('dp_car_detected', encoding='utf8')
|
||||
cached_params = params.get("CarParamsCache")
|
||||
if cached_params is None and car_selected == "" and car_detected != "":
|
||||
params.put('dp_car_selected', car_detected)
|
||||
params.put('dp_car_detected', "")
|
||||
|
||||
fixed_fingerprint = os.environ.get('FINGERPRINT', "")
|
||||
if fixed_fingerprint == "" and cached_params is None and car_selected != "":
|
||||
fixed_fingerprint = car_selected
|
||||
skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
|
||||
|
||||
if not fixed_fingerprint and not skip_fw_query:
|
||||
# Vin query only reliably works thorugh OBDII
|
||||
bus = 1
|
||||
|
||||
cached_params = Params().get("CarParamsCache")
|
||||
if cached_params is not None:
|
||||
cached_params = car.CarParams.from_bytes(cached_params)
|
||||
if cached_params.carName == "mock":
|
||||
@@ -164,6 +174,7 @@ def fingerprint(logcan, sendcan):
|
||||
source = car.CarParams.FingerprintSource.fixed
|
||||
|
||||
cloudlog.warning("fingerprinted %s", car_fingerprint)
|
||||
put_nonblocking('dp_car_detected', car_fingerprint)
|
||||
return car_fingerprint, finger, vin, car_fw, source
|
||||
|
||||
|
||||
@@ -174,6 +185,10 @@ def get_car(logcan, sendcan):
|
||||
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, car_fw)
|
||||
car_params.carVin = vin
|
||||
@@ -181,3 +196,8 @@ def get_car(logcan, sendcan):
|
||||
car_params.fingerprintSource = source
|
||||
|
||||
return CarInterface(car_params, CarController, CarState), car_params
|
||||
|
||||
def log_fingerprinted(candidate):
|
||||
while True:
|
||||
crash.capture_warning("fingerprinted %s" % candidate)
|
||||
break
|
||||
@@ -3,6 +3,7 @@ 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
|
||||
from common.dp_common import common_controller_ctrl
|
||||
|
||||
class CarController():
|
||||
def __init__(self, dbc_name, CP, VM):
|
||||
@@ -16,7 +17,11 @@ class CarController():
|
||||
|
||||
self.packer = CANPacker(dbc_name)
|
||||
|
||||
def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
|
||||
# dp
|
||||
self.last_blinker_on = False
|
||||
self.blinker_end_frame = 0.
|
||||
|
||||
def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert, dragonconf):
|
||||
# this seems needed to avoid steering faults and to force the sync with the EPS counter
|
||||
frame = CS.lkas_counter
|
||||
if self.prev_frame == frame:
|
||||
@@ -40,6 +45,18 @@ 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 + dragonconf.dpSignalOffDelay
|
||||
apply_steer = common_controller_ctrl(enabled,
|
||||
dragonconf,
|
||||
blinker_on or frame < self.blinker_end_frame,
|
||||
apply_steer, CS.out.vEgo)
|
||||
self.last_blinker_on = blinker_on
|
||||
|
||||
self.apply_steer_last = apply_steer
|
||||
|
||||
can_sends = []
|
||||
|
||||
@@ -111,7 +111,7 @@ class CarState(CarStateBase):
|
||||
("DOORS", 1),
|
||||
("TRACTION_BUTTON", 1),
|
||||
]
|
||||
|
||||
checks = []
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
|
||||
|
||||
@staticmethod
|
||||
@@ -127,5 +127,5 @@ class CarState(CarStateBase):
|
||||
("LKAS_HEARTBIT", 10),
|
||||
("LKAS_HUD", 4),
|
||||
]
|
||||
|
||||
checks = []
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
|
||||
|
||||
@@ -3,7 +3,7 @@ from cereal import car
|
||||
from selfdrive.car.chrysler.values import CAR
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
from common.dp_common import common_interface_atl, common_interface_get_params_lqr
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
@staticmethod
|
||||
@@ -18,6 +18,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
||||
ret.carName = "chrysler"
|
||||
ret.safetyModel = car.CarParams.SafetyModel.chrysler
|
||||
ret.lateralTuning.init('pid')
|
||||
|
||||
# Chrysler port is a community feature, since we don't own one to test
|
||||
ret.communityFeature = True
|
||||
@@ -38,6 +39,9 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.steerRatio = 12.7
|
||||
ret.steerActuatorDelay = 0.2 # in seconds
|
||||
|
||||
# dp
|
||||
ret = common_interface_get_params_lqr(ret)
|
||||
|
||||
ret.centerToFront = ret.wheelbase * 0.44
|
||||
|
||||
ret.minSteerSpeed = 3.8 # m/s
|
||||
@@ -57,13 +61,15 @@ class CarInterface(CarInterfaceBase):
|
||||
return ret
|
||||
|
||||
# returns a car.CarState
|
||||
def update(self, c, can_strings):
|
||||
def update(self, c, can_strings, dragonconf):
|
||||
# ******************* do can recv *******************
|
||||
self.cp.update_strings(can_strings)
|
||||
self.cp_cam.update_strings(can_strings)
|
||||
|
||||
ret = self.CS.update(self.cp, self.cp_cam)
|
||||
|
||||
# dp
|
||||
self.dragonconf = dragonconf
|
||||
ret.cruiseState.enabled = common_interface_atl(ret, dragonconf.dpAtl)
|
||||
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
|
||||
|
||||
# speeds
|
||||
@@ -90,6 +96,6 @@ class CarInterface(CarInterfaceBase):
|
||||
if (self.CS.frame == -1):
|
||||
return [] # if we haven't seen a frame 220, then do not update.
|
||||
|
||||
can_sends = self.CC.update(c.enabled, self.CS, c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert)
|
||||
can_sends = self.CC.update(c.enabled, self.CS, c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert, self.dragonconf)
|
||||
|
||||
return can_sends
|
||||
|
||||
@@ -2,7 +2,7 @@ from cereal import car
|
||||
from selfdrive.car import make_can_msg
|
||||
from selfdrive.car.ford.fordcan import create_steer_command, create_lkas_ui, spam_cancel_button
|
||||
from opendbc.can.packer import CANPacker
|
||||
|
||||
from common.dp_common import common_controller_ctrl
|
||||
|
||||
MAX_STEER_DELTA = 1
|
||||
TOGGLE_DEBUG = False
|
||||
@@ -18,13 +18,29 @@ class CarController():
|
||||
self.steer_alert_last = False
|
||||
self.lkas_action = 0
|
||||
|
||||
def update(self, enabled, CS, frame, actuators, visual_alert, pcm_cancel):
|
||||
# dp
|
||||
self.last_blinker_on = False
|
||||
self.blinker_end_frame = 0.
|
||||
|
||||
def update(self, enabled, CS, frame, actuators, visual_alert, pcm_cancel, dragonconf):
|
||||
|
||||
can_sends = []
|
||||
steer_alert = visual_alert == car.CarControl.HUDControl.VisualAlert.steerRequired
|
||||
|
||||
apply_steer = actuators.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 + dragonconf.dpSignalOffDelay
|
||||
apply_steer = common_controller_ctrl(enabled,
|
||||
dragonconf,
|
||||
blinker_on or frame < self.blinker_end_frame,
|
||||
apply_steer, CS.out.vEgo)
|
||||
self.last_blinker_on = blinker_on
|
||||
|
||||
if self.enable_camera:
|
||||
|
||||
if pcm_cancel:
|
||||
|
||||
@@ -8,6 +8,9 @@ from selfdrive.car.ford.values import DBC
|
||||
WHEEL_RADIUS = 0.33
|
||||
|
||||
class CarState(CarStateBase):
|
||||
def __init__(self, CP):
|
||||
super().__init__(CP)
|
||||
|
||||
def update(self, cp):
|
||||
ret = car.CarState.new_message()
|
||||
ret.wheelSpeeds.rr = cp.vl["WheelSpeed_CG1"]['WhlRr_W_Meas'] * WHEEL_RADIUS
|
||||
|
||||
@@ -5,7 +5,7 @@ from selfdrive.config import Conversions as CV
|
||||
from selfdrive.car.ford.values import MAX_ANGLE
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
from common.dp_common import common_interface_atl, common_interface_get_params_lqr
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
|
||||
@@ -19,6 +19,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.carName = "ford"
|
||||
ret.safetyModel = car.CarParams.SafetyModel.ford
|
||||
ret.dashcamOnly = True
|
||||
ret.lateralTuning.init('pid')
|
||||
|
||||
ret.wheelbase = 2.85
|
||||
ret.steerRatio = 14.8
|
||||
@@ -32,6 +33,9 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.centerToFront = ret.wheelbase * 0.44
|
||||
tire_stiffness_factor = 0.5328
|
||||
|
||||
# dp
|
||||
ret = common_interface_get_params_lqr(ret)
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
# civic and scaling by mass and wheelbase
|
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
||||
@@ -49,12 +53,14 @@ class CarInterface(CarInterfaceBase):
|
||||
return ret
|
||||
|
||||
# returns a car.CarState
|
||||
def update(self, c, can_strings):
|
||||
def update(self, c, can_strings, dragonconf):
|
||||
# ******************* do can recv *******************
|
||||
self.cp.update_strings(can_strings)
|
||||
|
||||
ret = self.CS.update(self.cp)
|
||||
|
||||
# dp
|
||||
self.dragonconf = dragonconf
|
||||
ret.cruiseState.enabled = common_interface_atl(ret, dragonconf.dpAtl)
|
||||
ret.canValid = self.cp.can_valid
|
||||
|
||||
# events
|
||||
@@ -73,7 +79,7 @@ class CarInterface(CarInterfaceBase):
|
||||
def apply(self, c):
|
||||
|
||||
can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
|
||||
c.hudControl.visualAlert, c.cruiseControl.cancel)
|
||||
c.hudControl.visualAlert, c.cruiseControl.cancel, self.dragonconf)
|
||||
|
||||
self.frame += 1
|
||||
return can_sends
|
||||
|
||||
@@ -6,6 +6,7 @@ from selfdrive.car import apply_std_steer_torque_limits
|
||||
from selfdrive.car.gm import gmcan
|
||||
from selfdrive.car.gm.values import DBC, CanBus
|
||||
from opendbc.can.packer import CANPacker
|
||||
from common.dp_common import common_controller_ctrl
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
|
||||
@@ -51,8 +52,12 @@ class CarController():
|
||||
self.packer_obj = CANPacker(DBC[CP.carFingerprint]['radar'])
|
||||
self.packer_ch = CANPacker(DBC[CP.carFingerprint]['chassis'])
|
||||
|
||||
# dp
|
||||
self.last_blinker_on = False
|
||||
self.blinker_end_frame = 0.
|
||||
|
||||
def update(self, enabled, CS, frame, actuators,
|
||||
hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
|
||||
hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert, dragonconf):
|
||||
|
||||
P = self.params
|
||||
|
||||
@@ -69,6 +74,18 @@ class CarController():
|
||||
else:
|
||||
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 + dragonconf.dpSignalOffDelay
|
||||
apply_steer = common_controller_ctrl(enabled,
|
||||
dragonconf,
|
||||
blinker_on or frame < self.blinker_end_frame,
|
||||
apply_steer, CS.out.vEgo)
|
||||
self.last_blinker_on = blinker_on
|
||||
|
||||
self.apply_steer_last = apply_steer
|
||||
idx = (frame // P.STEER_STEP) % 4
|
||||
|
||||
|
||||
@@ -5,6 +5,7 @@ from selfdrive.car.gm.values import CAR, CruiseButtons, \
|
||||
AccState
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
from common.dp_common import common_interface_atl, common_interface_get_params_lqr
|
||||
|
||||
ButtonType = car.CarState.ButtonEvent.Type
|
||||
EventName = car.CarEvent.EventName
|
||||
@@ -21,6 +22,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.carName = "gm"
|
||||
ret.safetyModel = car.CarParams.SafetyModel.gm
|
||||
ret.enableCruise = False # stock cruise control is kept off
|
||||
ret.lateralTuning.init('pid')
|
||||
|
||||
# GM port is a community feature
|
||||
# TODO: make a port that uses a car harness and it only intercepts the camera
|
||||
@@ -92,6 +94,9 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.steerRatioRear = 0.
|
||||
ret.centerToFront = ret.wheelbase * 0.49
|
||||
|
||||
# dp
|
||||
ret = common_interface_get_params_lqr(ret)
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
# civic and scaling by mass and wheelbase
|
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
||||
@@ -115,11 +120,13 @@ class CarInterface(CarInterfaceBase):
|
||||
return ret
|
||||
|
||||
# returns a car.CarState
|
||||
def update(self, c, can_strings):
|
||||
def update(self, c, can_strings, dragonconf):
|
||||
self.cp.update_strings(can_strings)
|
||||
|
||||
ret = self.CS.update(self.cp)
|
||||
|
||||
# dp
|
||||
self.dragonconf = dragonconf
|
||||
ret.cruiseState.enabled = common_interface_atl(ret, dragonconf.dpAtl)
|
||||
ret.canValid = self.cp.can_valid
|
||||
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
|
||||
|
||||
@@ -188,7 +195,7 @@ class CarInterface(CarInterfaceBase):
|
||||
can_sends = self.CC.update(enabled, self.CS, self.frame,
|
||||
c.actuators,
|
||||
hud_v_cruise, c.hudControl.lanesVisible,
|
||||
c.hudControl.leadVisible, c.hudControl.visualAlert)
|
||||
c.hudControl.leadVisible, c.hudControl.visualAlert, self.dragonconf)
|
||||
|
||||
self.frame += 1
|
||||
return can_sends
|
||||
|
||||
@@ -7,6 +7,7 @@ from selfdrive.car import create_gas_command
|
||||
from selfdrive.car.honda import hondacan
|
||||
from selfdrive.car.honda.values import CruiseButtons, CAR, VISUAL_HUD, HONDA_BOSCH
|
||||
from opendbc.can.packer import CANPacker
|
||||
from common.dp_common import common_controller_ctrl
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
|
||||
@@ -72,17 +73,17 @@ 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):
|
||||
self.BRAKE_MAX = 1024//4
|
||||
self.STEER_MAX = CP.lateralParams.torqueBP[-1]
|
||||
# mirror of list (assuming first item is zero) for interp of signed request values
|
||||
assert(CP.lateralParams.torqueBP[0] == 0)
|
||||
assert(CP.lateralParams.torqueBP[0] == 0)
|
||||
self.STEER_LOOKUP_BP = [v * -1 for v in CP.lateralParams.torqueBP][1:][::-1] + list(CP.lateralParams.torqueBP)
|
||||
self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
|
||||
self.BRAKE_MAX = 1024//4
|
||||
self.STEER_MAX = CP.lateralParams.torqueBP[-1]
|
||||
# mirror of list (assuming first item is zero) for interp of signed request values
|
||||
assert(CP.lateralParams.torqueBP[0] == 0)
|
||||
assert(CP.lateralParams.torqueBP[0] == 0)
|
||||
self.STEER_LOOKUP_BP = [v * -1 for v in CP.lateralParams.torqueBP][1:][::-1] + list(CP.lateralParams.torqueBP)
|
||||
self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
|
||||
|
||||
class CarController():
|
||||
def __init__(self, dbc_name, CP, VM):
|
||||
@@ -96,9 +97,30 @@ class CarController():
|
||||
|
||||
self.params = CarControllerParams(CP)
|
||||
|
||||
# dp
|
||||
self.last_blinker_on = False
|
||||
self.blinker_end_frame = 0.
