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1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 dragonpilot
|
61adbbb858 |
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@@ -118,7 +118,6 @@ keys = {
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"DragonSteeringMonitorTimer": [TxType.PERSISTENT],
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"DragonCameraOffset": [TxType.PERSISTENT],
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"DragonUIVolumeBoost": [TxType.PERSISTENT],
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"DragonGreyPandaMode": [TxType.PERSISTENT],
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}
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@@ -1,7 +1,7 @@
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#!/usr/bin/bash
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# Anndroid system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
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lang=zh-CN
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lang=en
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update_font_reg=0
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update_font_bold=0
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@@ -10,7 +10,7 @@ BO_ 550 BRAKE_MODULE: 8 XXX
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SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
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BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
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SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-20000|20000] "" XXX
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SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
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SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
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SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
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SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
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@@ -357,7 +357,7 @@ BO_ 550 BRAKE_MODULE: 8 XXX
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SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
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BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
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SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-20000|20000] "" XXX
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SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX
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SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
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SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
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SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
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@@ -59,14 +59,7 @@ FINGERPRINTS = {
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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
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}],
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CAR.ACCORDH: [{
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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
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},
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{
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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, 1416: 5, 1600: 5, 1601: 8, 1652: 8
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},
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{
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# Honda Inspire Hybrid
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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
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}],
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CAR.ACURA_ILX: [{
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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,
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@@ -41,17 +41,25 @@ def get_can_parser(CP):
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("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
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("CRUISE_ACTIVE", "PCM_CRUISE", 0),
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("CRUISE_STATE", "PCM_CRUISE", 0),
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("MAIN_ON", "PCM_CRUISE_2", 0),
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("SET_SPEED", "PCM_CRUISE_2", 0),
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("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
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("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
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("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
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("TURN_SIGNALS", "STEERING_LEVERS", 3), # 3 is no blinkers
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("LKA_STATE", "EPS_STATUS", 0),
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("IPAS_STATE", "EPS_STATUS", 1),
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("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
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("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
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]
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checks = [
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("BRAKE_MODULE", 40),
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("GAS_PEDAL", 33),
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("WHEEL_SPEEDS", 80),
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("STEER_ANGLE_SENSOR", 80),
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("PCM_CRUISE", 33),
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("PCM_CRUISE_2", 33),
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("STEER_TORQUE_SENSOR", 50),
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("EPS_STATUS", 25),
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]
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@@ -59,32 +67,6 @@ def get_can_parser(CP):
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if CP.carFingerprint in NO_DSU_CAR:
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signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]
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if CP.carFingerprint == CAR.LEXUS_ISH:
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checks += [
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("BRAKE_MODULE", 50),
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("GAS_PEDAL", 50),
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("PCM_CRUISE_ISH", 1),
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]
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signals += [
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("MAIN_ON", "PCM_CRUISE_ISH", 0),
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("SET_SPEED", "PCM_CRUISE_ISH", 0),
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("AUTO_HIGH_BEAM", "LIGHT_STALK_ISH", 0),
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]
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else:
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checks += [
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("BRAKE_MODULE", 40),
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("GAS_PEDAL", 33),
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("PCM_CRUISE_2", 33),
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]
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signals += [
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("MAIN_ON", "PCM_CRUISE_2", 0),
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("SET_SPEED", "PCM_CRUISE_2", 0),
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("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
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("IPAS_STATE", "EPS_STATUS", 1),
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("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
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]
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if CP.carFingerprint == CAR.PRIUS:
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signals += [("STATE", "AUTOPARK_STATUS", 0)]
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@@ -189,20 +171,14 @@ class CarState(object):
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self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE']
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can_gear = int(cp.vl["GEAR_PACKET"]['GEAR'])
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self.gear_shifter = parse_gear_shifter(can_gear, self.shifter_values)
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if self.CP.carFingerprint == CAR.LEXUS_ISH:
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self.main_on = cp.vl["PCM_CRUISE_ISH"]['MAIN_ON']
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else:
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self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
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self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
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self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
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self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
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# 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
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self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
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self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
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if self.CP.carFingerprint == CAR.LEXUS_ISH:
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self.ipas_active = False
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else:
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self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
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self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
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self.brake_error = 0
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self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
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self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
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@@ -210,21 +186,13 @@ class CarState(object):
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self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
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self.user_brake = 0
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if self.CP.carFingerprint == CAR.LEXUS_ISH:
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self.v_cruise_pcm = cp.vl["PCM_CRUISE_ISH"]['SET_SPEED']
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# ish does not have curise status value (always 0), so we use curise_active value instead
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self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE']
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self.low_speed_lockout = False
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else:
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self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
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self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
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self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
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self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
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self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
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self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
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self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
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self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
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if self.CP.carFingerprint == CAR.PRIUS:
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self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
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elif self.CP.carFingerprint == CAR.LEXUS_ISH:
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self.generic_toggle = bool(cp.vl["LIGHT_STALK_ISH"]['AUTO_HIGH_BEAM'])
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else:
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self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
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@@ -215,16 +215,6 @@ class CarInterface(object):
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
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ret.lateralTuning.pid.kf = 0.00007818594
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elif candidate == CAR.LEXUS_ISH:
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stop_and_go = True
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ret.safetyParam = 100
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ret.wheelbase = 2.80 # in spec
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ret.steerRatio = 13.3 # in spec
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tire_stiffness_factor = 0.444 # from camry
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ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG # in spec, mean of is300 (1680 kg) / is300h (1720 kg) / is350 (1685 kg)
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.04]]
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ret.lateralTuning.pid.kf = 0.00006 # from camry
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ret.steerRateCost = 1.
