diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 0a04b86f2..482c7af29 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -229,7 +229,7 @@ jobs: - name: Build openpilot run: ${{ env.RUN }} "scons -j$(nproc)" - name: Test car models - timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && 1 || 20 }} + timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && 1 || 6 }} run: | ${{ env.RUN }} "MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \ chmod -R 777 /tmp/comma_download_cache" diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh index 66f57c2cd..d4689aae5 100755 --- a/launch_chffrplus.sh +++ b/launch_chffrplus.sh @@ -34,25 +34,25 @@ function launch { # Check to see if there's a valid overlay-based update available. Conditions # are as follows: # - # 1. The BASEDIR init file has to exist, with a newer modtime than anything in - # the BASEDIR Git repo. This checks for local development work or the user + # 1. The DIR init file has to exist, with a newer modtime than anything in + # the DIR Git repo. This checks for local development work or the user # switching branches/forks, which should not be overwritten. # 2. The FINALIZED consistent file has to exist, indicating there's an update # that completed successfully and synced to disk. - if [ -f "${BASEDIR}/.overlay_init" ]; then - find ${BASEDIR}/.git -newer ${BASEDIR}/.overlay_init | grep -q '.' 2> /dev/null + if [ -f "${DIR}/.overlay_init" ]; then + find ${DIR}/.git -newer ${DIR}/.overlay_init | grep -q '.' 2> /dev/null if [ $? -eq 0 ]; then - echo "${BASEDIR} has been modified, skipping overlay update installation" + echo "${DIR} has been modified, skipping overlay update installation" else if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then if [ ! -d /data/safe_staging/old_openpilot ]; then echo "Valid overlay update found, installing" LAUNCHER_LOCATION="${BASH_SOURCE[0]}" - mv $BASEDIR /data/safe_staging/old_openpilot - mv "${STAGING_ROOT}/finalized" $BASEDIR - cd $BASEDIR + mv $DIR /data/safe_staging/old_openpilot + mv "${STAGING_ROOT}/finalized" $DIR + cd $DIR echo "Restarting launch script ${LAUNCHER_LOCATION}" unset AGNOS_VERSION diff --git a/launch_env.sh b/launch_env.sh index 049b9da27..9bee47837 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="11.10" + export AGNOS_VERSION="11.11" fi export STAGING_ROOT="/data/safe_staging" diff --git a/opendbc_repo b/opendbc_repo index 484a9b08f..9cb825418 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 484a9b08f1caeba3e3d15e31ee8a8ccba648916c +Subproject commit 9cb8254180ae2462e25cd2abce6485b55f02b605 diff --git a/pyproject.toml b/pyproject.toml index ecf2db578..a83736a3a 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -99,11 +99,13 @@ dev = [ "av", "azure-identity", "azure-storage-blob", + "dbus-next", "dictdiffer", "lru-dict", "matplotlib", "parameterized >=0.8, <0.9", "pyautogui", + "pygame", "pyopencl; platform_machine != 'aarch64'", # broken on arm64 "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version "pywinctl", diff --git a/release/release_files.py b/release/release_files.py index eacc7f896..98b88293b 100755 --- a/release/release_files.py +++ b/release/release_files.py @@ -8,6 +8,7 @@ ROOT = HERE + "/.." blacklist = [ ".git/", + ".github/workflows/", "matlab.