|
||||
self.prev_lead_distance = 0.0
|
||||
self.stopped_lead_distance = 0.0
|
||||
self.lead_distance_counter = 1
|
||||
self.lead_distance_counter_prev = 1
|
||||
self.rough_lead_speed = 0.0
|
||||
|
||||
def rough_speed(self, lead_distance):
|
||||
if self.prev_lead_distance != lead_distance:
|
||||
self.lead_distance_counter_prev = self.lead_distance_counter
|
||||
self.rough_lead_speed += 0.3334 * (
|
||||
(lead_distance - self.prev_lead_distance) / self.lead_distance_counter_prev - self.rough_lead_speed)
|
||||
self.lead_distance_counter = 0.0
|
||||
elif self.lead_distance_counter >= self.lead_distance_counter_prev:
|
||||
self.rough_lead_speed = (self.lead_distance_counter * self.rough_lead_speed) / (self.lead_distance_counter + 1.0)
|
||||
self.lead_distance_counter += 1.0
|
||||
self.prev_lead_distance = lead_distance
|
||||
return self.rough_lead_speed
|
||||
|
||||
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):
|
||||
hud_v_cruise, hud_show_lanes, dragonconf, hud_show_car, hud_alert):
|
||||
|
||||
P = self.params
|
||||
|
||||
@@ -114,7 +136,7 @@ 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
|
||||
@@ -130,25 +152,37 @@ 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 ****
|
||||
|
||||
# steer torque is converted back to CAN reference (positive when steering right)
|
||||
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 + dragonconf.dpSignalOffDelay
|
||||
apply_steer = common_controller_ctrl(enabled,
|
||||
dragonconf,
|
||||
blinker_on or frame < self.blinker_end_frame,
|
||||
apply_steer, CS.out.vEgo)
|
||||
self.last_blinker_on = blinker_on
|
||||
|
||||
# Send steering command.
|
||||
idx = frame % 4
|
||||
can_sends.append(hondacan.create_steering_control(self.packer, apply_steer,
|
||||
lkas_active, CS.CP.carFingerprint, idx, CS.CP.openpilotLongitudinalControl))
|
||||
|
||||
# Send dashboard UI commands.
|
||||
if (frame % 10) == 0:
|
||||
if not dragonconf.dpAtl and (frame % 10) == 0:
|
||||
idx = (frame//10) % 4
|
||||
can_sends.extend(hondacan.create_ui_commands(self.packer, pcm_speed, hud, CS.CP.carFingerprint, CS.is_metric, idx, CS.CP.openpilotLongitudinalControl, CS.stock_hud))
|
||||
|
||||
@@ -156,12 +190,27 @@ class CarController():
|
||||
if (frame % 2) == 0:
|
||||
idx = frame // 2
|
||||
can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, CS.CP.carFingerprint, idx))
|
||||
if dragonconf.dpAtl:
|
||||
pass
|
||||
# If using stock ACC, spam cancel command to kill gas when OP disengages.
|
||||
if pcm_cancel_cmd:
|
||||
elif not dragonconf.dpAllowGas and pcm_cancel_cmd:
|
||||
can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, CS.CP.carFingerprint))
|
||||
elif CS.out.cruiseState.standstill:
|
||||
can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint))
|
||||
|
||||
if CS.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
|
||||
rough_lead_speed = self.rough_speed(CS.lead_distance)
|
||||
if CS.lead_distance > (self.stopped_lead_distance + 15.0) or rough_lead_speed > 0.1:
|
||||
self.stopped_lead_distance = 0.0
|
||||
can_sends.append(
|
||||
hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint))
|
||||
elif CS.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CRV_HYBRID):
|
||||
if CS.hud_lead == 1:
|
||||
can_sends.append(
|
||||
hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint))
|
||||
else:
|
||||
can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint))
|
||||
else:
|
||||
self.stopped_lead_distance = CS.lead_distance
|
||||
self.prev_lead_distance = CS.lead_distance
|
||||
else:
|
||||
# Send gas and brake commands.
|
||||
if (frame % 2) == 0:
|
||||
@@ -170,16 +219,17 @@ class CarController():
|
||||
if CS.CP.carFingerprint in HONDA_BOSCH:
|
||||
pass # TODO: implement
|
||||
else:
|
||||
apply_gas = clip(actuators.gas, 0., 1.)
|
||||
apply_brake = int(clip(self.brake_last * P.BRAKE_MAX, 0, P.BRAKE_MAX - 1))
|
||||
pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
|
||||
can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
|
||||
pcm_override, pcm_cancel_cmd, hud.fcw, idx, CS.CP.carFingerprint, CS.stock_brake))
|
||||
self.apply_brake_last = apply_brake
|
||||
if not dragonconf.dpAtl:
|
||||
apply_gas = clip(actuators.gas, 0., 1.)
|
||||
apply_brake = int(clip(self.brake_last * P.BRAKE_MAX, 0, P.BRAKE_MAX - 1))
|
||||
pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
|
||||
can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
|
||||
pcm_override, pcm_cancel_cmd, hud.fcw, idx, CS.CP.carFingerprint, CS.stock_brake))
|
||||
self.apply_brake_last = apply_brake
|
||||
|
||||
if CS.CP.enableGasInterceptor:
|
||||
# send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
|
||||
# This prevents unexpected pedal range rescaling
|
||||
can_sends.append(create_gas_command(self.packer, apply_gas, idx))
|
||||
if CS.CP.enableGasInterceptor:
|
||||
# send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
|
||||
# This prevents unexpected pedal range rescaling
|
||||
can_sends.append(create_gas_command(self.packer, apply_gas, idx))
|
||||
|
||||
return can_sends
|
||||
|
||||
@@ -22,41 +22,42 @@ def calc_cruise_offset(offset, speed):
|
||||
def get_can_signals(CP):
|
||||
# this function generates lists for signal, messages and initial values
|
||||
signals = [
|
||||
("XMISSION_SPEED", "ENGINE_DATA", 0),
|
||||
("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
|
||||
("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
|
||||
("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
|
||||
("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
|
||||
("STEER_ANGLE", "STEERING_SENSORS", 0),
|
||||
("STEER_ANGLE_RATE", "STEERING_SENSORS", 0),
|
||||
("MOTOR_TORQUE", "STEER_MOTOR_TORQUE", 0),
|
||||
("STEER_TORQUE_SENSOR", "STEER_STATUS", 0),
|
||||
("LEFT_BLINKER", "SCM_FEEDBACK", 0),
|
||||
("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
|
||||
("GEAR", "GEARBOX", 0),
|
||||
("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS", 1),
|
||||
("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS", 0),
|
||||
("BRAKE_PRESSED", "POWERTRAIN_DATA", 0),
|
||||
("BRAKE_SWITCH", "POWERTRAIN_DATA", 0),
|
||||
("CRUISE_BUTTONS", "SCM_BUTTONS", 0),
|
||||
("ESP_DISABLED", "VSA_STATUS", 1),
|
||||
("USER_BRAKE", "VSA_STATUS", 0),
|
||||
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0),
|
||||
("STEER_STATUS", "STEER_STATUS", 5),
|
||||
("GEAR_SHIFTER", "GEARBOX", 0),
|
||||
("PEDAL_GAS", "POWERTRAIN_DATA", 0),
|
||||
("CRUISE_SETTING", "SCM_BUTTONS", 0),
|
||||
("ACC_STATUS", "POWERTRAIN_DATA", 0),
|
||||
("XMISSION_SPEED", "ENGINE_DATA", 0),
|
||||
("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
|
||||
("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
|
||||
("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
|
||||
("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
|
||||
("STEER_ANGLE", "STEERING_SENSORS", 0),
|
||||
("STEER_ANGLE_RATE", "STEERING_SENSORS", 0),
|
||||
("MOTOR_TORQUE", "STEER_MOTOR_TORQUE", 0),
|
||||
("STEER_TORQUE_SENSOR", "STEER_STATUS", 0),
|
||||
("LEFT_BLINKER", "SCM_FEEDBACK", 0),
|
||||
("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
|
||||
("GEAR", "GEARBOX", 0),
|
||||
("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS", 1),
|
||||
("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS", 0),
|
||||
("BRAKE_PRESSED", "POWERTRAIN_DATA", 0),
|
||||
("BRAKE_SWITCH", "POWERTRAIN_DATA", 0),
|
||||
("CRUISE_BUTTONS", "SCM_BUTTONS", 0),
|
||||
("ESP_DISABLED", "VSA_STATUS", 1),
|
||||
("USER_BRAKE", "VSA_STATUS", 0),
|
||||
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0),
|
||||
("HUD_LEAD", "ACC_HUD", 0),
|
||||
("STEER_STATUS", "STEER_STATUS", 5),
|
||||
("GEAR_SHIFTER", "GEARBOX", 0),
|
||||
("PEDAL_GAS", "POWERTRAIN_DATA", 0),
|
||||
("CRUISE_SETTING", "SCM_BUTTONS", 0),
|
||||
("ACC_STATUS", "POWERTRAIN_DATA", 0),
|
||||
]
|
||||
|
||||
checks = [
|
||||
("ENGINE_DATA", 100),
|
||||
("WHEEL_SPEEDS", 50),
|
||||
("STEERING_SENSORS", 100),
|
||||
("SEATBELT_STATUS", 10),
|
||||
("CRUISE", 10),
|
||||
("POWERTRAIN_DATA", 100),
|
||||
("VSA_STATUS", 50),
|
||||
("ENGINE_DATA", 100),
|
||||
("WHEEL_SPEEDS", 50),
|
||||
("STEERING_SENSORS", 100),
|
||||
("SEATBELT_STATUS", 10),
|
||||
("CRUISE", 10),
|
||||
("POWERTRAIN_DATA", 100),
|
||||
("VSA_STATUS", 50),
|
||||
]
|
||||
|
||||
if CP.carFingerprint == CAR.ODYSSEY_CHN:
|
||||
@@ -106,11 +107,16 @@ def get_can_signals(CP):
|
||||
checks += [("CRUISE_PARAMS", 10)]
|
||||
else:
|
||||
checks += [("CRUISE_PARAMS", 50)]
|
||||
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
|
||||
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.INSIGHT):
|
||||
signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1),
|
||||
("LEAD_DISTANCE", "RADAR_HUD", 0)]
|
||||
checks += [("RADAR_HUD", 50)]
|
||||
elif CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.ACURA_RDX_3G):
|
||||
signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
|
||||
checks += [("RADAR_HUD", 50)]
|
||||
elif CP.carFingerprint == CAR.ODYSSEY_CHN:
|
||||
signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
|
||||
elif CP.carFingerprint == CAR.HRV:
|
||||
elif CP.carFingerprint in [CAR.HRV, CAR.JADE]:
|
||||
signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1),
|
||||
("WHEELS_MOVING", "STANDSTILL", 1)]
|
||||
else:
|
||||
@@ -135,7 +141,7 @@ def get_can_signals(CP):
|
||||
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
|
||||
("MAIN_ON", "SCM_BUTTONS", 0),
|
||||
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
|
||||
elif CP.carFingerprint == CAR.HRV:
|
||||
elif CP.carFingerprint in [CAR.HRV, CAR.JADE]:
|
||||
signals += [("CAR_GAS", "GAS_PEDAL", 0),
|
||||
("MAIN_ON", "SCM_BUTTONS", 0),
|
||||
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0)]
|
||||
@@ -175,6 +181,10 @@ class CarState(CarStateBase):
|
||||
self.v_cruise_pcm_prev = 0
|
||||
self.cruise_mode = 0
|
||||
|
||||
#dp
|
||||
self.lkMode = True
|
||||
self.lead_distance = 0.
|
||||
|
||||
def update(self, cp, cp_cam, cp_body):
|
||||
ret = car.CarState.new_message()
|
||||
|
||||
@@ -188,13 +198,17 @@ class CarState(CarStateBase):
|
||||
|
||||
# ******************* parse out can *******************
|
||||
# TODO: find wheels moving bit in dbc
|
||||
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
|
||||
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.INSIGHT):
|
||||
ret.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
|
||||
ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN'])
|
||||
self.lead_distance = cp.vl["RADAR_HUD"]['LEAD_DISTANCE']
|
||||
elif self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.ACURA_RDX_3G):
|
||||
ret.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
|
||||
ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN'])
|
||||
elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
|
||||
ret.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
|
||||
ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]['DRIVERS_DOOR_OPEN'])
|
||||
elif self.CP.carFingerprint == CAR.HRV:
|
||||
elif self.CP.carFingerprint in [CAR.HRV, CAR.JADE]:
|
||||
ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]['DRIVERS_DOOR_OPEN'])
|
||||
else:
|
||||
ret.standstill = not cp.vl["STANDSTILL"]['WHEELS_MOVING']
|
||||
@@ -230,6 +244,14 @@ 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']
|
||||
|
||||
@@ -253,7 +275,7 @@ class CarState(CarStateBase):
|
||||
|
||||
self.pedal_gas = cp.vl["POWERTRAIN_DATA"]['PEDAL_GAS']
|
||||
# crv doesn't include cruise control
|
||||
if self.CP.carFingerprint in (CAR.CRV, CAR.CRV_EU, CAR.HRV, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE, CAR.PILOT_2019, CAR.ODYSSEY_CHN):
|
||||
if self.CP.carFingerprint in (CAR.CRV, CAR.CRV_EU, CAR.HRV, CAR.JADE, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE, CAR.PILOT_2019, CAR.ODYSSEY_CHN):
|
||||
ret.gas = self.pedal_gas / 256.
|
||||
else:
|
||||
ret.gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS'] / 256.
|
||||
@@ -304,6 +326,9 @@ class CarState(CarStateBase):
|
||||
ret.cruiseState.available = bool(main_on)
|
||||
ret.cruiseState.nonAdaptive = self.cruise_mode != 0
|
||||
|
||||
# afa feature
|
||||
self.hud_lead = cp.vl["ACC_HUD"]['HUD_LEAD']
|
||||
|
||||
# Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
|
||||
if self.CP.carFingerprint in (CAR.PILOT, CAR.PILOT_2019, CAR.RIDGELINE):
|
||||
if ret.brake > 0.05:
|
||||
@@ -337,6 +362,7 @@ class CarState(CarStateBase):
|
||||
def get_can_parser(CP):
|
||||
signals, checks = get_can_signals(CP)
|
||||
bus_pt = 1 if CP.carFingerprint in HONDA_BOSCH else 0
|
||||
checks = []
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, bus_pt)
|
||||
|
||||
@staticmethod
|
||||
@@ -360,7 +386,7 @@ class CarState(CarStateBase):
|
||||
checks = [(0xe4, 100)]
|
||||
if CP.carFingerprint in [CAR.CRV, CAR.CRV_EU, CAR.ACURA_RDX, CAR.ODYSSEY_CHN]:
|
||||
checks = [(0x194, 100)]
|
||||
|
||||
checks = []
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
|
||||
|
||||
@staticmethod
|
||||
|
||||
@@ -10,6 +10,8 @@ from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH
|
||||
from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
|
||||
from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
from common.dp_common import common_interface_atl, common_interface_get_params_lqr
|
||||
from common.params import Params
|
||||
|
||||
A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)
|
||||
|
||||
@@ -122,6 +124,7 @@ class CarInterface(CarInterfaceBase):
|
||||
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]): # pylint: disable=dangerous-default-value
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
||||
ret.carName = "honda"
|
||||
ret.lateralTuning.init('pid')
|
||||
|
||||
if candidate in HONDA_BOSCH:
|
||||
ret.safetyModel = car.CarParams.SafetyModel.hondaBoschHarness
|
||||
@@ -305,6 +308,20 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.longitudinalTuning.kiBP = [0., 35.]