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ret.centerToFront = ret.wheelbase * 0.44
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@@ -17,7 +17,7 @@ class CAR:
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COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
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LEXUS_ESH_TSS2 = "LEXUS ES 300H 2019"
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SIENNA = "TOYOTA SIENNA XLE 2018"
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LEXUS_ISH = "LEXUS IS HYBRID 2017"
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class ECU:
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CAM = 0 # camera
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@@ -28,25 +28,19 @@ class ECU:
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# addr: (ecu, cars, bus, 1/freq*100, vl)
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STATIC_MSGS = [
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(0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
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(0x130, ECU.CAM, (CAR.LEXUS_ISH), 1, 100, '\x00\x00\x03\xff\x00\x00\x3a'),
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(0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
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(0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
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(0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
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(0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
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(0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
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(0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
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(0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 5, '\x00\x10\x01\x00\x10\x01\x00'),
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(0x245, ECU.CAM, (CAR.LEXUS_ISH), 1, 5, '\x00\x10\x01\x00'),
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(0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 5, '\x00\x00\x00\x00\x00\x00\x01'),
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(0x248, ECU.CAM, (CAR.LEXUS_ISH), 1, 5, '\x00\x01\x00\x00\x00\x00\x00'),
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(0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 40, '\x06\x00'),
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(0x367, ECU.CAM, (CAR.LEXUS_ISH), 0, 40, '\x02\x00'),
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(0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
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(0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
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(0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x20\x20\xAD'),
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(0x466, ECU.CAM, (CAR.COROLLA, CAR.AVALON), 1, 100, '\x24\x20\xB1'),
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(0x466, ECU.CAM, (CAR.LEXUS_ISH), 1, 100, '\x41\x20\xce'),
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(0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
|
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(0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
|
||||
(0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
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(0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
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||||
(0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
|
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(0x48b, ECU.CAM, (CAR.LEXUS_ISH), 0, 100, '\x66\x07\x0a\x0f\x01\x00\x00\x00'),
|
||||
(0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_ISH), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
|
||||
(0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
|
||||
|
||||
(0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, '\xf4\x01\x90\x83\x00\x37'),
|
||||
(0x128, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA), 1, 3, '\x03\x00\x20\x00\x00\x52'),
|
||||
@@ -89,9 +83,6 @@ def check_ecu_msgs(fingerprint, ecu):
|
||||
|
||||
|
||||
FINGERPRINTS = {
|
||||
CAR.LEXUS_ISH: [{
|
||||
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, 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.RAV4: [{
|
||||
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, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 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: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 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, 1227: 8, 1228: 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, 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, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2024: 8
|
||||
}],
|
||||
@@ -183,17 +174,10 @@ FINGERPRINTS = {
|
||||
{
|
||||
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 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, 913: 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, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 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, 1696: 8, 1745: 8, 1775: 8, 1779: 8
|
||||
}],
|
||||
CAR.COROLLA_TSS2: [{
|
||||
# hatch 2019+ and sedan 2020+
|
||||
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, 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, 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