*.md", diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 3504bbb2b..7698c12c0 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -1,5 +1,4 @@ import time -import capnp import copy import os import pytest @@ -68,7 +67,7 @@ class TestCarModelBase(unittest.TestCase): platform: Platform | None = None test_route: CarTestRoute | None = None - can_msgs: list[capnp.lib.capnp._DynamicStructReader] + can_msgs: list[tuple[int, list[CanData]]] fingerprint: dict[int, dict[int, int]] elm_frame: int | None car_safety_mode_frame: int | None @@ -83,7 +82,8 @@ class TestCarModelBase(unittest.TestCase): experimental_long = False for msg in lr: if msg.which() == "can": - can_msgs.append(msg) + can = can_capnp_to_list((msg.as_builder().to_bytes(),))[0] + can_msgs.append((can[0], [CanData(*can) for can in can[1]])) if len(can_msgs) <= FRAME_FINGERPRINT: for m in msg.can: if m.src < 64: @@ -147,13 +147,11 @@ class TestCarModelBase(unittest.TestCase): raise unittest.SkipTest raise Exception(f"missing test route for {cls.platform}") - car_fw, can_msgs, experimental_long = cls.get_testing_data() + car_fw, cls.can_msgs, experimental_long = cls.get_testing_data() # if relay is expected to be open in the route cls.openpilot_enabled = cls.car_safety_mode_frame is not None - cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime) - cls.CarInterface, cls.CarController, cls.CarState, cls.RadarInterface = interfaces[cls.platform] cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, experimental_long, docs=False) cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform, cls.fingerprint, car_fw, experimental_long, docs=False) @@ -203,8 +201,8 @@ class TestCarModelBase(unittest.TestCase): CC_SP = structs.CarControlSP() for i, msg in enumerate(self.can_msgs): - CS = self.CI.update(can_capnp_to_list((msg.as_builder().to_bytes(),))) - self.CI.apply(CC, CC_SP, msg.logMonoTime) + CS = self.CI.update(msg) + self.CI.apply(CC, CC_SP, msg[0]) if CS.canValid: can_valid = True @@ -223,7 +221,7 @@ class TestCarModelBase(unittest.TestCase): # start parsing CAN messages after we've left ELM mode and can expect CAN traffic error_cnt = 0 for i, msg in enumerate(self.can_msgs[self.elm_frame:]): - rr: structs.RadarData | None = RI.update(can_capnp_to_list((msg.as_builder().to_bytes(),))) + rr: structs.RadarData | None = RI.update(msg) if rr is not None and i > 50: error_cnt += structs.RadarData.Error.canError in rr.errors self.assertEqual(error_cnt, 0) @@ -232,16 +230,16 @@ class TestCarModelBase(unittest.TestCase): if self.CP.dashcamOnly: self.skipTest("no need to check panda safety for dashcamOnly") - start_ts = self.can_msgs[0].logMonoTime + start_ts = self.can_msgs[0][0] failed_addrs = Counter() for can in self.can_msgs: # update panda timer - t = (can.logMonoTime - start_ts) / 1e3 + t = (can[0] - start_ts) / 1e3 self.safety.set_timer(int(t)) # run all msgs through the safety RX hook - for msg in can.can: + for msg in can[1]: if msg.src >= 