|
||||
ret.longitudinalTuning.kiV = [0.18, 0.12]
|
||||
|
||||
elif candidate == CAR.JADE:
|
||||
stop_and_go = False
|
||||
ret.mass = 1557. + STD_CARGO_KG
|
||||
ret.wheelbase = 2.76
|
||||
ret.centerToFront = ret.wheelbase * 0.41
|
||||
ret.steerRatio = 15.2
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
|
||||
tire_stiffness_factor = 0.5
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
|
||||
ret.longitudinalTuning.kpBP = [0., 5., 35.]
|
||||
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
|
||||
ret.longitudinalTuning.kiBP = [0., 35.]
|
||||
ret.longitudinalTuning.kiV = [0.18, 0.12]
|
||||
|
||||
elif candidate == CAR.ACURA_RDX:
|
||||
stop_and_go = False
|
||||
ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG
|
||||
@@ -407,6 +424,26 @@ class CarInterface(CarInterfaceBase):
|
||||
else:
|
||||
raise ValueError("unsupported car %s" % candidate)
|
||||
|
||||
# dp
|
||||
if Params().get('dp_honda_eps_mod') == b'1':
|
||||
if candidate == CAR.CIVIC:
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2566, 8000], [0, 2566, 3840]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.32], [0.1]] #2.5x tuned by @CFranHonda
|
||||
elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL):
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.32], [0.1]] #2.5 default mod #TMG put your values here
|
||||
elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
|
||||
elif candidate == CAR.CRV_5G:
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]] #tuned by Titanminer (8000)
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
|
||||
elif candidate == CAR.CRV_HYBRID:
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0x0, 0xB5, 0x161, 0x2D6, 0x4C0, 0x70D, 0xC42, 0x1058, 0x2C00], [0x0, 0x160, 0x1F0, 0x2E0, 0x378, 0x4A0, 0x5F0, 0x804, 0xF00]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]] #still needs to finish tuning for the new car
|
||||
ret.lateralTuning.pid.kf = 0.00004
|
||||
|
||||
ret = common_interface_get_params_lqr(ret)
|
||||
|
||||
# min speed to enable ACC. if car can do stop and go, then set enabling speed
|
||||
# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
|
||||
# conflict with PCM acc
|
||||
@@ -436,7 +473,7 @@ class CarInterface(CarInterfaceBase):
|
||||
return ret
|
||||
|
||||
# returns a car.CarState
|
||||
def update(self, c, can_strings):
|
||||
def update(self, c, can_strings, dragonconf):
|
||||
# ******************* do can recv *******************
|
||||
self.cp.update_strings(can_strings)
|
||||
self.cp_cam.update_strings(can_strings)
|
||||
@@ -444,7 +481,9 @@ class CarInterface(CarInterfaceBase):
|
||||
self.cp_body.update_strings(can_strings)
|
||||
|
||||
ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
|
||||
|
||||
# dp
|
||||
self.dragonconf = dragonconf
|
||||
ret.cruiseState.enabled = common_interface_atl(ret, dragonconf.dpAtl)
|
||||
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid and (self.cp_body is None or self.cp_body.can_valid)
|
||||
ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo)
|
||||
# FIXME: read sendcan for brakelights
|
||||
@@ -452,6 +491,9 @@ 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:
|
||||
@@ -490,6 +532,8 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# events
|
||||
events = self.create_common_events(ret, pcm_enable=False)
|
||||
if not self.CS.lkMode or (dragonconf.dpAtl and ret.vEgo <= self.CP.minEnableSpeed):
|
||||
events.add(EventName.manualSteeringRequired)
|
||||
if self.CS.brake_error:
|
||||
events.add(EventName.brakeUnavailable)
|
||||
if self.CS.brake_hold and self.CS.CP.openpilotLongitudinalControl:
|
||||
@@ -506,8 +550,8 @@ class CarInterface(CarInterfaceBase):
|
||||
and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl):
|
||||
# non loud alert if cruise disables below 25mph as expected (+ a little margin)
|
||||
if ret.vEgo < self.CP.minEnableSpeed + 2.:
|
||||
events.add(EventName.speedTooLow)
|
||||
else:
|
||||
# events.add(EventName.speedTooLow)
|
||||
# else:
|
||||
events.add(EventName.cruiseDisabled)
|
||||
if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
|
||||
events.add(EventName.manualRestart)
|
||||
@@ -563,6 +607,7 @@ class CarInterface(CarInterfaceBase):
|
||||
pcm_accel,
|
||||
hud_v_cruise,
|
||||
c.hudControl.lanesVisible,
|
||||
self.dragonconf,
|
||||
hud_show_car=c.hudControl.leadVisible,
|
||||
hud_alert=c.hudControl.visualAlert)
|
||||
|
||||
|
||||
@@ -37,6 +37,7 @@ class CAR:
|
||||
CRV_HYBRID = "HONDA CR-V 2019 HYBRID"
|
||||
FIT = "HONDA FIT 2018 EX"
|
||||
HRV = "HONDA HRV 2019 TOURING"
|
||||
JADE = "HONDA JADE 2017"
|
||||
ODYSSEY = "HONDA ODYSSEY 2018 EX-L"
|
||||
ODYSSEY_CHN = "HONDA ODYSSEY 2019 EXCLUSIVE CHN"
|
||||
ACURA_RDX = "ACURA RDX 2018 ACURAWATCH PLUS"
|
||||
@@ -54,10 +55,10 @@ FINGERPRINTS = {
|
||||
148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 419: 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.ACCORD_15: [{
|
||||
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
|
||||
148: 8, 228: 5, 229: 8, 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, 513: 8, 545: 6, 576: 8, 577: 8, 579: 8, 580: 8, 582: 8, 583: 8, 585: 8, 586: 8, 640: 8, 641: 8, 642: 8, 643: 8, 644: 8, 645: 8, 646: 8, 647: 8, 648: 8, 649: 8, 650: 8, 651: 8, 652: 8, 653: 8, 654: 8, 655: 8, 656: 8, 657: 8, 658: 8, 659: 8, 660: 8, 661: 8, 662: 4, 663: 8, 712: 8, 713: 8, 714: 8, 715: 8, 716: 8, 717: 8, 718: 8, 719: 8, 720: 8, 721: 8, 722: 8, 723: 8, 724: 8, 725: 8, 726: 8, 727: 8, 728: 8, 729: 8, 730: 8, 731: 8, 732: 8, 733: 8, 734: 8, 735: 8, 736: 8, 737: 8, 738: 8, 739: 8, 740: 8, 741: 8, 742: 8, 743: 8, 744: 8, 745: 8, 746: 8, 747: 8, 748: 8, 749: 8, 750: 8, 751: 8, 752: 8, 753: 8, 754: 8, 755: 8, 756: 8, 757: 8, 758: 8, 759: 8, 760: 8, 761: 8, 762: 8, 763: 8, 764: 8, 765: 8, 766: 8, 767: 8, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1024: 4, 1040: 6, 1056: 8, 1088: 3, 1104: 8, 1302: 8, 1416: 5, 1600: 5, 1601: 8, 1641: 8, 1652: 8, 1872: 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,
|
||||
@@ -87,8 +88,12 @@ 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: [{
|
||||
@@ -96,6 +101,10 @@ FINGERPRINTS = {
|
||||
}],
|
||||
CAR.CRV_HYBRID: [{
|
||||
57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 408: 6, 415: 6, 419: 8, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 477: 8, 479: 8, 490: 8, 495: 8, 525: 8, 531: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 814: 4, 829: 5, 833: 6, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 930: 8, 931: 8, 1302: 8, 1361: 5, 1365: 5, 1600: 5, 1601: 8, 1626: 5, 1627: 5
|
||||
},
|
||||
{
|
||||
# honda breeze hybrid
|
||||
57: 3, 148: 8, 228: 5, 229: 8, 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, 490: 8, 495: 8, 513: 8, 525: 8, 531: 8, 545: 6, 560: 8, 576: 8, 577: 8, 579: 8, 580: 8, 582: 8, 583: 8, 585: 8, 586: 8, 640: 8, 641: 8, 642: 8, 643: 8, 644: 8, 645: 8, 646: 8, 647: 8, 648: 8, 649: 8, 650: 8, 651: 8, 652: 8, 653: 8, 654: 8, 655: 8, 656: 8, 657: 8, 658: 8, 659: 8, 660: 8, 661: 8, 662: 4, 663: 8, 712: 8, 713: 8, 714: 8, 715: 8, 716: 8, 717: 8, 718: 8, 719: 8, 720: 8, 721: 8, 722: 8, 723: 8, 724: 8, 725: 8, 726: 8, 727: 8, 728: 8, 729: 8, 730: 8, 731: 8, 732: 8, 733: 8, 734: 8, 735: 8, 736: 8, 737: 8, 738: 8, 739: 8, 740: 8, 741: 8, 742: 8, 743: 8, 744: 8, 745: 8, 746: 8, 747: 8, 748: 8, 749: 8, 750: 8, 751: 8, 752: 8, 753: 8, 754: 8, 755: 8, 756: 8, 757: 8, 758: 8, 759: 8, 760: 8, 761: 8, 762: 8, 763: 8, 764: 8, 765: 8, 766: 8, 767: 8, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 814: 4, 829: 5, 833: 6, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 985: 3, 1024: 4, 1040: 6, 1056: 8, 1302: 8, 1361: 5, 1365: 5, 1600: 5, 1601: 8, 1641: 8, 1872: 8
|
||||
}],
|
||||
CAR.FIT: [{
|
||||
57: 3, 145: 8, 228: 5, 304: 8, 342: 6, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 422: 8, 427: 3, 428: 8, 432: 7, 464: 8, 487: 4, 490: 8, 506: 8, 597: 8, 660: 8, 661: 4, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 829: 5, 862: 8, 884: 7, 892: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8
|
||||
@@ -103,6 +112,9 @@ FINGERPRINTS = {
|
||||
CAR.HRV: [{
|
||||
57: 3, 145: 8, 228: 5, 316: 8, 340: 8, 342: 6, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 422: 8, 423: 2, 426: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 474: 8, 490: 8, 493: 3, 506: 8, 538: 5, 578: 2, 597: 8, 660: 8, 661: 4, 773: 7, 777: 8, 780: 8, 804: 8, 808: 8, 829: 5, 862: 8, 882: 2, 884: 7, 892: 8, 929: 8, 985: 3, 1030: 5, 1033: 5, 1108: 8, 1137: 8, 1348: 5, 1361: 5, 1365: 5, 1600: 5, 1601: 8, 1618: 5
|
||||
}],
|
||||
CAR.JADE: [{
|
||||
57: 3, 145: 8, 228: 5, 304: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 401: 8, 420: 8, 422: 8, 428: 8, 432: 7, 464: 8, 487: 4, 490: 8, 506: 8, 507: 1, 597: 8, 660: 8, 661: 4, 773: 7, 777: 8, 780: 8, 804: 8, 808: 8, 829: 5, 862: 8, 884: 7, 892: 8, 923: 2, 929: 4, 1057: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8
|
||||
}],
|
||||
# 2018 Odyssey w/ Added Comma Pedal Support (512L & 513L)
|
||||
CAR.ODYSSEY: [{
|
||||
57: 3, 148: 8, 228: 5, 229: 4, 316: 8, 342: 6, 344: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 427: 3, 432: 7, 450: 8, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 862: 8, 871: 8, 881: 8, 882: 4, 884: 8, 891: 8, 892: 8, 905: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1029: 8, 1036: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1302: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1619: 5, 1623: 5, 1668: 5
|
||||
@@ -113,6 +125,10 @@ 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: [{
|
||||
@@ -433,6 +449,7 @@ FW_VERSIONS = {
|
||||
b'37805-5AN-AJ30\x00\x00',
|
||||
b'37805-5AN-AK20\x00\x00',
|
||||
b'37805-5AN-AR20\x00\x00',
|
||||
b'37805-5AN-E410\x00\x00', # AlexNoop's Manual CIVIC_BOSCH
|
||||
b'37805-5AN-L940\x00\x00',
|
||||
b'37805-5AN-LF20\x00\x00',
|
||||
b'37805-5AN-LH20\x00\x00',
|
||||
@@ -471,6 +488,7 @@ FW_VERSIONS = {
|
||||
b'57114-TGG-C320\x00\x00',
|
||||
b'57114-TGG-L320\x00\x00',
|
||||
b'57114-TGG-L330\x00\x00',
|
||||
b'57114-TGL-G130\x00\x00', # AlexNoop's Manual CIVIC_BOSCH
|
||||
b'57114-TGL-G330\x00\x00',
|
||||
|
||||
],
|
||||
@@ -480,6 +498,7 @@ FW_VERSIONS = {
|
||||
b'39990-TEZ-T020\x00\x00',
|
||||
b'39990-TGG-A020\x00\x00',
|
||||
b'39990-TGG-A120\x00\x00',
|
||||
b'39990-TGN-E120\x00\x00', # AlexNoop's Manual CIVIC_BOSCH
|
||||
b'39990-TGL-E130\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
@@ -488,6 +507,7 @@ FW_VERSIONS = {
|
||||
b'77959-TGG-A020\x00\x00',
|
||||
b'77959-TGG-A030\x00\x00',
|
||||
b'77959-TGG-G010\x00\x00',
|
||||
b'77959-TGG-A020\x00\x00',
|
||||
],
|
||||
(Ecu.combinationMeter, 0x18da60f1, None): [
|
||||
b'78109-TBA-A110\x00\x00',
|
||||
@@ -505,10 +525,12 @@ FW_VERSIONS = {
|
||||
b'78109-TGG-A620\x00\x00',
|
||||
b'78109-TGG-A810\x00\x00',
|
||||
b'78109-TGG-A820\x00\x00',
|
||||
b'78109-TGG-BA10\x00\x00', # AlexNoop's Manual CIVIC_BOSCH
|
||||
b'78109-TGL-G120\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36802-TBA-A150\x00\x00',
|
||||
b'36802-TGG-G040\x00\x00', # AlexNoop's Manual CIVIC_BOSCH
|
||||
b'36802-TFJ-G060\x00\x00',
|
||||
b'36802-TGG-A050\x00\x00',
|
||||
b'36802-TGG-A060\x00\x00',
|
||||
@@ -523,6 +545,7 @@ FW_VERSIONS = {
|
||||
b'36161-TGG-A080\x00\x00',
|
||||
b'36161-TGG-A120\x00\x00',
|
||||
b'36161-TGL-G050\x00\x00',
|
||||
b'36161-TGG-G070\x00\x00', # AlexNoop's Manual CIVIC_BOSCH
|
||||
],
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-TBA-A110\x00\x00',
|
||||
@@ -723,6 +746,7 @@ 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',
|
||||
@@ -734,6 +758,7 @@ FW_VERSIONS = {
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-THR-A020\x00\x00',
|
||||
b'39990-THR-A030\x00\x00',
|
||||
b'77959-T6A-H140\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-THR-A010\x00\x00',
|
||||
@@ -780,6 +805,7 @@ FW_VERSIONS = {
|
||||
b'78109-THR-AN10\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',
|
||||
@@ -980,6 +1006,7 @@ DBC = {
|
||||
CAR.CRV_HYBRID: dbc_dict('honda_crv_hybrid_2019_can_generated', None),
|
||||
CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
|
||||
CAR.HRV: dbc_dict('honda_hrv_touring_2019_can_generated', 'acura_ilx_2016_nidec'),
|
||||
CAR.JADE: dbc_dict('honda_hrv_touring_2019_can_generated', 'acura_ilx_2016_nidec'),
|
||||
CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
|
||||
CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
|
||||
CAR.PILOT: dbc_dict('honda_pilot_touring_2017_can_generated', 'acura_ilx_2016_nidec'),
|
||||
@@ -1004,6 +1031,7 @@ STEER_THRESHOLD = {
|
||||
CAR.CRV_HYBRID: 1200,
|
||||
CAR.FIT: 1200,
|
||||
CAR.HRV: 1200,
|
||||
CAR.JADE: 1200,
|
||||
CAR.ODYSSEY: 1200,
|
||||
CAR.ODYSSEY_CHN: 1200,
|
||||
CAR.PILOT: 1200,
|
||||
@@ -1028,6 +1056,7 @@ SPEED_FACTOR = {
|
||||
CAR.CRV_HYBRID: 1.025,
|
||||
CAR.FIT: 1.,
|
||||
CAR.HRV: 1.025,
|
||||
CAR.JADE: 1.025,
|
||||
CAR.ODYSSEY: 1.,
|
||||
CAR.ODYSSEY_CHN: 1.,
|
||||
CAR.PILOT: 1.,
|
||||
|
||||
@@ -4,6 +4,8 @@ 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.dp_common import common_controller_ctrl
|
||||
from common.params import Params
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
|
||||
@@ -42,8 +44,13 @@ class CarController():
|
||||
self.steer_rate_limited = False
|
||||
self.last_resume_frame = 0
|
||||
|
||||
# dp
|
||||
self.last_blinker_on = False
|
||||
self.blinker_end_frame = 0.