|
||||
},
|
||||
{
|
||||
# 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 Taiwan Altis Hybrid (?)
|
||||
36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 918: 7, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1082: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1745: 8, 1775: 8, 1779: 8
|
||||
}],
|
||||
CAR.LEXUS_ESH_TSS2: [
|
||||
{
|
||||
@@ -221,11 +205,10 @@ DBC = {
|
||||
CAR.AVALON: dbc_dict('toyota_avalon_2017_pt_generated', 'toyota_adas'),
|
||||
CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
|
||||
CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
|
||||
CAR.LEXUS_ESH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
|
||||
CAR.LEXUS_ESH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
|
||||
CAR.SIENNA: dbc_dict('toyota_sienna_xle_2018_pt_generated', 'toyota_adas'),
|
||||
CAR.LEXUS_ISH: dbc_dict('lexus_is_hybrid_2017_pt_generated', 'toyota_adas'),
|
||||
}
|
||||
|
||||
NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2]
|
||||
TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2]
|
||||
NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.LEXUS_ISH] # no resume button press required
|
||||
NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA] # no resume button press required
|
||||
|
||||
+163
-163
@@ -77,154 +77,154 @@ ALERTS = [
|
||||
|
||||
Alert(
|
||||
"fcw",
|
||||
"刹车!",
|
||||
"有碰撞的风险",
|
||||
"BRAKE!",
|
||||
"Risk of Collision",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.chimeWarningRepeat, 1., 2., 2.),
|
||||
|
||||
Alert(
|
||||
"steerSaturated",
|
||||
"接管控制",
|
||||
"弯道超过方向盘转向限制",
|
||||
"TAKE CONTROL",
|
||||
"Turn Exceeds Steering Limit",
|
||||
AlertStatus.userPrompt, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),
|
||||
|
||||
Alert(
|
||||
"steerTempUnavailable",
|
||||
"接管控制",
|
||||
"转向控制暂时失效",
|
||||
"TAKE CONTROL",
|
||||
"Steering Temporarily Unavailable",
|
||||
AlertStatus.userPrompt, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"steerTempUnavailableMute",
|
||||
"接管控制",
|
||||
"转向控制暂时失效",
|
||||
"TAKE CONTROL",
|
||||
"Steering Temporarily Unavailable",
|
||||
AlertStatus.userPrompt, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.none, .2, .2, .2),
|
||||
|
||||
Alert(
|
||||
"preDriverDistracted",
|
||||
"注意路况：驾驶出现分心",
|
||||
"KEEP EYES ON ROAD: User Appears Distracted",
|
||||
"",
|
||||
AlertStatus.normal, AlertSize.small,
|
||||
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
|
||||
|
||||
Alert(
|
||||
"promptDriverDistracted",
|
||||
"注意路况",
|
||||
"驾驶出现分心",
|
||||
"KEEP EYES ON ROAD",
|
||||
"User Appears Distracted",
|
||||
AlertStatus.userPrompt, AlertSize.mid,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),
|
||||
|
||||
Alert(
|
||||
"driverDistracted",
|
||||
"立即解除",
|
||||
"驾驶出现分心",
|
||||
"DISENGAGE IMMEDIATELY",
|
||||
"User Was Distracted",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),
|
||||
|
||||
Alert(
|
||||
"preDriverUnresponsive",
|
||||
"触碰方向盘：无驾驶监控",
|
||||
"TOUCH STEERING WHEEL: No Driver Monitoring",
|
||||
"",
|
||||
AlertStatus.normal, AlertSize.small,
|
||||
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),
|
||||
|
||||
Alert(
|
||||
"promptDriverUnresponsive",
|
||||
"触碰方向盘",
|
||||
"驾驶没有反应",
|
||||
"TOUCH STEERING WHEEL",
|
||||
"User Is Unresponsive",
|
||||
AlertStatus.userPrompt, AlertSize.mid,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),
|
||||
|
||||
Alert(
|
||||
"driverUnresponsive",
|
||||
"立即解除",
|
||||
"驾驶没有反应",
|
||||
"DISENGAGE IMMEDIATELY",
|
||||
"User Was Unresponsive",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),
|
||||
|
||||
Alert(
|
||||
"driverMonitorOff",