|
||||
self.dp_hkg_smart_mdps = Params().get('dp_hkg_smart_mdps') == b'1'
|
||||
|
||||
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,
|
||||
left_lane, right_lane, left_lane_depart, right_lane_depart):
|
||||
left_lane, right_lane, left_lane_depart, right_lane_depart, dragonconf):
|
||||
# Steering Torque
|
||||
new_steer = actuators.steer * self.p.STEER_MAX
|
||||
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
|
||||
@@ -53,7 +60,7 @@ class CarController():
|
||||
lkas_active = enabled and abs(CS.out.steeringAngle) < 90.
|
||||
|
||||
# fix for Genesis hard fault at low speed
|
||||
if CS.out.vEgo < 16.7 and self.car_fingerprint == CAR.HYUNDAI_GENESIS:
|
||||
if not self.dp_hkg_smart_mdps and CS.out.vEgo < 16.7 and self.car_fingerprint == CAR.HYUNDAI_GENESIS:
|
||||
lkas_active = False
|
||||
|
||||
if not lkas_active:
|
||||
@@ -65,6 +72,18 @@ class CarController():
|
||||
process_hud_alert(enabled, self.car_fingerprint, visual_alert,
|
||||
left_lane, right_lane, left_lane_depart, right_lane_depart)
|
||||
|
||||
# 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 + dragonconf.dpSignalOffDelay
|
||||
apply_steer = common_controller_ctrl(enabled,
|
||||
dragonconf,
|
||||
blinker_on or frame < self.blinker_end_frame,
|
||||
apply_steer, CS.out.vEgo)
|
||||
self.last_blinker_on = blinker_on
|
||||
|
||||
can_sends = []
|
||||
can_sends.append(create_lkas11(self.packer, frame, self.car_fingerprint, apply_steer, lkas_active,
|
||||
CS.lkas11, sys_warning, sys_state, enabled,
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
import copy
|
||||
from cereal import car
|
||||
from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, EV_HYBRID
|
||||
from selfdrive.car.hyundai.values import CAR, DBC, STEER_THRESHOLD, FEATURES, EV_HYBRID
|
||||
from selfdrive.car.interfaces import CarStateBase
|
||||
from opendbc.can.parser import CANParser
|
||||
from selfdrive.config import Conversions as CV
|
||||
@@ -37,7 +37,7 @@ class CarState(CarStateBase):
|
||||
ret.steerWarning = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail'] != 0
|
||||
|
||||
# cruise state
|
||||
ret.cruiseState.available = True
|
||||
ret.cruiseState.available = cp.vl["SCC11"]["MainMode_ACC"] != 0 if self.CP.carFingerprint in [CAR.HYUNDAI_GENESIS, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.IONIQ] else True
|
||||
ret.cruiseState.enabled = cp.vl["SCC12"]['ACCMode'] != 0
|
||||
ret.cruiseState.standstill = cp.vl["SCC11"]['SCCInfoDisplay'] == 4.
|
||||
|
||||
|
||||
@@ -4,6 +4,8 @@ from selfdrive.config import Conversions as CV
|
||||
from selfdrive.car.hyundai.values import CAR
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
from common.dp_common import common_interface_atl, common_interface_get_params_lqr
|
||||
from common.params import Params
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
|
||||
@@ -18,6 +20,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.carName = "hyundai"
|
||||
ret.safetyModel = car.CarParams.SafetyModel.hyundai
|
||||
ret.radarOffCan = True
|
||||
ret.lateralTuning.init('pid')
|
||||
|
||||
# Most Hyundai car ports are community features for now
|
||||
ret.communityFeature = candidate not in [CAR.SONATA, CAR.PALISADE]
|
||||
@@ -68,16 +71,17 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
|
||||
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
|
||||
elif candidate == CAR.HYUNDAI_GENESIS:
|
||||
ret.lateralTuning.pid.kf = 0.00005
|
||||
ret.mass = 2060. + STD_CARGO_KG
|
||||
ret.wheelbase = 3.01
|
||||
ret.steerRatio = 16.5
|
||||
ret.steerRatio = 15
|
||||
# dp - indi value from donfyffe
|
||||
ret.lateralTuning.init('indi')
|
||||
ret.lateralTuning.indi.innerLoopGain = 3.5
|
||||
ret.lateralTuning.indi.outerLoopGain = 2.0
|
||||
ret.lateralTuning.indi.innerLoopGain = 3.1
|
||||
ret.lateralTuning.indi.outerLoopGain = 2.1
|
||||
ret.lateralTuning.indi.timeConstant = 1.4
|
||||
ret.lateralTuning.indi.actuatorEffectiveness = 2.3
|
||||
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
|
||||
ret.lateralTuning.indi.actuatorEffectiveness = 1.4
|
||||
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
|
||||
ret.minEnableSpeed = 10 * CV.MPH_TO_MS
|
||||
elif candidate == CAR.KONA:
|
||||
ret.lateralTuning.pid.kf = 0.00005
|
||||
ret.mass = 1275. + STD_CARGO_KG
|
||||
@@ -155,22 +159,29 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# Genesis
|
||||
elif candidate == CAR.GENESIS_G70:
|
||||
ret.lateralTuning.init('indi')
|
||||
ret.lateralTuning.indi.innerLoopGain = 2.5
|
||||
ret.lateralTuning.indi.outerLoopGain = 3.5
|
||||
ret.lateralTuning.indi.timeConstant = 1.4
|
||||
ret.lateralTuning.indi.actuatorEffectiveness = 1.8
|
||||
ret.steerActuatorDelay = 0.1
|
||||
ret.mass = 1640.0 + STD_CARGO_KG
|
||||
ret.wheelbase = 2.84
|
||||
ret.steerRatio = 13.56
|
||||
ret.lateralTuning.init('indi') # TODO: BPs for city speeds - this tuning is great on the highway but a bit lazy in town
|
||||
ret.lateralTuning.indi.innerLoopGain = 2.4 # higher values steer more
|
||||
ret.lateralTuning.indi.outerLoopGain = 3.0 # higher values steer more
|
||||
ret.lateralTuning.indi.timeConstant = 1.0 # lower values steer more
|
||||
ret.lateralTuning.indi.actuatorEffectiveness = 2.0 # lower values steer more
|
||||
ret.steerActuatorDelay = 0.4 # 0.08 stock
|
||||
ret.steerLimitTimer = 0.4 # down from 0.4
|
||||
tire_stiffness_factor = 1.0
|
||||
ret.steerRateCost = 1.0
|
||||
ret.mass = 1825. + STD_CARGO_KG
|
||||
ret.wheelbase = 2.906
|
||||
ret.steerRatio = 14.4
|
||||
elif candidate == CAR.GENESIS_G80:
|
||||
ret.lateralTuning.pid.kf = 0.00005
|
||||
ret.mass = 2060. + STD_CARGO_KG
|
||||
ret.wheelbase = 3.01
|
||||
ret.steerRatio = 16.5
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
|
||||
ret.lateralTuning.init('indi')
|
||||
ret.lateralTuning.indi.innerLoopGain = 3.5
|
||||
ret.lateralTuning.indi.outerLoopGain = 2.0
|
||||
ret.lateralTuning.indi.timeConstant = 1.4
|
||||
ret.lateralTuning.indi.actuatorEffectiveness = 2.3
|
||||
ret.minSteerSpeed = 60 * CV.KPH_TO_MS
|
||||
elif candidate == CAR.GENESIS_G90:
|
||||
ret.mass = 2200
|
||||
ret.wheelbase = 3.15
|
||||
@@ -178,7 +189,6 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
|
||||
|
||||
|
||||
# these cars require a special panda safety mode due to missing counters and checksums in the messages
|
||||
if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_2019,
|
||||
CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80]:
|
||||
@@ -186,6 +196,11 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
ret.centerToFront = ret.wheelbase * 0.4
|
||||
|
||||
# dp
|
||||
if Params().get('dp_hkg_smart_mdps') == b'1':
|
||||
ret.minSteerSpeed = 0.
|
||||
ret = common_interface_get_params_lqr(ret)
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
# civic and scaling by mass and wheelbase
|
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
||||
@@ -199,23 +214,31 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
return ret
|
||||
|
||||
def update(self, c, can_strings):
|
||||
def update(self, c, can_strings, dragonconf):
|
||||
self.cp.update_strings(can_strings)
|
||||
self.cp_cam.update_strings(can_strings)
|
||||
|
||||
ret = self.CS.update(self.cp, self.cp_cam)
|
||||
# dp
|
||||
self.dragonconf = dragonconf
|
||||
if ret.vEgo >= self.CP.minSteerSpeed:
|
||||
ret.cruiseState.enabled = common_interface_atl(ret, dragonconf.dpAtl)
|
||||
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
|
||||
|
||||
events = self.create_common_events(ret)
|
||||
#TODO: addd abs(self.CS.angle_steers) > 90 to 'steerTempUnavailable' event
|
||||
|
||||
# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
|
||||
if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
|
||||
self.low_speed_alert = True
|
||||
if ret.vEgo > (self.CP.minSteerSpeed + 4.):
|
||||
self.low_speed_alert = False
|
||||
if self.low_speed_alert:
|
||||
events.add(car.CarEvent.EventName.belowSteerSpeed)
|
||||
if dragonconf.dpAtl:
|
||||
if ret.vEgo < self.CP.minSteerSpeed:
|
||||
events.add(car.CarEvent.EventName.belowSteerSpeed)
|
||||
else:
|
||||
# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
|
||||
if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
|
||||
self.low_speed_alert = True
|
||||
if ret.vEgo > (self.CP.minSteerSpeed + 4.):
|
||||
self.low_speed_alert = False
|
||||
if self.low_speed_alert:
|
||||
events.add(car.CarEvent.EventName.belowSteerSpeed)
|
||||
|
||||
ret.events = events.to_msg()
|
||||
|
||||
@@ -225,6 +248,6 @@ class CarInterface(CarInterfaceBase):
|
||||
def apply(self, c):
|
||||
can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
|
||||
c.cruiseControl.cancel, c.hudControl.visualAlert, c.hudControl.leftLaneVisible,
|
||||
c.hudControl.rightLaneVisible, c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
|
||||
c.hudControl.rightLaneVisible, c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart, self.dragonconf)
|
||||
self.frame += 1
|
||||
return can_sends
|
||||
|
||||
@@ -3,11 +3,12 @@
|
||||
from cereal import car
|
||||
from selfdrive.car import dbc_dict
|
||||
Ecu = car.CarParams.Ecu
|
||||
from common.params import Params
|
||||
|
||||
# Steer torque limits
|
||||
class SteerLimitParams:
|
||||
def __init__(self, CP):
|
||||
if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70]:
|
||||
if Params().get('dp_hkg_smart_mdps') == b'1' or CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.HYUNDAI_GENESIS, CAR.GENESIS_G70]:
|
||||
self.STEER_MAX = 384
|
||||
else:
|
||||
self.STEER_MAX = 255
|
||||
@@ -106,7 +107,7 @@ FINGERPRINTS = {
|
||||
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8
|
||||
}],
|
||||
CAR.GENESIS_G70: [{
|
||||
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832:8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1168: 7, 1170: 8, 1173:8, 1184: 8, 1186: 2, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1419:8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
|
||||
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832:8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1168: 7, 1170: 8, 1173:8, 1184: 8, 1186: 2, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1419:8, 1425:2, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
|
||||
}],
|
||||
CAR.GENESIS_G80: [{
|
||||
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1024: 2, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8
|
||||
@@ -313,7 +314,7 @@ FEATURES = {
|
||||
"use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ]),
|
||||
|
||||
# these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
|
||||
"use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA]),
|
||||
"use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA]),
|
||||
|
||||
"use_bsm": set([CAR.SONATA, CAR.PALISADE, CAR.HYUNDAI_GENESIS, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.KONA]),
|
||||
}
|
||||
|
||||
@@ -33,6 +33,8 @@ class CarInterfaceBase():
|
||||
if CarController is not None:
|
||||
self.CC = CarController(self.cp.dbc_name, CP, self.VM)
|
||||
|
||||
self.dragonconf = None
|
||||
|
||||
@staticmethod
|
||||
def calc_accel_override(a_ego, a_target, v_ego, v_target):
|
||||
return 1.
|
||||
@@ -78,7 +80,7 @@ class CarInterfaceBase():
|
||||
return ret
|
||||
|
||||
# returns a car.CarState, pass in car.CarControl
|
||||
def update(self, c, can_strings):
|
||||
def update(self, c, can_strings, dragonconf):
|
||||
raise NotImplementedError
|
||||
|
||||
# return sendcan, pass in a car.CarControl
|
||||
@@ -92,26 +94,30 @@ class CarInterfaceBase():
|
||||
events.add(EventName.doorOpen)
|
||||
if cs_out.seatbeltUnlatched:
|
||||
events.add(EventName.seatbeltNotLatched)
|
||||
if cs_out.gearShifter != GearShifter.drive and cs_out.gearShifter not in extra_gears:
|
||||
if self.dragonconf.dpGearCheck and cs_out.gearShifter != GearShifter.drive and cs_out.gearShifter not in extra_gears:
|
||||
events.add(EventName.wrongGear)
|
||||
if cs_out.gearShifter == GearShifter.reverse:
|
||||
events.add(EventName.reverseGear)
|
||||
if not cs_out.cruiseState.available:
|
||||
if not self.dragonconf.dpAtl and not cs_out.cruiseState.available:
|
||||
events.add(EventName.wrongCarMode)
|
||||
if cs_out.espDisabled:
|
||||
events.add(EventName.espDisabled)
|
||||
if cs_out.gasPressed:
|
||||
if cs_out.gasPressed and not self.dragonconf.dpAllowGas and not self.dragonconf.dpAtl:
|
||||
events.add(EventName.gasPressed)
|
||||
if cs_out.stockFcw:
|
||||
events.add(EventName.stockFcw)
|
||||
if cs_out.stockAeb:
|
||||
events.add(EventName.stockAeb)
|
||||
if cs_out.vEgo > MAX_CTRL_SPEED:
|
||||
if cs_out.vEgo > self.dragonconf.dpMaxCtrlSpeed:
|
||||
events.add(EventName.speedTooHigh)
|
||||
if cs_out.cruiseState.nonAdaptive:
|
||||
events.add(EventName.wrongCruiseMode)
|
||||
|
||||
if cs_out.steerError:
|
||||
if not self.dragonconf.dpLatCtrl:
|
||||
events.add(EventName.manualSteeringRequired)
|
||||
elif self.dragonconf.dpSteeringOnSignal and (cs_out.leftBlinker or cs_out.rightBlinker):
|
||||
events.add(EventName.manualSteeringRequiredBlinkersOn)
|
||||
elif cs_out.steerError:
|
||||
events.add(EventName.steerUnavailable)
|
||||
elif cs_out.steerWarning:
|
||||
events.add(EventName.steerTempUnavailable)
|
||||
@@ -119,9 +125,15 @@ 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.add(EventName.pedalPressed)
|
||||
if self.dragonconf.dpAtl:
|
||||
pass
|
||||
elif self.dragonconf.dpAllowGas:
|
||||
if cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill):
|
||||
events.add(EventName.pedalPressed)
|
||||
else:
|
||||
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.add(EventName.pedalPressed)
|
||||
|
||||
# we engage when pcm is active (rising edge)
|
||||
if pcm_enable:
|
||||
|
||||
@@ -2,6 +2,7 @@ from selfdrive.car.mazda import mazdacan
|
||||
from selfdrive.car.mazda.values import SteerLimitParams, Buttons
|
||||
from opendbc.can.packer import CANPacker
|
||||
from selfdrive.car import apply_std_steer_torque_limits
|
||||
from common.dp_common import common_controller_ctrl
|
||||
|
||||
class CarController():
|
||||
def __init__(self, dbc_name, CP, VM):
|
||||
@@ -9,7 +10,11 @@ class CarController():
|
||||
self.packer = CANPacker(dbc_name)
|
||||
self.steer_rate_limited = False
|
||||
|
||||
def update(self, enabled, CS, frame, actuators):
|
||||
# dp
|
||||
self.last_blinker_on = False
|
||||
self.blinker_end_frame = 0.
|
||||
|
||||
def update(self, enabled, CS, frame, actuators, dragonconf):
|
||||
""" Controls thread """
|
||||
|
||||
can_sends = []
|
||||
@@ -36,6 +41,18 @@ class CarController():
|
||||
# Send at a rate of 5hz until we sync with stock ACC state
|
||||
can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, Buttons.CANCEL))
|
||||
|
||||
# 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 + dragonconf.dpSignalOffDelay
|
||||
apply_steer = common_controller_ctrl(enabled,
|
||||
dragonconf,
|
||||
blinker_on or frame < self.blinker_end_frame,
|
||||
apply_steer, CS.out.vEgo)
|
||||
self.last_blinker_on = blinker_on
|
||||
|
||||
self.apply_steer_last = apply_steer
|
||||
|
||||
can_sends.append(mazdacan.create_steering_control(self.packer, CS.CP.carFingerprint,
|
||||
|
||||
@@ -4,6 +4,7 @@ from selfdrive.config import Conversions as CV
|
||||
from selfdrive.car.mazda.values import CAR, LKAS_LIMITS
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
from common.dp_common import common_interface_atl, common_interface_get_params_lqr
|
||||
|
||||
ButtonType = car.CarState.ButtonEvent.Type
|
||||
EventName = car.CarEvent.EventName
|
||||
@@ -20,6 +21,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
ret.carName = "mazda"
|
||||
ret.safetyModel = car.CarParams.SafetyModel.mazda
|
||||
ret.lateralTuning.init('pid')
|
||||
|
||||
ret.dashcamOnly = True
|
||||
|
||||
@@ -56,6 +58,9 @@ class CarInterface(CarInterfaceBase):
|
||||
# No steer below disable speed
|
||||
ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
|
||||
|
||||
# dp
|
||||
ret = common_interface_get_params_lqr(ret)
|
||||
|
||||
ret.centerToFront = ret.wheelbase * 0.41
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
@@ -72,12 +77,15 @@ class CarInterface(CarInterfaceBase):
|
||||
return ret
|
||||
|
||||
# returns a car.CarState
|
||||
def update(self, c, can_strings):
|
||||
def update(self, c, can_strings, dragonconf):
|
||||
|
||||
self.cp.update_strings(can_strings)
|
||||
self.cp_cam.update_strings(can_strings)
|
||||
|
||||
ret = self.CS.update(self.cp, self.cp_cam)
|
||||
# dp
|
||||
self.dragonconf = dragonconf
|
||||
ret.cruiseState.enabled = common_interface_atl(ret, dragonconf.dpAtl)
|
||||
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
|
||||
|
||||
# events
|
||||
@@ -95,6 +103,6 @@ class CarInterface(CarInterfaceBase):
|
||||
return self.CS.out
|
||||
|
||||
def apply(self, c):
|
||||
can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators)
|
||||
can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators, self.dragonconf)
|
||||
self.frame += 1
|
||||
return can_sends
|
||||
|
||||
@@ -48,7 +48,7 @@ class CarInterface(CarInterfaceBase):
|
||||
return ret
|
||||
|
||||
# returns a car.CarState
|
||||
def update(self, c, can_strings):
|
||||
def update(self, c, can_strings, dragonconf):
|
||||
# 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 +3,7 @@ from common.numpy_fast import clip, interp
|
||||
from selfdrive.car.nissan import nissancan
|
||||
from opendbc.can.packer import CANPacker
|
||||
from selfdrive.car.nissan.values import CAR, STEER_THRESHOLD
|
||||
from common.dp_common import common_controller_ctrl
|
||||
|
||||
# Steer angle limits
|
||||
ANGLE_DELTA_BP = [0., 5., 15.]
|
||||
@@ -23,8 +24,12 @@ class CarController():
|
||||
|
||||
self.packer = CANPacker(dbc_name)
|
||||
|
||||
# dp
|
||||
self.last_blinker_on = False
|
||||
self.blinker_end_frame = 0.
|
||||
|
||||
def update(self, enabled, CS, frame, actuators, cruise_cancel, hud_alert,
|
||||
left_line, right_line, left_lane_depart, right_lane_depart):
|
||||
left_line, right_line, left_lane_depart, right_lane_depart, dragonconf):
|
||||
""" Controls thread """
|
||||
|
||||
# Send CAN commands.
|
||||
@@ -63,6 +68,18 @@ class CarController():
|
||||
apply_angle = CS.out.steeringAngle
|
||||
self.lkas_max_torque = 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 + dragonconf.dpSignalOffDelay
|
||||
apply_angle = common_controller_ctrl(enabled,
|
||||
dragonconf,
|
||||
blinker_on or frame < self.blinker_end_frame,
|
||||
apply_angle, CS.out.vEgo)
|
||||
self.last_blinker_on = blinker_on
|
||||
|
||||
self.last_angle = apply_angle
|
||||
|
||||
if not enabled and acc_active:
|
||||
|
||||
@@ -3,6 +3,7 @@ from cereal import car
|
||||
from selfdrive.car.nissan.values import CAR
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
from common.dp_common import common_interface_atl, common_interface_get_params_lqr
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
def __init__(self, CP, CarController, CarState):
|
||||
@@ -19,6 +20,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
||||
ret.carName = "nissan"
|
||||
ret.safetyModel = car.CarParams.SafetyModel.nissan
|
||||
ret.lateralTuning.init('pid')
|
||||
|
||||
# Nissan port is a community feature, since we don't own one to test
|
||||
ret.communityFeature = True
|
||||
@@ -45,6 +47,9 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.centerToFront = ret.wheelbase * 0.44
|
||||
ret.steerRatio = 17
|
||||
|
||||
# dp
|
||||
ret = common_interface_get_params_lqr(ret)
|
||||
|
||||
ret.steerControlType = car.CarParams.SteerControlType.angle
|
||||
ret.radarOffCan = True
|
||||
|
||||
@@ -59,13 +64,15 @@ class CarInterface(CarInterfaceBase):
|
||||
return ret
|
||||
|
||||
# returns a car.CarState
|
||||
def update(self, c, can_strings):
|
||||
def update(self, c, can_strings, dragonconf):
|
||||
self.cp.update_strings(can_strings)
|
||||
self.cp_cam.update_strings(can_strings)
|
||||
self.cp_adas.update_strings(can_strings)
|
||||
|
||||
ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
|
||||
|
||||
# dp
|
||||
self.dragonconf = dragonconf
|
||||
ret.cruiseState.enabled = common_interface_atl(ret, dragonconf.dpAtl)
|
||||
ret.canValid = self.cp.can_valid and self.cp_adas.can_valid and self.cp_cam.can_valid
|
||||
|
||||
buttonEvents = []
|
||||
@@ -87,6 +94,6 @@ class CarInterface(CarInterfaceBase):
|
||||
can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
|
||||
c.cruiseControl.cancel, c.hudControl.visualAlert,
|
||||
c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible,
|
||||
c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
|
||||
c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart, self.dragonconf)
|
||||
self.frame += 1
|
||||
return can_sends
|
||||
|
||||
@@ -2,6 +2,7 @@ from selfdrive.car import apply_std_steer_torque_limits
|
||||
from selfdrive.car.subaru import subarucan
|
||||
from selfdrive.car.subaru.values import DBC, PREGLOBAL_CARS
|
||||
from opendbc.can.packer import CANPacker
|
||||
from common.dp_common import common_controller_ctrl
|
||||
|
||||
|
||||
class CarControllerParams():
|
||||
@@ -27,7 +28,11 @@ class CarController():
|
||||
self.params = CarControllerParams()
|
||||
self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
|
||||
|
||||
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line):
|
||||
# dp
|
||||
self.last_blinker_on = False
|
||||
self.blinker_end_frame = 0.
|
||||
|
||||
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line, dragonconf):
|
||||
|
||||
can_sends = []
|
||||
|
||||
@@ -45,6 +50,18 @@ class CarController():
|
||||
if not 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 + dragonconf.dpSignalOffDelay
|
||||
apply_steer = common_controller_ctrl(enabled,
|
||||
dragonconf,
|
||||
blinker_on or frame < self.blinker_end_frame,
|
||||
apply_steer, CS.out.vEgo)
|
||||
self.last_blinker_on = blinker_on
|
||||
|
||||
if CS.CP.carFingerprint in PREGLOBAL_CARS:
|
||||
can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, self.params.STEER_STEP))
|
||||
else:
|
||||
|
||||
@@ -146,7 +146,7 @@ class CarState(CarStateBase):
|
||||
("Dashlights", 10),
|
||||
("CruiseControl", 50),
|
||||
]
|
||||
|
||||
checks = []
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
|
||||
|
||||
@staticmethod
|
||||
@@ -226,5 +226,5 @@ class CarState(CarStateBase):
|
||||
("ES_Distance", 20),
|
||||
("ES_LKAS_State", 10),
|
||||
]
|
||||
|
||||
checks = []
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
|
||||
|
||||
@@ -3,6 +3,7 @@ from cereal import car
|
||||
from selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
from common.dp_common import common_interface_atl, common_interface_get_params_lqr
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
|
||||
@@ -16,6 +17,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
ret.carName = "subaru"
|
||||
ret.radarOffCan = True
|
||||
ret.lateralTuning.init('pid')
|
||||
|
||||
if candidate in PREGLOBAL_CARS:
|
||||
ret.safetyModel = car.CarParams.SafetyModel.subaruLegacy
|
||||
@@ -92,6 +94,9 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20.], [0., 10., 20.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2], [0.003, 0.018, 0.025]]
|
||||
|
||||
# dp
|
||||
ret = common_interface_get_params_lqr(ret)
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
# civic and scaling by mass and wheelbase
|
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
||||
@@ -103,12 +108,14 @@ class CarInterface(CarInterfaceBase):
|
||||
return ret
|
||||
|
||||
# returns a car.CarState
|
||||
def update(self, c, can_strings):
|
||||
def update(self, c, can_strings, dragonconf):
|
||||
self.cp.update_strings(can_strings)
|
||||
self.cp_cam.update_strings(can_strings)
|
||||
|
||||
ret = self.CS.update(self.cp, self.cp_cam)
|
||||
|
||||
# dp
|
||||
self.dragonconf = dragonconf
|
||||
ret.cruiseState.enabled = common_interface_atl(ret, dragonconf.dpAtl)
|
||||
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
|
||||
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
|
||||
|
||||
@@ -120,6 +127,6 @@ class CarInterface(CarInterfaceBase):
|
||||
def apply(self, c):
|
||||
can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
|
||||
c.cruiseControl.cancel, c.hudControl.visualAlert,
|
||||
c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible)
|
||||
c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible, self.dragonconf)
|
||||
self.frame += 1
|
||||
return can_sends
|
||||
|
||||
@@ -6,13 +6,14 @@ from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_comma
|
||||
create_fcw_command
|
||||
from selfdrive.car.toyota.values import Ecu, CAR, STATIC_MSGS, SteerLimitParams
|
||||
from opendbc.can.packer import CANPacker
|
||||
from common.dp_common import 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):
|
||||
@@ -49,8 +50,12 @@ class CarController():
|
||||
|
||||
self.packer = CANPacker(dbc_name)
|
||||
|
||||
# dp
|
||||
self.last_blinker_on = False
|
||||
self.blinker_end_frame = 0.