|
||||
"驾驶监控暂时停用",
|
||||
"监控准确率：低",
|
||||
"DRIVER MONITOR IS UNAVAILABLE",
|
||||
"Accuracy Is Low",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.none, .4, 0., 4.),
|
||||
|
||||
Alert(
|
||||
"driverMonitorOn",
|
||||
"驾驶监控已启用",
|
||||
"监控准确率：高",
|
||||
"DRIVER MONITOR IS AVAILABLE",
|
||||
"Accuracy Is High",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.none, .4, 0., 4.),
|
||||
|
||||
Alert(
|
||||
"geofence",
|
||||
"请求解除",
|
||||
"不在地理围栏区域之内",
|
||||
"DISENGAGEMENT REQUIRED",
|
||||
"Not in Geofenced Area",
|
||||
AlertStatus.userPrompt, AlertSize.mid,
|
||||
Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),
|
||||
|
||||
Alert(
|
||||
"startup",
|
||||
"随时准备好接管",
|
||||
"请您将手放在方向盘上并持续注意路况",
|
||||
"Be ready to take over at any time",
|
||||
"Always keep hands on wheel and eyes on road",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
|
||||
|
||||
Alert(
|
||||
"startupNoControl",
|
||||
"硬扯记录模式",
|
||||
"请您将手放在方向盘上并持续注意路况",
|
||||
"Dashcam mode",
|
||||
"Always keep hands on wheel and eyes on road",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
|
||||
|
||||
Alert(
|
||||
"startupNoCar",
|
||||
"行车记录模式（为支持的车型）",
|
||||
"请您将手放在方向盘上并持续注意路况",
|
||||
"Dashcam mode with unsupported car",
|
||||
"Always keep hands on wheel and eyes on road",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
|
||||
|
||||
Alert(
|
||||
"ethicalDilemma",
|
||||
"即可接管控制",
|
||||
"检测到困难",
|
||||
"TAKE CONTROL IMMEDIATELY",
|
||||
"Ethical Dilemma Detected",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 3.),
|
||||
|
||||
Alert(
|
||||
"steerTempUnavailableNoEntry",
|
||||
"无法使用openpilot",
|
||||
"转向控制暂时失效",
|
||||
"openpilot Unavailable",
|
||||
"Steering Temporarily Unavailable",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),
|
||||
|
||||
Alert(
|
||||
"manualRestart",
|
||||
"接管控制",
|
||||
"请自行恢复驾驶",
|
||||
"TAKE CONTROL",
|
||||
"Resume Driving Manually",
|
||||
AlertStatus.userPrompt, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
|
||||
|
||||
Alert(
|
||||
"resumeRequired",
|
||||
"已停止",
|
||||
"请按RES继续",
|
||||
"STOPPED",
|
||||
"Press Resume to Move",
|
||||
AlertStatus.userPrompt, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
|
||||
|
||||
Alert(
|
||||
"belowSteerSpeed",
|
||||
"接管控制",
|
||||
"转向控制暂时失效，车速低于",
|
||||
"TAKE CONTROL",
|
||||
"Steer Unavailable Below ",
|
||||
AlertStatus.userPrompt, AlertSize.mid,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, 0., 0., .1),
|
||||
|
||||
Alert(
|
||||
"debugAlert",
|
||||
"DEBUG提示",
|
||||
"DEBUG ALERT",
|
||||
"",
|
||||
AlertStatus.userPrompt, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, .1, .1),
|
||||
@@ -232,71 +232,71 @@ ALERTS = [
|
||||
# Non-entry only alerts
|
||||
Alert(
|
||||
"wrongCarModeNoEntry",
|
||||
"无法使用openpilot",
|
||||
"主开关关闭",
|
||||
"openpilot Unavailable",
|
||||
"Main Switch Off",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),
|
||||
|
||||
Alert(
|
||||
"dataNeededNoEntry",
|
||||
"无法使用openpilot",
|
||||
"需要更多的数据来协助校准，请将行车记录上传后再试",
|
||||
"openpilot Unavailable",
|
||||
"Data Needed for Calibration. Upload Drive, Try Again",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),
|
||||
|
||||
Alert(
|
||||
"outOfSpaceNoEntry",
|
||||
"无法使用openpilot",
|
||||
"储存空间不足",
|
||||
"openpilot Unavailable",
|
||||
"Out of Storage Space",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),
|
||||
|
||||
Alert(
|
||||
"pedalPressedNoEntry",
|
||||
"无法使用openpilot",
|
||||
"试踩踏板",
|
||||
"openpilot Unavailable",
|
||||
"Pedal Pressed During Attempt",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, "brakePressed", AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"speedTooLowNoEntry",