|
||||
|
||||
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
|
||||
left_line, right_line, lead, left_lane_depart, right_lane_depart):
|
||||
left_line, right_line, lead, left_lane_depart, right_lane_depart, dragonconf):
|
||||
|
||||
# *** compute control surfaces ***
|
||||
|
||||
@@ -78,7 +83,7 @@ class CarController():
|
||||
self.last_fault_frame = frame
|
||||
|
||||
# Cut steering for 2s after fault
|
||||
if not enabled or (frame - self.last_fault_frame < 200):
|
||||
if not enabled or (frame - self.last_fault_frame < 100) or abs(CS.out.steeringRate) > 100 or (abs(CS.out.steeringAngle) > 150 and CS.CP.carFingerprint in [CAR.RAV4H, CAR.PRIUS]):
|
||||
apply_steer = 0
|
||||
apply_steer_req = 0
|
||||
else:
|
||||
@@ -89,12 +94,24 @@ class CarController():
|
||||
pcm_cancel_cmd = 1
|
||||
|
||||
# on entering standstill, send standstill request
|
||||
if CS.out.standstill and not self.last_standstill:
|
||||
if not dragonconf.dpToyotaSng 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
|
||||
self.standstill_req = False
|
||||
|
||||
# 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 + dragonconf.dpSignalOffDelay
|
||||
apply_steer = common_controller_ctrl(enabled,
|
||||
dragonconf,
|
||||
blinker_on or frame < self.blinker_end_frame,
|
||||
apply_steer, CS.out.vEgo)
|
||||
self.last_blinker_on = blinker_on
|
||||
|
||||
self.last_steer = apply_steer
|
||||
self.last_accel = apply_accel
|
||||
self.last_standstill = CS.out.standstill
|
||||
@@ -120,12 +137,13 @@ 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:
|
||||
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))
|
||||
else:
|
||||
can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead))
|
||||
if not dragonconf.dpAtl:
|
||||
if pcm_cancel_cmd and CS.CP.carFingerprint == CAR.LEXUS_IS:
|
||||
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))
|
||||
else:
|
||||
can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead))
|
||||
|
||||
if (frame % 2 == 0) and (CS.CP.enableGasInterceptor):
|
||||
# send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
|
||||
@@ -147,8 +165,17 @@ class CarController():
|
||||
# forcing the pcm to disengage causes a bad fault sound so play a good sound instead
|
||||
send_ui = True
|
||||
|
||||
# dp
|
||||
if dragonconf.dpToyotaLdw:
|
||||
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))
|
||||
|
||||
@@ -5,6 +5,7 @@ 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.params import Params
|
||||
|
||||
|
||||
class CarState(CarStateBase):
|
||||
@@ -13,13 +14,16 @@ class CarState(CarStateBase):
|
||||
can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
|
||||
self.shifter_values = can_define.dv["GEAR_PACKET"]['GEAR']
|
||||
|
||||
# dp
|
||||
self.dp_toyota_zss = Params().get('dp_toyota_zss') == b'1'
|
||||
|
||||
# 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] or self.dp_toyota_zss
|
||||
|
||||
# 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] or self.dp_toyota_zss
|
||||
self.angle_offset = 0.
|
||||
|
||||
def update(self, cp, cp_cam):
|
||||
@@ -34,6 +38,9 @@ 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
|
||||
@@ -52,11 +59,14 @@ class CarState(CarStateBase):
|
||||
self.accurate_steer_angle_seen = True
|
||||
|
||||
if self.accurate_steer_angle_seen:
|
||||
ret.steeringAngle = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE'] - self.angle_offset
|
||||
if self.dp_toyota_zss:
|
||||
ret.steeringAngle = cp.vl["SECONDARY_STEER_ANGLE"]['ZORRO_STEER'] - self.angle_offset
|
||||
else:
|
||||
ret.steeringAngle = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE'] - self.angle_offset
|
||||
|
||||
if self.needs_angle_offset:
|
||||
angle_wheel = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION']
|
||||
if abs(angle_wheel) > 1e-3 and abs(ret.steeringAngle) > 1e-3:
|
||||
if (abs(angle_wheel) > 1e-3 and abs(ret.steeringAngle) > 1e-3) or self.dp_toyota_zss:
|
||||
self.needs_angle_offset = False
|
||||
self.angle_offset = ret.steeringAngle - angle_wheel
|
||||
else:
|
||||
@@ -74,15 +84,23 @@ 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
|
||||
@@ -143,8 +161,8 @@ 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),
|
||||
@@ -152,7 +170,27 @@ 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))
|
||||
@@ -177,6 +215,10 @@ class CarState(CarStateBase):
|
||||
signals += [("R_ADJACENT", "BSM", 0)]
|
||||
signals += [("R_APPROACHING", "BSM", 0)]
|
||||
|
||||
if Params().get('dp_toyota_zss') == b'1':
|
||||
signals += [("ZORRO_STEER", "SECONDARY_STEER_ANGLE", 0)]
|
||||
|
||||
checks = []
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
|
||||
|
||||
@staticmethod
|
||||
@@ -191,5 +233,5 @@ class CarState(CarStateBase):
|
||||
checks = [
|
||||
("STEERING_LKA", 42)
|
||||
]
|
||||
|
||||
checks = []
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
|
||||
|
||||
@@ -5,10 +5,18 @@ 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.dp_common import common_interface_atl, common_interface_get_params_lqr
|
||||
from common.params import Params
|
||||
|
||||
EventName = car.CarEvent.EventName
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
def __init__(self, CP, CarController, CarState):
|
||||
super().__init__(CP, CarController, CarState)
|
||||
|
||||
# dp
|
||||
self.dp_cruise_speed = 0.
|
||||
|
||||
@staticmethod
|
||||
def compute_gb(accel, speed):
|
||||
return float(accel) / 3.0
|
||||
@@ -49,6 +57,9 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.steerRatio = 16.88 # 14.5 is spec end-to-end
|
||||
tire_stiffness_factor = 0.5533
|
||||
ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
|
||||
if ret.enableGasInterceptor:
|
||||
ret.longitudinalTuning.kpV = [0.4, 0.36, 0.325] # arne's tune.
|
||||
ret.longitudinalTuning.kiV = [0.195, 0.10]
|
||||
ret.lateralTuning.init('lqr')
|
||||
|
||||
ret.lateralTuning.lqr.scale = 1500.0
|
||||
@@ -263,9 +274,48 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.35], [0.15]]
|
||||
ret.lateralTuning.pid.kf = 0.00007818594
|
||||
|
||||
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 = 14.35 # range from 11.5 - 17.2, lets try 14.35
|
||||
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
|
||||
|
||||
# dp
|
||||
ret = common_interface_get_params_lqr(ret)
|
||||
|
||||
if candidate == CAR.PRIUS and Params().get('dp_toyota_zss') == b'1':
|
||||
ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
|
||||
if Params().get('dp_lqr') == b'0':
|
||||
ret.lateralTuning.indi.timeConstant = 0.1
|
||||
ret.steerRateCost = 0.5
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
# civic and scaling by mass and wheelbase
|
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
||||
@@ -314,12 +364,25 @@ class CarInterface(CarInterfaceBase):
|
||||
return ret
|
||||
|
||||
# returns a car.CarState
|
||||
def update(self, c, can_strings):
|
||||
def update(self, c, can_strings, dragonconf):
|
||||
# ******************* do can recv *******************
|
||||
self.cp.update_strings(can_strings)
|
||||
self.cp_cam.update_strings(can_strings)
|
||||
|
||||
ret = self.CS.update(self.cp, self.cp_cam)
|
||||
# dp
|
||||
self.dragonconf = dragonconf
|
||||
ret.cruiseState.enabled = common_interface_atl(ret, dragonconf.dpAtl)
|
||||
if ret.cruiseState.enabled and dragonconf.dpToyotaLowestCruiseOverride and ret.cruiseState.speed < dragonconf.dpToyotaLowestCruiseOverrideAt * CV.KPH_TO_MS:
|
||||
if dragonconf.dpToyotaLowestCruiseOverrideVego:
|
||||
if self.dp_cruise_speed == 0.:
|
||||
ret.cruiseState.speed = self.dp_cruise_speed = max( dragonconf.dpToyotaLowestCruiseOverrideSpeed * CV.KPH_TO_MS,ret.vEgo)
|
||||
else:
|
||||
ret.cruiseState.speed = self.dp_cruise_speed
|
||||
else:
|
||||
ret.cruiseState.speed = dragonconf.dpToyotaLowestCruiseOverrideSpeed * CV.KPH_TO_MS
|
||||
else:
|
||||
self.dp_cruise_speed = 0.
|
||||
|
||||
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
|
||||
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
|
||||
@@ -351,7 +414,7 @@ class CarInterface(CarInterfaceBase):
|
||||
c.actuators, c.cruiseControl.cancel,
|
||||
c.hudControl.visualAlert, c.hudControl.leftLaneVisible,
|
||||
c.hudControl.rightLaneVisible, c.hudControl.leadVisible,
|
||||
c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
|
||||
c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart, self.dragonconf)
|
||||
|
||||
self.frame += 1
|
||||
return can_sends
|
||||
|
||||
@@ -41,6 +41,10 @@ class CAR:
|
||||
RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019"
|
||||
LEXUS_NXH = "LEXUS NX300H 2018"
|
||||
LEXUS_NX = "LEXUS NX300 2018"
|
||||
LEXUS_ISH = "LEXUS IS300h 2017"
|
||||
LEXUS_GSH = "LEXUS GS450h 2017"
|
||||
LEXUS_NXT = "LEXUS NX200T 2015"
|
||||
|
||||
|
||||
# addr: (ecu, cars, bus, 1/freq*100, vl)
|
||||
STATIC_MSGS = [
|
||||
@@ -82,36 +86,52 @@ FINGERPRINTS = {
|
||||
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513: 6, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 742: 8, 743: 8, 767: 4, 800: 8, 830: 7, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 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, 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, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1207: 8, 1227: 8, 1235: 8, 1263: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 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, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8
|
||||
}],
|
||||
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
|
||||
35: 8, 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
|
||||
},
|
||||
#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
|
||||
35: 8, 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
|
||||
},
|
||||
# 2020 Prius Prime 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, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 767: 4, 800: 8, 810: 2, 824: 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, 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, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 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, 1227: 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, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
35: 8, 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, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 767: 4, 800: 8, 810: 2, 824: 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, 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, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 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, 1227: 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, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
|
||||
},
|
||||
#2020 Prius Prime Limited
|
||||
{
|
||||
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, 824: 2, 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, 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, 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, 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, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2024: 8, 2026: 8, 2027: 8, 2029: 8, 2030: 8, 2031: 8
|
||||
35: 8, 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, 824: 2, 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, 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, 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, 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, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2024: 8, 2026: 8, 2027: 8, 2029: 8, 2030: 8, 2031: 8
|
||||
},
|
||||
#2020 Central Europe Prime
|
||||
{
|
||||
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, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 767: 4, 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: 8, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 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, 1227: 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, 1592: 8, 1595: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8
|
||||
35: 8, 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, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 767: 4, 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: 8, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 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, 1227: 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, 1592: 8, 1595: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8
|
||||
},
|
||||
#2017 German Prius
|
||||
{
|
||||
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, 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, 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, 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, 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, 1792: 8, 1767: 4, 1863: 8, 1904: 8, 1912: 8, 1984: 8, 1988: 8, 1990: 8, 1992: 8, 1996: 8, 1998: 8, 2002: 8, 2010: 8, 2015: 8, 2016: 8, 2018: 8, 2024: 8, 2026: 8, 2030: 8
|
||||
35: 8, 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, 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, 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, 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, 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, 1792: 8, 1767: 4, 1863: 8, 1904: 8, 1912: 8, 1984: 8, 1988: 8, 1990: 8, 1992: 8, 1996: 8, 1998: 8, 2002: 8, 2010: 8, 2015: 8, 2016: 8, 2018: 8, 2024: 8, 2026: 8, 2030: 8
|
||||
},
|
||||
# Taiwan 2020 Prius 4.5
|
||||
{
|
||||
35: 8, 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, 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, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1593: 8, 1595: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8
|
||||
},
|
||||
# Taiwan Prius 4.5
|
||||
{
|
||||
35: 8, 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
|
||||