|
||||
"无法使用openpilot",
|
||||
"车速过慢",
|
||||
"openpilot Unavailable",
|
||||
"Speed Too Low",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"brakeHoldNoEntry",
|
||||
"无法使用openpilot",
|
||||
"驻车刹车已启用",
|
||||
"openpilot Unavailable",
|
||||
"Brake Hold Active",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"parkBrakeNoEntry",
|
||||
"无法使用openpilot",
|
||||
"电车驻车已启动",
|
||||
"openpilot Unavailable",
|
||||
"Park Brake Engaged",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"lowSpeedLockoutNoEntry",
|
||||
"无法使用openpilot",
|
||||
"巡航系统错误，请重新发动车辆",
|
||||
"openpilot Unavailable",
|
||||
"Cruise Fault: Restart the Car",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"lowBatteryNoEntry",
|
||||
"无法使用openpilot",
|
||||
"电池电量过低",
|
||||
"openpilot Unavailable",
|
||||
"Low Battery",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"sensorDataInvalidNoEntry",
|
||||
"无法使用openpilot",
|
||||
"没有收到任何来自传感器的数据",
|
||||
"openpilot Unavailable",
|
||||
"No Data from EON Sensors",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
@@ -317,78 +317,78 @@ ALERTS = [
|
||||
# Cancellation alerts causing soft disabling
|
||||
Alert(
|
||||
"overheat",
|
||||
"即刻接管控制",
|
||||
"系统过热",
|
||||
"TAKE CONTROL IMMEDIATELY",
|
||||
"System Overheated",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
|
||||
|
||||
Alert(
|
||||
"wrongGear",
|
||||
"即刻接管控制",
|
||||
"档位不在D档",
|
||||
"TAKE CONTROL IMMEDIATELY",
|
||||
"Gear not D",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
|
||||
|
||||
Alert(
|
||||
"calibrationInvalid",
|
||||
"即刻接管控制",
|
||||
"校准无效：请将传感器放于新的位置并重新校准",
|
||||
"TAKE CONTROL IMMEDIATELY",
|
||||
"Calibration Invalid: Reposition EON and Recalibrate",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
|
||||
|
||||
Alert(
|
||||
"calibrationIncomplete",
|
||||
"即刻接管控制",
|
||||
"正在校准相机中",
|
||||
"TAKE CONTROL IMMEDIATELY",
|
||||
"Calibration in Progress",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
|
||||
|
||||
Alert(
|
||||
"doorOpen",
|
||||
"即刻接管控制",
|
||||
"车门开启",
|
||||
"TAKE CONTROL IMMEDIATELY",
|
||||
"Door Open",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
|
||||
|
||||
Alert(
|
||||
"seatbeltNotLatched",
|
||||
"即刻接管控制",
|
||||
"未系安全带",
|
||||
"TAKE CONTROL IMMEDIATELY",
|
||||
"Seatbelt Unlatched",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
|
||||
|
||||
Alert(
|
||||
"espDisabled",
|
||||
"即刻接管控制",
|
||||
"ESP关闭",
|
||||
"TAKE CONTROL IMMEDIATELY",
|
||||
"ESP Off",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
|
||||
|
||||
Alert(
|
||||
"lowBattery",
|
||||
"即刻接管控制",
|
||||
"电池电量过低",
|
||||
"TAKE CONTROL IMMEDIATELY",
|
||||
"Low Battery",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
|
||||
|
||||
Alert(
|
||||
"commIssue",
|
||||
"即刻接管控制",
|
||||
"雷达讯号错误：请重新发动车辆",
|
||||
"TAKE CONTROL IMMEDIATELY",
|
||||
"Communication Issue between Processes",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
|
||||
|
||||
Alert(
|
||||
"radarCanError",
|
||||
"TAKE CONTROL IMMEDIATELY",
|
||||
"Radar Error: Restart the Car",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
|
||||
|
||||
Alert(
|
||||
"radarFault",
|
||||
"即刻接管控制",
|
||||
"雷达讯号错误：请重新发动车辆",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
|
||||
|
||||
Alert(
|
||||
"radarFault",
|
||||
"即刻接管控制",
|
||||
"雷达讯号错误：请重新发动车辆",
|
||||
"TAKE CONTROL IMMEDIATELY",
|
||||
"Radar Error: Restart the Car",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),
|
||||
|
||||
@@ -402,157 +402,157 @@ ALERTS = [
|
||||
# Cancellation alerts causing immediate disabling
|
||||
Alert(
|
||||
"controlsFailed",
|
||||
"即刻接管控制",
|
||||
"控制错误",
|
||||
"TAKE CONTROL IMMEDIATELY",
|
||||
"Controls Failed",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),
|
||||
|
||||
Alert(
|
||||
"controlsMismatch",
|
||||
"即刻接管控制",
|
||||
"控制不匹配",
|
||||
"TAKE CONTROL IMMEDIATELY",
|
||||
"Controls Mismatch",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),
|
||||
|
||||
Alert(
|
||||
"canError",
|
||||
"即刻接管控制",
|
||||
"CAN错误：请检查连接",
|
||||
"TAKE CONTROL IMMEDIATELY",
|
||||
"CAN Error: Check Connections",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),
|
||||
|
||||
Alert(
|
||||
"steerUnavailable",
|
||||
"即刻接管控制",
|
||||
"LKAS错误：请重新发动车辆",
|
||||
"TAKE CONTROL IMMEDIATELY",
|
||||
"LKAS Fault: Restart the Car",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),
|
||||
|
||||
Alert(
|
||||
"brakeUnavailable",
|
||||
"即刻接管控制",
|
||||
"巡航系统错误：请重新发动车辆",
|
||||
"TAKE CONTROL IMMEDIATELY",
|
||||
"Cruise Fault: Restart the Car",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),
|
||||
|
||||
Alert(
|
||||
"gasUnavailable",
|
||||
"即刻接管控制",
|
||||
"油门错误：请重新发动车辆",
|
||||
"TAKE CONTROL IMMEDIATELY",
|
||||
"Gas Fault: Restart the Car",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),
|
||||
|
||||
Alert(
|
||||
"reverseGear",
|
||||
"即刻接管控制",
|
||||
"切换至倒车档",
|
||||
"TAKE CONTROL IMMEDIATELY",
|
||||
"Reverse Gear",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),
|
||||
|
||||
Alert(
|
||||
"cruiseDisabled",
|
||||
"即刻接管控制",
|
||||
"巡航系统关闭",
|
||||
"TAKE CONTROL IMMEDIATELY",
|
||||
"Cruise Is Off",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),
|
||||
|
||||
Alert(
|
||||
"plannerError",
|
||||
"即刻接管控制",
|
||||
"Planner Solution 错误",
|
||||
"TAKE CONTROL IMMEDIATELY",
|
||||
"Planner Solution Error",
|
||||
AlertStatus.critical, AlertSize.full,
|
||||
Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),
|
||||
|
||||
# not loud cancellations (user is in control)
|
||||
Alert(
|
||||
"noTarget",
|
||||
"openpilot已取消",
|
||||
"没有侦测到前车",
|
||||
"openpilot Canceled",
|
||||
"No close lead car",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"speedTooLow",
|
||||
"openpilot已取消",
|
||||
"车速过慢",
|
||||
"openpilot Canceled",
|
||||
"Speed too low",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"invalidGiraffeHonda",
|
||||
"Giraffe开关错误",
|
||||
"openpilot模式为0111，原厂模式为1011",
|
||||
"Invalid Giraffe Configuration",
|
||||
"Set 0111 for openpilot. 1011 for stock",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
|
||||
|
||||
# Cancellation alerts causing non-entry
|
||||
Alert(
|
||||
"overheatNoEntry",
|
||||
"无法使用openpilot",
|
||||
"系统过热",
|
||||
"openpilot Unavailable",
|
||||
"System overheated",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"wrongGearNoEntry",
|
||||
"无法使用openpilot",
|
||||
"车辆不在D档",
|
||||
"openpilot Unavailable",
|
||||
"Gear not D",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"calibrationInvalidNoEntry",
|
||||
"无法使用openpilot",
|
||||
"校准无效：请将传感器放于新的位置并重新校准",
|
||||
"openpilot Unavailable",
|
||||
"Calibration Invalid: Reposition EON and Recalibrate",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"calibrationIncompleteNoEntry",
|
||||
"无法使用openpilot",
|
||||
"正在校准相机中",
|
||||
"openpilot Unavailable",
|
||||
"Calibration in Progress",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"doorOpenNoEntry",
|
||||
"无法使用openpilot",
|
||||
"车门开启",
|
||||
"openpilot Unavailable",
|
||||
"Door open",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"seatbeltNotLatchedNoEntry",
|
||||
"无法使用openpilot",
|
||||
"未系安全带",
|
||||
"openpilot Unavailable",
|
||||
"Seatbelt unlatched",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"espDisabledNoEntry",