}],
|
||||
#Corolla w/ added Pedal Support (512L and 513L)
|
||||
CAR.COROLLA: [{
|
||||
36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513: 6, 547: 8, 548: 8, 552: 4, 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, 900: 6, 902: 6, 905: 8, 911: 8, 916: 2, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1196: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 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, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2021: 8, 2022: 8, 2023: 8, 2024: 8
|
||||
},
|
||||
#2015 Corolla w/ select 2017 ECU's
|
||||
{
|
||||
32: 4, 36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 456: 8, 464: 8, 466: 8, 467: 8, 513: 6, 547: 8, 548: 8, 552: 4, 608: 8, 610: 5, 611: 7, 705: 8, 740: 5, 800: 8, 849: 4, 852: 1, 865: 8, 871: 2, 896: 8, 897: 8, 898: 8, 899: 8, 900: 6, 902: 6, 903: 8, 905: 8, 906: 5, 910: 8, 911: 8, 916: 2, 921: 8, 928: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 976: 1, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1024: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1078: 8, 1079: 8, 1088: 8, 1090: 8, 1091: 8, 1161: 8, 1162: 8, 1163: 8, 1196: 8, 1217: 8, 1219: 8, 1222: 8, 1224: 8, 1235: 8, 1244: 8, 1245: 8, 1279: 8, 1552: 8, 1553: 8, 1555: 8, 1556: 8, 1557: 8, 1560: 8, 1561: 8, 1562: 8, 1564: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1574: 8, 1592: 8, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1761: 8, 1762: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 643: 7
|
||||
}],
|
||||
CAR.LEXUS_RX: [{
|
||||
# 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
|
||||
@@ -161,6 +181,10 @@ FINGERPRINTS = {
|
||||
{
|
||||
# 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
|
||||
},
|
||||
# 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
|
||||
}],
|
||||
CAR.CAMRYH: [
|
||||
#SE, LE and LE with Blindspot Monitor
|
||||
@@ -189,6 +213,10 @@ 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
|
||||
@@ -215,11 +243,27 @@ FINGERPRINTS = {
|
||||
# XLE, Limited, and AWD
|
||||
{
|
||||
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
|
||||
},
|
||||
# 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
|
||||
}],
|
||||
CAR.COROLLA_TSS2: [
|
||||
# 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
|
||||
},
|
||||
#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
|
||||
}],
|
||||
CAR.COROLLAH_TSS2: [
|
||||
# 2019 Taiwan Altis Hybrid
|
||||
@@ -229,10 +273,18 @@ FINGERPRINTS = {
|
||||
# 2019 Chinese Levin 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, 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, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 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, 1600: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8
|
||||
},
|
||||
# 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
|
||||
}
|
||||
],
|
||||
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: [
|
||||
{
|
||||
@@ -245,15 +297,19 @@ FINGERPRINTS = {
|
||||
# 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
|
||||
},
|
||||
{
|
||||
# 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
|
||||
}],
|
||||
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
|
||||
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
|
||||
}],
|
||||
CAR.RAV4H_TSS2: [
|
||||
#Hybrid Limited
|
||||
@@ -263,6 +319,10 @@ FINGERPRINTS = {
|
||||
],
|
||||
CAR.LEXUS_CTH: [{
|
||||
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
|
||||
},
|
||||
# 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
|
||||
}],
|
||||
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
|
||||
@@ -272,7 +332,18 @@ FINGERPRINTS = {
|
||||
}],
|
||||
CAR.PRIUS_TSS2: [{
|
||||
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 765: 8, 800: 8, 810: 2, 814: 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, 896: 8, 898: 8, 900: 6, 902: 6, 905: 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, 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, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1175: 8, 1228: 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, 1593: 8, 1595: 8, 1649: 8, 1653: 8, 1654: 8, 1655: 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_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
|
||||
@@ -364,6 +435,7 @@ FW_VERSIONS = {
|
||||
},
|
||||
CAR.CAMRYH: {
|
||||
(Ecu.engine, 0x700, None): [
|
||||
b'\x018966306N9000\x00\x00\x00\x00', # from a358063504 @wechat
|
||||
b'\x018966333N4300\x00\x00\x00\x00',
|
||||
b'\x018966333X0000\x00\x00\x00\x00',
|
||||
b'\x028966306B2100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
|
||||
@@ -392,6 +464,7 @@ FW_VERSIONS = {
|
||||
b'8821F0601200 ',
|
||||
b'8821F0601300 ',
|
||||
b'8821F0603400 ',
|
||||
b'8821F0603600 ', # from a358063504 @wechat
|
||||
b'8821F0604200 ',
|
||||
b'8821F0606200 ',
|
||||
b'8821F0607200 ',
|
||||
@@ -413,6 +486,7 @@ FW_VERSIONS = {
|
||||
b'8821F0601200 ',
|
||||
b'8821F0601300 ',
|
||||
b'8821F0603400 ',
|
||||
b'8821F0603600 ', # from a358063504 @wechat
|
||||
b'8821F0604200 ',
|
||||
b'8821F0606200 ',
|
||||
b'8821F0607200 ',
|
||||
@@ -439,6 +513,7 @@ FW_VERSIONS = {
|
||||
b'\x01896631017200\x00\x00\x00\x00',
|
||||
b'\x0189663F413100\x00\x00\x00\x00',
|
||||
b'\x0189663F414100\x00\x00\x00\x00',
|
||||
b'\x0189663F421100\x00\x00\x00\x00', # 2018 China Toyota CHR
|
||||
],
|
||||
(Ecu.dsu, 0x791, None): [
|
||||
b'8821F0W01000 ',
|
||||
@@ -448,6 +523,7 @@ FW_VERSIONS = {
|
||||
b'8821FF405100 ',
|
||||
b'8821FF406000 ',
|
||||
b'8821F0W01100 ',
|
||||
b'8821FF403100 ', # 2018 China Toyota CHR
|
||||
],
|
||||
(Ecu.esp, 0x7b0, None): [
|
||||
b'F152610020\x00\x00\x00\x00\x00\x00',
|
||||
@@ -457,10 +533,12 @@ FW_VERSIONS = {
|
||||
b'F1526F4073\x00\x00\x00\x00\x00\x00',
|
||||
b'F1526F4121\x00\x00\x00\x00\x00\x00',
|
||||
b'F1526F4122\x00\x00\x00\x00\x00\x00',
|
||||
b'F1526F4100\x00\x00\x00\x00\x00\x00', # 2018 China Toyota CHR
|
||||
],
|
||||
(Ecu.eps, 0x7a1, None): [
|
||||
b'8965B10011\x00\x00\x00\x00\x00\x00',
|
||||
b'8965B10040\x00\x00\x00\x00\x00\x00',
|
||||
b'8965B10020\x00\x00\x00\x00\x00\x00', # 2018 China Toyota CHR
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'\x033F401100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203102\x00\x00\x00\x00',
|
||||
@@ -475,11 +553,13 @@ FW_VERSIONS = {
|
||||
b'8821FF405100 ',
|
||||
b'8821FF406000 ',
|
||||
b'8821F0W01100 ',
|
||||
b'8821FF403100 ', # 2018 China Toyota CHR
|
||||
],
|
||||
(Ecu.fwdCamera, 0x750, 0x6d): [
|
||||
b'8646FF401800 ',
|
||||
b'8646FF404000 ',
|
||||
b'8646FF406000 ',
|
||||
b'8646FF403100 ', # 2018 China Toyota CHR
|
||||
],
|
||||
},
|
||||
CAR.CHRH: {
|
||||
@@ -613,6 +693,7 @@ FW_VERSIONS = {
|
||||
b'\x028966312Q4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
|
||||
b'\x038966312L7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\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', # Brazil 2020 Corolla Hybrid FPv2 from berno22
|
||||
],
|
||||
(Ecu.eps, 0x7a1, None): [
|
||||
b'8965B12361\x00\x00\x00\x00\x00\x00',
|
||||
@@ -622,6 +703,7 @@ FW_VERSIONS = {
|
||||
b'\x018965B12500\x00\x00\x00\x00\x00\x00',
|
||||
b'\x018965B12520\x00\x00\x00\x00\x00\x00',
|
||||
b'\x018965B12530\x00\x00\x00\x00\x00\x00',
|
||||
b'\x018965B12490\x00\x00\x00\x00\x00\x00', # Brazil 2020 Corolla Hybrid FPv2 from berno22
|
||||
],
|
||||
(Ecu.esp, 0x7b0, None): [
|
||||
b'F152612590\x00\x00\x00\x00\x00\x00',
|
||||
@@ -633,6 +715,7 @@ FW_VERSIONS = {
|
||||
b'F152612A10\x00\x00\x00\x00\x00\x00',
|
||||
b'F152642540\x00\x00\x00\x00\x00\x00',
|
||||
b'F152612A00\x00\x00\x00\x00\x00\x00',
|
||||
b'F152612820\x00\x00\x00\x00\x00\x00', # Brazil 2020 Corolla Hybrid FPv2 from berno22
|
||||
],
|
||||
(Ecu.fwdRadar, 0x750, 0xf): [
|
||||
b'\x018821F3301100\x00\x00\x00\x00',
|
||||
@@ -1060,6 +1143,7 @@ FW_VERSIONS = {
|
||||
b'\x01896630852100\x00\x00\x00\x00',
|
||||
b'\x01896630859000\x00\x00\x00\x00',
|
||||
b'\x01896630860000\x00\x00\x00\x00',
|
||||
b'\x01896630852000\x00\x00\x00\x00', # 2018 Toyota Sienna LTD fingerprint (v2) by ming-feng
|
||||
],
|
||||
(Ecu.eps, 0x7a1, None): [
|
||||
b'8965B45070\x00\x00\x00\x00\x00\x00',
|
||||
@@ -1322,8 +1406,11 @@ DBC = {
|
||||
CAR.LEXUS_NXH: dbc_dict('lexus_nx300h_2018_pt_generated', 'toyota_adas'),
|
||||
CAR.LEXUS_NX: dbc_dict('lexus_nx300_2018_pt_generated', 'toyota_adas'),
|
||||
CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_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 = set([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.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2])
|
||||
NO_DSU_CAR = set([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.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.LEXUS_NXT])
|
||||
TSS2_CAR = set([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.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2])
|
||||
NO_STOP_TIMER_CAR = set([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.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2]) # no resume button press required
|
||||
NO_STOP_TIMER_CAR = set([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.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.LEXUS_NXT, CAR.PRIUS_TSS2]) # no resume button press required
|
||||
|
||||
@@ -1,8 +1,9 @@
|
||||
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
|
||||
from common.dp_common import common_controller_ctrl
|
||||
|
||||
|
||||
class CarController():
|
||||
@@ -10,6 +11,16 @@ 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
|
||||
@@ -20,7 +31,11 @@ class CarController():
|
||||
|
||||
self.steer_rate_limited = False
|
||||
|
||||
def update(self, enabled, CS, frame, actuators, visual_alert, audible_alert, leftLaneVisible, rightLaneVisible):
|
||||
# dp
|
||||
self.last_blinker_on = False
|
||||
self.blinker_end_frame = 0.
|
||||
|
||||
def update(self, enabled, CS, frame, actuators, visual_alert, audible_alert, leftLaneVisible, rightLaneVisible, dragonconf):
|
||||
""" Controls thread """
|
||||
|
||||
P = CarControllerParams
|
||||
@@ -94,9 +109,24 @@ class CarController():
|
||||
hcaEnabled = False
|
||||
apply_steer = 0
|
||||
|
||||
# dp
|
||||
# timebomb
|
||||
if CS.out.stopSteering:
|
||||
apply_steer = 0
|
||||
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 + dragonconf.dpSignalOffDelay
|
||||
apply_steer = common_controller_ctrl(enabled,
|
||||
dragonconf,
|
||||
blinker_on or frame < self.blinker_end_frame,
|
||||
apply_steer, CS.out.vEgo)
|
||||
self.last_blinker_on = blinker_on
|
||||
|
||||
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))
|
||||
|
||||
#--------------------------------------------------------------------------
|
||||
@@ -117,9 +147,11 @@ 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))
|
||||
rightLaneVisible, CS.ldw_lane_warning_left,
|
||||
CS.ldw_lane_warning_right, CS.ldw_side_dlc_tlc,
|
||||
CS.ldw_dlc, CS.ldw_tlc))
|
||||
|
||||
#--------------------------------------------------------------------------
|
||||
# #
|
||||
@@ -176,7 +208,7 @@ 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 +4,33 @@ 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
|
||||
@@ -28,9 +45,9 @@ 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["LH_EPS_03"]['EPS_Berechneter_LW'] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]['EPS_VZ_BLW'])]
|
||||
ret.steeringRate = pt_cp.vl["LWI_01"]['LWI_Lenkradw_Geschw'] * (1, -1)[int(pt_cp.vl["LWI_01"]['LWI_VZ_Lenkradw_Geschw'])]
|
||||
ret.steeringTorque = pt_cp.vl["LH_EPS_03"]['EPS_Lenkmoment'] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]['EPS_VZ_Lenkmoment'])] * 100.0
|
||||
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
|
||||
|
||||
@@ -41,9 +58,23 @@ class CarState(CarStateBase):
|
||||
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: consider gating an OP minimum engage speed on whether the clutch is pressed, to prevent stalling
|
||||
if reverse_light:
|
||||
ret.gearShifter = GEAR.reverse
|
||||
else:
|
||||
ret.gearShifter = GEAR.drive
|
||||
|
||||
# Update door and trunk/hatch lid open status.
|
||||
ret.doorOpen = any([pt_cp.vl["Gateway_72"]['ZV_FT_offen'],
|
||||
@@ -60,6 +91,29 @@ class CarState(CarStateBase):
|
||||
# We use the speed preference for OP.
|
||||
self.displayMetricUnits = not pt_cp.vl["Einheiten_01"]["KBI_MFA_v_Einheit_02"]
|
||||
|
||||
# Stock FCW is considered active if a warning is displayed to the driver
|
||||
# or the release bit for brake-jerk warning is set. Stock AEB considered
|
||||
# active if the partial braking or target braking release bits are set.
|
||||
# Ref: VW SSP 890253 "Volkswagen Driver Assistance Systems V2", "Front
|
||||
# Assist with Braking: Golf Family" (applies to all MQB)
|
||||
ret.stockFcw = bool(acc_cp.vl["ACC_10"]["AWV2_Freigabe"])
|
||||
ret.stockAeb = any([bool(acc_cp.vl["ACC_10"]["ANB_Teilbremsung_Freigabe"]),
|
||||
bool(acc_cp.vl["ACC_10"]["ANB_Zielbremsung_Freigabe"])])
|
||||
|
||||
# Consume blind-spot radar info/warning LED states, if available
|
||||
ret.leftBlindspot = any([bool(acc_cp.vl["SWA_01"]["SWA_Infostufe_SWA_li"]),
|
||||
bool(acc_cp.vl["SWA_01"]["SWA_Warnung_SWA_li"])])
|
||||
ret.rightBlindspot = any([bool(acc_cp.vl["SWA_01"]["SWA_Infostufe_SWA_re"]),
|
||||
bool(acc_cp.vl["SWA_01"]["SWA_Warnung_SWA_re"])])
|
||||
|
||||
# Consume SWA (Lane Change Assist) relevant info from factory LDW message
|
||||
# to pass along to the blind spot radar controller
|
||||
self.ldw_lane_warning_left = bool(cam_cp.vl["LDW_02"]["LDW_SW_Warnung_links"])
|
||||
self.ldw_lane_warning_right = bool(cam_cp.vl["LDW_02"]["LDW_SW_Warnung_rechts"])
|
||||
self.ldw_side_dlc_tlc = bool(cam_cp.vl["LDW_02"]["LDW_Seite_DLCTLC"])
|
||||
self.ldw_dlc = cam_cp.vl["LDW_02"]["LDW_DLC"]
|
||||
self.ldw_tlc = cam_cp.vl["LDW_02"]["LDW_TLC"]