|
||||
"无法使用openpilot",
|
||||
"ESP关闭",
|
||||
"openpilot Unavailable",
|
||||
"ESP Off",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"geofenceNoEntry",
|
||||
"无法使用openpilot",
|
||||
"不在地理围栏区域之内",
|
||||
"openpilot Unavailable",
|
||||
"Not in Geofenced Area",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.MID, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"radarCanErrorNoEntry",
|
||||
"无法使用openpilot",
|
||||
"雷达信号错误：请重新发动车辆",
|
||||
"openpilot Unavailable",
|
||||
"Radar Error: Restart the Car",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"radarFaultNoEntry",
|
||||
"无法使用openpilot",
|
||||
"雷达信号错误：请重新发动车辆",
|
||||
"openpilot Unavailable",
|
||||
"Radar Error: Restart the Car",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
@@ -565,77 +565,77 @@ ALERTS = [
|
||||
|
||||
Alert(
|
||||
"controlsFailedNoEntry",
|
||||
"无法使用openpilot",
|
||||
"控制发生错误",
|
||||
"openpilot Unavailable",
|
||||
"Controls Failed",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"canErrorNoEntry",
|
||||
"无法使用openpilot",
|
||||
"CAN错误：请检查连接",
|
||||
"openpilot Unavailable",
|
||||
"CAN Error: Check Connections",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"steerUnavailableNoEntry",
|
||||
"无法使用openpilot",
|
||||
"LKAS错误: 请重新发动车辆",
|
||||
"openpilot Unavailable",
|
||||
"LKAS Fault: Restart the Car",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"brakeUnavailableNoEntry",
|
||||
"无法使用openpilot",
|
||||
"巡航系统错误：请重新发动车辆",
|
||||
"openpilot Unavailable",
|
||||
"Cruise Fault: Restart the Car",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"gasUnavailableNoEntry",
|
||||
"无法使用openpilot",
|
||||
"油门错误：请重新发动车辆",
|
||||
"openpilot Unavailable",
|
||||
"Gas Error: Restart the Car",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"reverseGearNoEntry",
|
||||
"无法使用openpilot",
|
||||
"切换至倒车档",
|
||||
"openpilot Unavailable",
|
||||
"Reverse Gear",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"cruiseDisabledNoEntry",
|
||||
"无法使用openpilot",
|
||||
"巡航系统关闭",
|
||||
"openpilot Unavailable",
|
||||
"Cruise is Off",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"noTargetNoEntry",
|
||||
"无法使用openpilot",
|
||||
"没有侦测到前车",
|
||||
"openpilot Unavailable",
|
||||
"No Close Lead Car",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"plannerErrorNoEntry",
|
||||
"无法使用openpilot",
|
||||
"Planner Solution 错误",
|
||||
"openpilot Unavailable",
|
||||
"Planner Solution Error",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"invalidGiraffeHondaNoEntry",
|
||||
"无法使用openpilot",
|
||||
"openpilot模式为0111，原厂模式为1011",
|
||||
"openpilot Unavailable",
|
||||
"Set 0111 for openpilot. 1011 for stock",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
|
||||
|
||||
Alert(
|
||||
"commIssueNoEntry",
|
||||
"无法使用openpilot",
|
||||
"openpilot unavailable",
|
||||
"Communication Issue between Processes",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
|
||||
@@ -643,43 +643,43 @@ ALERTS = [
|
||||
# permanent alerts
|
||||
Alert(
|
||||
"steerUnavailablePermanent",
|
||||
"LKAS错误: 请重新发动车辆",
|
||||
"LKAS Fault: Restart the car to engage",
|
||||
"",
|
||||
AlertStatus.normal, AlertSize.small,
|
||||
Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
|
||||
|
||||
Alert(
|
||||
"brakeUnavailablePermanent",
|
||||
"巡航系统错误：请重新发动车辆",
|
||||
"Cruise Fault: Restart the car to engage",
|
||||
"",
|
||||
AlertStatus.normal, AlertSize.small,
|
||||
Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
|
||||
|
||||
Alert(
|
||||
"lowSpeedLockoutPermanent",
|
||||
"巡航系统错误：请重新发动车辆",
|
||||
"Cruise Fault: Restart the car to engage",
|
||||
"",
|
||||
AlertStatus.normal, AlertSize.small,
|
||||
Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
|
||||
|
||||
Alert(
|
||||
"calibrationIncompletePermanent",
|
||||
"正在校准相机中 ",
|
||||
"车速请高于",
|
||||
"Calibration in Progress: ",
|
||||
"Drive Above ",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
|
||||
|
||||
Alert(
|
||||
"invalidGiraffeHondaPermanent",
|
||||
"Giraffe 开关错误",
|
||||
"openpilot模式为0111，原厂模式为1011",
|
||||
"Invalid Giraffe Configuration",
|
||||
"Set 0111 for openpilot. 1011 for stock",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
|
||||
|
||||
Alert(
|
||||
"sensorDataInvalidPermanent",
|
||||
"没有收到任何来自传感器的数据",
|
||||
"请重启您的传感器",
|
||||
"No Data from EON Sensors",
|
||||
"Reboot your EON",
|
||||
AlertStatus.normal, AlertSize.mid,
|
||||
Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
|
||||
|
||||
@@ -692,7 +692,7 @@ ALERTS = [
|
||||
|
||||
Alert(
|
||||
"vehicleModelInvalid",
|
||||
"车辆参数识别失败",
|
||||
"Vehicle Parameter Identification Failed",
|
||||
"",
|
||||
AlertStatus.normal, AlertSize.small,
|
||||
Priority.LOWEST, VisualAlert.steerRequired, AudibleAlert.none, .0, .0, .1),
|
||||
|
||||
@@ -24,12 +24,11 @@ mixplorer_main = "com.mixplorer.activities.BrowseActivity"
|
||||
|
||||
def main(gctx=None):
|
||||
|
||||
dragon_enable_tomtom = True if params.get('DragonEnableTomTom') == "1" else False
|
||||
dragon_enable_autonavi = True if params.get('DragonEnableAutonavi') == "1" else False
|
||||
dragon_enable_mixplorer = True if params.get('DragonEnableMixplorer') == "1" else False
|
||||
dragon_boot_tomtom = True if params.get("DragonBootTomTom") == "1" else False
|
||||
dragon_boot_autonavi = True if params.get("DragonBootAutonavi") == "1" else False
|
||||
dragon_greypanda_mode = True if params.get('DragonGreyPandaMode') == "1" else False
|
||||
dragon_enable_tomtom = False if params.get('DragonEnableTomTom') == "0" else True
|
||||
dragon_enable_autonavi = False if params.get('DragonEnableAutonavi') == "0" else True
|
||||
dragon_enable_mixplorer = False if params.get('DragonEnableMixplorer') == "0" else True
|
||||
dragon_boot_tomtom = False if params.get("DragonBootTomTom") == "0" else True
|
||||
dragon_boot_autonavi = False if params.get("DragonBootAutonavi") == "0" else True
|
||||
tomtom_is_running = False
|
||||
autonavi_is_running = False
|
||||
mixplorer_is_running = False
|
||||
@@ -40,7 +39,6 @@ def main(gctx=None):
|
||||
frame = 0
|
||||
start_delay = None
|
||||
stop_delay = None
|
||||
high_accuracy_mode_enabled = False
|
||||
|
||||
params.put('DragonRunTomTom', '0')
|
||||
params.put('DragonRunAutonavi', '0')
|
||||
@@ -52,13 +50,6 @@ def main(gctx=None):
|
||||
thermal_sock = messaging.sub_sock(service_list['thermal'].port)
|
||||
|
||||
while dragon_enable_tomtom or dragon_enable_autonavi or dragon_enable_mixplorer:
|
||||
if (dragon_enable_tomtom or dragon_enable_autonavi) and not high_accuracy_mode_enabled:
|
||||
if dragon_greypanda_mode:
|
||||
system("settings put secure location_providers_allowed -gps,network,wifi")
|
||||
system("settings put secure location_providers_allowed +gps")
|
||||
else:
|
||||
system("settings put secure location_providers_allowed +gps,network,wifi")
|
||||
high_accuracy_mode_enabled = True
|
||||
|
||||
# allow user to manually start/stop app
|
||||
if dragon_enable_tomtom:
|
||||
|
||||
@@ -38,7 +38,6 @@ default_conf = {
|
||||
'DragonSteeringMonitorTimer': '3',
|
||||
'DragonCameraOffset': '6',
|
||||
'DragonUIVolumeBoost': '0',
|
||||
'DragonGreyPandaMode': '0',
|
||||
}
|
||||
|
||||
deprecated_conf = {
|
||||
|
||||
Reference in New Issue
Block a user