|
||||
|
||||
# Update ACC radar status.
|
||||
accStatus = pt_cp.vl["TSK_06"]['TSK_Status']
|
||||
if accStatus == 2:
|
||||
@@ -77,7 +131,7 @@ 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"]["ACC_Wunschgeschw"] * CV.KPH_TO_MS
|
||||
if ret.cruiseState.speed > 90:
|
||||
ret.cruiseState.speed = 0
|
||||
|
||||
@@ -98,27 +152,127 @@ 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']
|
||||
|
||||
# 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 = not pt_cp.vl["EPS_01"]["HCA_Ready"]
|
||||
self.steeringFault = not pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"]
|
||||
|
||||
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):
|
||||
def get_mqb_can_parser(CP):
|
||||
# this function generates lists for signal, messages and initial values
|
||||
signals = [
|
||||
# sig_name, sig_address, default
|
||||
("LWI_Lenkradwinkel", "LWI_01", 0), # Absolute steering angle
|
||||
("LWI_VZ_Lenkradwinkel", "LWI_01", 0), # Steering angle sign
|
||||
("EPS_Berechneter_LW", "LH_EPS_03", 0), # Absolute steering angle
|
||||
("EPS_VZ_BLW", "LH_EPS_03", 0), # Steering angle sign
|
||||
("LWI_Lenkradw_Geschw", "LWI_01", 0), # Absolute steering rate
|
||||
("LWI_VZ_Lenkradw_Geschw", "LWI_01", 0), # Steering rate sign
|
||||
("ESP_VL_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, front left
|
||||
@@ -134,25 +288,19 @@ 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
|
||||
("EPS_Lenkmoment", "LH_EPS_03", 0), # Absolute driver torque input
|
||||
("EPS_VZ_Lenkmoment", "LH_EPS_03", 0), # Driver torque input sign
|
||||
("EPS_HCA_Status", "LH_EPS_03", 0), # Steering rack ready to process HCA commands
|
||||
("ESP_Tastung_passiv", "ESP_21", 0), # Stability control disabled
|
||||
("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
|
||||
@@ -162,47 +310,185 @@ class CarState(CarStateBase):
|
||||
("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
|
||||
("LH_EPS_03", 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:
|
||||
# Extended CAN devices other than the camera are here on CANBUS.pt
|
||||
# FIXME: gate SWA_01 checks on module being detected, and reduce duplicate network location code
|
||||
signals += [("AWV2_Priowarnung", "ACC_10", 0), # FCW related
|
||||
("AWV2_Freigabe", "ACC_10", 0), # FCW related
|
||||
("ANB_Teilbremsung_Freigabe", "ACC_10", 0), # AEB related
|
||||
("ANB_Zielbremsung_Freigabe", "ACC_10", 0), # AEB related
|
||||
("SWA_Infostufe_SWA_li", "SWA_01", 0), # Blindspot object info, left
|
||||
("SWA_Warnung_SWA_li", "SWA_01", 0), # Blindspot object warning, left
|
||||
("SWA_Infostufe_SWA_re", "SWA_01", 0), # Blindspot object info, right
|
||||
("SWA_Warnung_SWA_re", "SWA_01", 0), # Blindspot object warning, right
|
||||
("ACC_Wunschgeschw", "ACC_02", 0)] # ACC set speed
|
||||
checks += [("ACC_10", 50), # From J428 ACC radar control module
|
||||
# FIXME: SWA_01 should be checked when we have better detection of installed hardware
|
||||
#("SWA_01", 20), # From J1086 Lane Change Assist module
|
||||
("ACC_02", 17)] # From J428 ACC radar control module
|
||||
|
||||
checks = []
|
||||
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
|
||||
|
||||
checks = []
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.pt)
|
||||
|
||||
@staticmethod
|
||||
def get_mqb_cam_can_parser(CP):
|
||||
|
||||
# FIXME: gate LDW_02 checks on module being detected
|
||||
signals = [
|
||||
# sig_name, sig_address, default
|
||||
("LDW_SW_Warnung_links", "LDW_02", 0), # Blind spot in warning mode on left side due to lane departure
|
||||
("LDW_SW_Warnung_rechts", "LDW_02", 0), # Blind spot in warning mode on right side due to lane departure
|
||||
("LDW_Seite_DLCTLC", "LDW_02", 0), # Direction of most likely lane departure (left or right)
|
||||
("LDW_DLC", "LDW_02", 0), # Lane departure, distance to line crossing
|
||||
("LDW_TLC", "LDW_02", 0), # Lane departure, time to line crossing
|
||||
]
|
||||
|
||||
checks = [
|
||||
# sig_address, frequency
|
||||
# FIXME: LDW_02 should be checked when we have better detection of installed hardware
|
||||
#("LDW_02", 10), # From R242 Driver assistance camera
|
||||
]
|
||||
|
||||
if CP.networkLocation == NWL.gateway:
|
||||
# All Extended CAN devices are here on CANBUS.cam
|
||||
# FIXME: gate SWA_01 checks on module being detected, and reduce duplicate network location code
|
||||
signals += [("AWV2_Priowarnung", "ACC_10", 0), # FCW related
|
||||
("AWV2_Freigabe", "ACC_10", 0), # FCW related
|
||||
("ANB_Teilbremsung_Freigabe", "ACC_10", 0), # AEB related
|
||||
("ANB_Zielbremsung_Freigabe", "ACC_10", 0), # AEB related
|
||||
("SWA_Infostufe_SWA_li", "SWA_01", 0), # Blindspot object info, left
|
||||
("SWA_Warnung_SWA_li", "SWA_01", 0), # Blindspot object warning, left
|
||||
("SWA_Infostufe_SWA_re", "SWA_01", 0), # Blindspot object info, right
|
||||
("SWA_Warnung_SWA_re", "SWA_01", 0), # Blindspot object warning, right
|
||||
("ACC_Wunschgeschw", "ACC_02", 0)] # ACC set speed
|
||||
checks += [("ACC_10", 50), # From J428 ACC radar control module
|
||||
# FIXME: SWA_01 should be checked when we have better detection of installed hardware
|
||||
#("SWA_01", 20), # From J1086 Lane Change Assist module
|
||||
("ACC_02", 17)] # From J428 ACC radar control module
|
||||
|
||||
checks = []
|
||||
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
|
||||
|
||||
checks = []
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.cam)
|
||||
|
||||
@@ -1,9 +1,9 @@
|
||||
from cereal import car
|
||||
from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES
|
||||
from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES, NWL, TRANS, GEAR, MQB_CARS, PQ_CARS
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
from common.dp_common import common_interface_atl, common_interface_get_params_lqr
|
||||
|
||||
GEAR = car.CarState.GearShifter
|
||||
EventName = car.CarEvent.EventName
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
@@ -11,8 +11,20 @@ class CarInterface(CarInterfaceBase):
|
||||
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
|
||||
|
||||
# timebomb_counter mod
|
||||
self.timebomb_counter = 0
|
||||
self.wheel_grabbed = False
|
||||
self.timebomb_bypass_counter = 0
|
||||
|
||||
@staticmethod
|
||||
def compute_gb(accel, speed):
|
||||
return float(accel) / 4.0
|
||||
@@ -21,34 +33,66 @@ class CarInterface(CarInterfaceBase):
|
||||
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
|
||||
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
||||
|
||||
# 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
|
||||
ret.carName = "volkswagen"
|
||||
ret.radarOffCan = True
|
||||
# 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
|
||||
ret.carName = "volkswagen"
|
||||
|
||||
if candidate in MQB_CARS:
|
||||
# Configurations shared between all MQB vehicles
|
||||
ret.safetyModel = car.CarParams.SafetyModel.volkswagen
|
||||
|
||||
# Additional common MQB parameters that may be overridden per-vehicle
|
||||
ret.steerRateCost = 1.0
|
||||
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
|
||||
|
||||
ret.lateralTuning.pid.kpBP = [0.]
|
||||
ret.lateralTuning.pid.kiBP = [0.]
|
||||
elif candidate in PQ_CARS:
|
||||
# Configurations shared between all PQ35/PQ46/NMS vehicles
|
||||
ret.safetyModel = car.CarParams.SafetyModel.volkswagenPq
|
||||
|
||||
ret.mass = 1500 + STD_CARGO_KG
|
||||
# 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
|
||||
|
||||
# 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
|
||||
ret.centerToFront = ret.wheelbase * 0.45 # Estimated
|
||||
ret.steerRatio = 15.6
|
||||
ret.lateralTuning.pid.kf = 0.00006
|
||||
ret.lateralTuning.pid.kpV = [0.6]
|
||||
ret.lateralTuning.pid.kiV = [0.2]
|
||||
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
|
||||
|
||||
# dp
|
||||
ret = common_interface_get_params_lqr(ret)
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
# civic and scaling by mass and wheelbase
|
||||
@@ -62,7 +106,7 @@ class CarInterface(CarInterfaceBase):
|
||||
return ret
|
||||
|
||||
# returns a car.CarState
|
||||
def update(self, c, can_strings):
|
||||
def update(self, c, can_strings, dragonconf):
|
||||
buttonEvents = []
|
||||
|
||||
# Process the most recent CAN message traffic, and check for validity
|
||||
@@ -71,7 +115,14 @@ class CarInterface(CarInterfaceBase):
|
||||
self.cp.update_strings(can_strings)
|
||||
self.cp_cam.update_strings(can_strings)
|
||||
|
||||
ret = self.CS.update(self.cp)
|
||||
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
|
||||
|
||||
# dp
|
||||
self.dragonconf = dragonconf
|
||||
ret.cruiseState.enabled = common_interface_atl(ret, dragonconf.dpAtl)
|
||||
|
||||
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
|
||||
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
|
||||
|
||||
@@ -98,10 +149,44 @@ class CarInterface(CarInterfaceBase):
|
||||
if self.CS.steeringFault:
|
||||
events.add(EventName.steerTempUnavailable)
|
||||
|
||||
# Engagement and longitudinal control using stock ACC. Make sure OP is
|
||||
# disengaged if stock ACC is disengaged.
|
||||
if not ret.cruiseState.enabled:
|
||||
events.add(EventName.pcmDisable)
|
||||
# Attempt OP engagement only on rising edge of stock ACC engagement.
|
||||
elif not self.cruise_enabled_prev:
|
||||
events.add(EventName.pcmEnable)
|
||||
|
||||
if dragonconf.dpTimebombAssist:
|
||||
ret.stopSteering = False
|
||||
if ret.cruiseState.enabled:
|
||||
self.timebomb_counter += 1
|
||||
else:
|
||||
self.timebomb_counter = 0
|
||||
self.timebomb_bypass_counter = 0
|
||||
|
||||
if self.timebomb_counter >= 33000: # 330*100 time in seconds until counter threshold for timebombWarn alert
|
||||
if not self.wheel_grabbed:
|
||||
events.add(EventName.timebombWarn)
|
||||
if self.wheel_grabbed or ret.steeringPressed:
|
||||
self.wheel_grabbed = True
|
||||
ret.stopSteering = True
|
||||
self.timebomb_bypass_counter += 1
|
||||
if self.timebomb_bypass_counter >= 300: # 3*100 time alloted for bypass
|
||||
self.wheel_grabbed = False
|
||||
self.timebomb_counter = 0
|
||||
self.timebomb_bypass_counter = 0
|
||||
events.add(EventName.timebombBypassed)
|
||||
else:
|
||||
events.add(EventName.timebombBypassing)
|
||||
|
||||
ret.events = events.to_msg()
|
||||
ret.buttonEvents = buttonEvents
|
||||
|
||||
# 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()
|
||||
|
||||
@@ -113,6 +198,6 @@ class CarInterface(CarInterfaceBase):
|
||||
c.hudControl.visualAlert,
|
||||
c.hudControl.audibleAlert,
|
||||
c.hudControl.leftLaneVisible,
|
||||
c.hudControl.rightLaneVisible)
|
||||
c.hudControl.rightLaneVisible, self.dragonconf)
|
||||
self.frame += 1
|
||||
return can_sends
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
# flake8: noqa
|
||||
|
||||
from selfdrive.car import dbc_dict
|
||||
from cereal import car
|
||||
|
||||
class CarControllerParams:
|
||||
HCA_STEP = 2 # HCA_01 message frequency 50Hz
|
||||
@@ -24,6 +25,10 @@ class CANBUS:
|
||||
pt = 0
|
||||
cam = 2
|
||||
|
||||
NWL = car.CarParams.NetworkLocation
|
||||
TRANS = car.CarParams.TransmissionType
|
||||
GEAR = car.CarState.GearShifter
|
||||
|
||||
BUTTON_STATES = {
|
||||
"accelCruise": False,
|
||||
"decelCruise": False,
|
||||
@@ -46,15 +51,35 @@ 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, 295: 8, 791: 8, 799: 8, 838: 8, 389: 8, 840: 8, 841: 8, 842: 8, 843: 8, 844: 8, 845: 8, 314: 8, 787: 8, 788: 8, 789: 8, 802: 8, 839: 8, 1332: 8, 1872: 8, 1976: 8, 1977: 8, 1985: 8, 2015: 8, 592: 8, 593: 8, 594: 8, 595: 8, 596: 8, 684: 8, 572:8, 573: 8, 828: 8, 913: 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),
|
||||
}
|
||||
|
||||
@@ -1,36 +1,39 @@
|
||||
# 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 = {
|
||||
"SET_ME_0X3": 0x3,
|
||||
"Assist_Torque": abs(apply_steer),
|
||||
"Assist_Requested": lkas_enabled,
|
||||
"Assist_VZ": 1 if apply_steer < 0 else 0,
|
||||
"HCA_Available": 1,
|
||||
"HCA_Standby": not lkas_enabled,
|
||||
"HCA_Active": lkas_enabled,
|
||||
"SET_ME_0XFE": 0xFE,
|
||||
"SET_ME_0X07": 0x07,
|
||||
"HCA_System_Status": 0x3,
|
||||
"LM_Offset": abs(apply_steer),
|
||||
"LM_Offset_Valid": lkas_enabled,
|
||||
"LM_Offsign": 1 if apply_steer < 0 else 0,
|
||||
"HCA_Control_Status": 0x5 if lkas_enabled else 0x3,
|
||||
}
|
||||
return packer.make_can_msg("HCA_01", bus, values, idx)
|
||||
|
||||
def create_mqb_hud_control(packer, bus, hca_enabled, steering_pressed, hud_alert, leftLaneVisible, rightLaneVisible):
|
||||
|
||||
def create_mqb_hud_control(packer, bus, hca_enabled, steering_pressed, hud_alert, left_lane_visible, right_lane_visible,
|
||||
ldw_lane_warning_left, ldw_lane_warning_right, ldw_side_dlc_tlc, ldw_dlc, ldw_tlc):
|
||||
if hca_enabled:
|
||||
leftlanehud = 3 if leftLaneVisible else 1
|
||||
rightlanehud = 3 if rightLaneVisible else 1
|
||||
left_lane_hud = 3 if left_lane_visible else 1
|
||||
right_lane_hud = 3 if right_lane_visible else 1
|
||||
else:
|
||||
leftlanehud = 2 if leftLaneVisible else 1
|
||||
rightlanehud = 2 if rightLaneVisible else 1
|
||||
left_lane_hud = 2 if left_lane_visible else 1
|
||||
right_lane_hud = 2 if right_lane_visible else 1
|
||||
|
||||
values = {
|
||||
"LDW_Unknown": 2, # FIXME: possible speed or attention relationship
|
||||
"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,
|
||||
"Left_Lane_Status": leftlanehud,
|
||||
"Right_Lane_Status": rightlanehud,
|
||||
"Alert_Message": hud_alert,
|
||||
"LDW_Status_LED_gelb": 1 if hca_enabled and steering_pressed else 0,
|
||||
"LDW_Status_LED_gruen": 1 if hca_enabled and not steering_pressed else 0,
|
||||
"LDW_SW_Info_links": left_lane_hud,
|
||||
"LDW_SW_Info_rechts": right_lane_hud,
|
||||
"LDW_Texte": hud_alert,
|
||||
"LDW_SW_Warnung_links": ldw_lane_warning_left,
|
||||
"LDW_SW_Warnung_rechts": ldw_lane_warning_right,
|
||||
"LDW_Seite_DLCTLC": ldw_side_dlc_tlc,
|
||||
"LDW_DLC": ldw_dlc,
|
||||
"LDW_TLC": ldw_tlc
|
||||
}
|
||||
return packer.make_can_msg("LDW_02", bus, values)
|
||||
|
||||
@@ -46,6 +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, left_lane_visible, right_lane_visible,
|
||||
ldw_lane_warning_left, ldw_lane_warning_right, ldw_side_dlc_tlc, ldw_dlc, ldw_tlc):
|
||||
if hca_enabled:
|
||||
left_lane_hud = 3 if left_lane_visible else 1
|
||||
right_lane_hud = 3 if right_lane_visible else 1
|
||||
else:
|
||||
left_lane_hud = 2 if left_lane_visible else 1
|
||||
right_lane_hud = 2 if right_lane_visible else 1
|
||||
|
||||
values = {
|
||||
"Right_Lane_Status": right_lane_hud,
|
||||
"Left_Lane_Status": left_lane_hud,
|
||||
"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
|
||||
|
||||
@@ -37,6 +37,17 @@ 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);
|
||||
}
|
||||
|
||||
extern "C" bool set_brightness(int brightness) {
|
||||
char bright[64];
|
||||
snprintf(bright, sizeof(bright), "%d", brightness);
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user