64: continue @@ -394,8 +392,8 @@ class TestCarModelBase(unittest.TestCase): # warm up pass, as initial states may be different for can in self.can_msgs[:300]: - self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))) - for msg in filter(lambda m: m.src in range(64), can.can): + self.CI.update(can) + for msg in filter(lambda m: m.src < 64, can[1]): to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) self.safety.safety_rx_hook(to_send) @@ -404,8 +402,8 @@ class TestCarModelBase(unittest.TestCase): checks = defaultdict(int) vehicle_speed_seen = self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar for idx, can in enumerate(self.can_msgs): - CS = self.CI.update(can_capnp_to_list((can.as_builder().to_bytes(), ))).as_reader() - for msg in filter(lambda m: m.src in range(64), can.can): + CS = self.CI.update(can).as_reader() + for msg in filter(lambda m: m.src < 64, can[1]): to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) ret = self.safety.safety_rx_hook(to_send) self.assertEqual(1, ret, f"safety rx failed ({ret=}): {(msg.address, msg.src % 4)}") diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 80ce10380..026716679 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -211,9 +211,7 @@ class RadarD: self.v_ego_hist.append(self.v_ego) self.last_v_ego_frame = sm.recv_frame['carState'] - ar_pts = {} - for pt in rr.points: - ar_pts[pt.trackId] = [pt.dRel, pt.yRel, pt.vRel, pt.measured] + ar_pts = {pt.trackId: [pt.dRel, pt.yRel, pt.vRel, pt.measured] for pt in rr.points} # *** remove missing points from meta data *** for ids in list(self.tracks.keys()): diff --git a/selfdrive/debug/check_can_parser_performance.py b/selfdrive/debug/check_can_parser_performance.py index 61aff0244..20987b3cf 100755 --- a/selfdrive/debug/check_can_parser_performance.py +++ b/selfdrive/debug/check_can_parser_performance.py @@ -6,7 +6,6 @@ from tqdm import tqdm from cereal import car from opendbc.car.tests.routes import CarTestRoute from openpilot.selfdrive.car.tests.test_models import TestCarModelBase -from openpilot.selfdrive.pandad import can_capnp_to_list from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE N_RUNS = 10 @@ -25,13 +24,11 @@ if __name__ == '__main__': CC = car.CarControl.new_message() ets = [] for _ in tqdm(range(N_RUNS)): - msgs = [m.as_builder().to_bytes() for m in tm.can_msgs] start_t = time.process_time_ns() - for msg in msgs: - can_list = can_capnp_to_list([msg]) + for msg in tm.can_msgs: for cp in tm.CI.can_parsers.values(): if cp is not None: - cp.update_strings(can_list) + cp.update_strings(msg) ets.append((time.process_time_ns() - start_t) * 1e-6) print(f'{len(tm.can_msgs)} CAN packets, {N_RUNS} runs') diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc index 99155d9f1..d3341e76e 100644 --- a/selfdrive/modeld/models/commonmodel.cc +++ b/selfdrive/modeld/models/commonmodel.cc @@ -37,6 +37,7 @@ cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_hei DrivingModelFrame::~DrivingModelFrame() { deinit_transform(); loadyuv_destroy(&loadyuv); + CL_CHECK(clReleaseMemObject(input_frames_cl)); CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl)); CL_CHECK(clReleaseMemObject(last_img_cl)); CL_CHECK(clReleaseCommandQueue(q)); @@ -58,5 +59,6 @@ cl_mem* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_ MonitoringModelFrame::~MonitoringModelFrame() { deinit_transform(); + CL_CHECK(clReleaseMemObject(input_frame_cl)); CL_CHECK(clReleaseCommandQueue(q)); } diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 54df53fd9..cfd179fb7 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -465979047295dad5da3a552db9227ed776a26a79 \ No newline at end of file +37041a45841e83f0641ef1e87c0e567181d47172 \ No newline at end of file diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 975601061..1ea59c485 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -391,7 +391,7 @@ class TestOnroad: result += "----------------- Model Timing -----------------\n" result += "------------------------------------------------\n" cfgs = [ - ("modelV2", 0.045, 0.035), + ("modelV2", 0.045, 0.040), # TODO: this should be stricter but it's hard to measure exactly ("driverStateV2", 0.045, 0.035), ] for (s, instant_max, avg_max) in cfgs: diff --git a/selfdrive/ui/qt/offroad/firehose.cc b/selfdrive/ui/qt/offroad/firehose.cc index 726b71c8d..fd173a1c7 100644 --- a/selfdrive/ui/qt/offroad/firehose.cc +++ b/selfdrive/ui/qt/offroad/firehose.cc @@ -67,6 +67,7 @@ FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent) "

" "Frequently Asked Questions

" "Does it matter how or where I drive? Nope, just drive as you normally would.

" + "Do all of my segments get pulled in Firehose Mode? No, we selectively pull a subset of your segments.

" "What's a good USB-C adapter? Any fast phone or laptop charger should be fine.

" "Does it matter which software I run? Yes, only upstream openpilot (and particular forks) are able to be used for training." )); @@ -85,7 +86,7 @@ FirehosePanel::FirehosePanel(SettingsWindow *parent) : QWidget((QWidget*)parent) QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8()); QJsonObject json = doc.object(); int count = json["firehose"].toInt(); - contribution_label->setText(tr("%1 %2 of your driving are in the training dataset so far.").arg(count).arg(count == 1 ? "segment" : "segments")); + contribution_label->setText(tr("%n segment(s) of your driving is in the training dataset so far.", "", count)); contribution_label->show(); } }); diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index a23dd1290..40c61f8cd 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -419,33 +419,42 @@ FirehosePanel ๐Ÿ”ฅ Firehose Mode ๐Ÿ”ฅ - + ๐Ÿ”ฅ ูˆุถุน ุฎุฑุทูˆู… ุงู„ุญุฑูŠู‚ ๐Ÿ”ฅ openpilot learns to drive by watching humans, like you, drive. Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode. - + ูŠุชุนู„ู… ุชุทุจูŠู‚ openpilot ูƒูŠููŠุฉ ุงู„ู‚ูŠุงุฏุฉ ู…ู† ุฎู„ุงู„ ู…ุดุงู‡ุฏุฉ ุงู„ุจุดุฑุŒ ู…ุซู„ูƒุŒ ุฃุซู†ุงุก ุงู„ู‚ูŠุงุฏุฉ. + +ูŠุชูŠุญ ู„ูƒ ูˆุถุน ุฎุฑุทูˆู… ุงู„ุญุฑูŠู‚ ุฒูŠุงุฏุฉ ุชุญู…ูŠู„ุงุช ุจูŠุงู†ุงุช ุงู„ุชุฏุฑูŠุจ ู„ุชุญุณูŠู† ู†ู…ุงุฐุฌ ุงู„ู‚ูŠุงุฏุฉ ููŠ OpenPilot. ูƒู„ู…ุง ุฒุงุฏุช ุงู„ุจูŠุงู†ุงุชุŒ ุฒุงุฏุช ุงู„ู†ู…ุงุฐุฌุŒ ู…ู…ุง ูŠุนู†ูŠ ูˆุถุนู‹ุง ุชุฌุฑูŠุจูŠู‹ุง ุฃูุถู„. Firehose Mode: ACTIVE - - - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - - - - <b>%1 %2</b> of your driving are in the training dataset so far. - + ูˆุถุน ุฎุฑุทูˆู… ุงู„ุญุฑูŠู‚: ู†ุดุท ACTIVE - + ู†ุดุท <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>ุบูŠุฑ ู†ุดุท</span>: ุงุชุตู„ ุจุดุจูƒุฉ ุบูŠุฑ ู…ุญุณูˆุจุฉ + + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + ู„ู„ุญุตูˆู„ ุนู„ู‰ ุฃู‚ุตู‰ ูุนุงู„ูŠุฉุŒ ุฃุญุถุฑ ุฌู‡ุงุฒูƒ ุฅู„ู‰ ุงู„ุฏุงุฎู„ ูˆุงุชุตู„ ุจู…ุญูˆู„ USB-C ุฌูŠุฏ ูˆุดุจูƒุฉ Wi-Fi ุฃุณุจูˆุนูŠุงู‹.<br><br>ูŠู…ูƒู† ุฃู† ูŠุนู…ู„ ูˆุถุน ุฎุฑุทูˆู… ุงู„ุญุฑูŠู‚ ุฃูŠุถุงู‹ ุฃุซู†ุงุก ุงู„ู‚ูŠุงุฏุฉ ุฅุฐุง ูƒู†ุช ู…ุชุตู„ุงู‹ ุจู†ู‚ุทุฉ ุงุชุตุงู„ ุฃูˆ ุจุจุทุงู‚ุฉ SIM ุบูŠุฑ ู…ุญุฏูˆุฏุฉ.<br><br><br><b>ุงู„ุฃุณุฆู„ุฉ ุงู„ู…ุชูƒุฑุฑุฉ</b><br><br><i>ู‡ู„ ูŠู‡ู… ูƒูŠู ุฃูˆ ุฃูŠู† ุฃู‚ูˆุฏุŸ</i> ู„ุงุŒ ูู‚ุท ู‚ุฏ ูƒู…ุง ุชูุนู„ ุนุงุฏุฉ.<br><br><i>ู‡ู„ ูŠุชู… ุณุญุจ ูƒู„ ู…ู‚ุงุทุน ุฑุญู„ุงุชูŠ ููŠ ูˆุถุน ุฎุฑุทูˆู… ุงู„ุญุฑูŠู‚ุŸ</i> ู„ุงุŒ ู†ู‚ูˆู… ุจุณุญุจ ู…ุฌู…ูˆุนุฉ ู…ุฎุชุงุฑุฉ ู…ู† ู…ู‚ุงุทุน ุฑุญู„ุงุชูƒ.<br><br><i>ู…ุง ู‡ูˆ ู…ุญูˆู„ USB-C ุงู„ุฌูŠุฏุŸ</i> ุฃูŠ ุดุงุญู† ุณุฑูŠุน ู„ู„ู‡ุงุชู ุฃูˆ ุงู„ู„ุงุจุชูˆุจ ูŠุฌุจ ุฃู† ูŠูƒูˆู† ู…ู†ุงุณุจุงู‹.<br><br><i>ู‡ู„ ูŠู‡ู… ุฃูŠ ุจุฑู†ุงู…ุฌ ุฃุณุชุฎุฏู…ุŸ</i> ู†ุนู…ุŒ ูู‚ุท ุงู„ู†ุณุฎุฉ ุงู„ุฃุตู„ูŠุฉ ู…ู† openpilot (ูˆุฃูุฑุน ู…ุนูŠู†ุฉ) ูŠู…ูƒู† ุงุณุชุฎุฏุงู…ู‡ุง ู„ู„ุชุฏุฑูŠุจ. + + + <b>%n segment(s)</b> of your driving is in the training dataset so far. + + ุญุชู‰ ุงู„ุขู†ุŒ ูŠูˆุฌุฏ </b>%n ู…ู‚ุทุน<b>%n ู…ู† ู‚ูŠุงุฏุชูƒ ููŠ ู…ุฌู…ูˆุนุฉ ุจูŠุงู†ุงุช ุงู„ุชุฏุฑูŠุจ. + ุญุชู‰ ุงู„ุขู†ุŒ ูŠูˆุฌุฏ </b>%n ู…ู‚ุทุน<b>%n ู…ู† ู‚ูŠุงุฏุชูƒ ููŠ ู…ุฌู…ูˆุนุฉ ุจูŠุงู†ุงุช ุงู„ุชุฏุฑูŠุจ. + ุญุชู‰ ุงู„ุขู†ุŒ ูŠูˆุฌุฏ </b>%n ู…ู‚ุทุน<b>%n ู…ู† ู‚ูŠุงุฏุชูƒ ููŠ ู…ุฌู…ูˆุนุฉ ุจูŠุงู†ุงุช ุงู„ุชุฏุฑูŠุจ. + ุญุชู‰ ุงู„ุขู†ุŒ ูŠูˆุฌุฏ </b>%n ู…ู‚ุทุน<b>%n ู…ู† ู‚ูŠุงุฏุชูƒ ููŠ ู…ุฌู…ูˆุนุฉ ุจูŠุงู†ุงุช ุงู„ุชุฏุฑูŠุจ. + ุญุชู‰ ุงู„ุขู†ุŒ ูŠูˆุฌุฏ </b>%n ู…ู‚ุทุน<b>%n ู…ู† ู‚ูŠุงุฏุชูƒ ููŠ ู…ุฌู…ูˆุนุฉ ุจูŠุงู†ุงุช ุงู„ุชุฏุฑูŠุจ. + ุญุชู‰ ุงู„ุขู†ุŒ ูŠูˆุฌุฏ </b>%n ู…ู‚ุทุน<b>%n ู…ู† ู‚ูŠุงุฏุชูƒ ููŠ ู…ุฌู…ูˆุนุฉ ุจูŠุงู†ุงุช ุงู„ุชุฏุฑูŠุจ. + @@ -925,7 +934,7 @@ This may take up to a minute. Firehose - + ุฎุฑุทูˆู… ุงู„ุญุฑูŠู‚ @@ -1469,11 +1478,11 @@ This may take up to a minute. Welcome to openpilot - + ู…ุฑุญุจุงู‹ ุจูƒู… ููŠ openpilot You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing. - + ูŠุฌุจ ุนู„ูŠูƒ ู‚ุจูˆู„ ุงู„ุดุฑูˆุท ูˆุงู„ุฃุญูƒุงู… ู„ุงุณุชุฎุฏุงู… openpilot. ุงู‚ุฑุฃ ุฃุญุฏุซ ุงู„ุดุฑูˆุท ุนู„ู‰ <span style='color: #465BEA;'>https://comma.ai/terms</span> ู‚ุจู„ ุงู„ุงุณุชู…ุฑุงุฑ. @@ -1634,15 +1643,15 @@ This may take up to a minute. WiFiPromptWidget Open - + ุงู†ูุชุญ Maximize your training data uploads to improve openpilot's driving models. - + ู‚ู… ุจุฒูŠุงุฏุฉ ุชุญู…ูŠู„ุงุช ุจูŠุงู†ุงุช ุงู„ุชุฏุฑูŠุจ ุงู„ุฎุงุตุฉ ุจูƒ ู„ุชุญุณูŠู† ู†ู…ุงุฐุฌ ุงู„ู‚ูŠุงุฏุฉ ุงู„ุฎุงุตุฉ ุจู€ openpilot. <span style='font-family: "Noto Color Emoji";'>๐Ÿ”ฅ</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>๐Ÿ”ฅ</span> - + <span style='font-family: "Noto Color Emoji";'>๐Ÿ”ฅ</span> ูˆุถุน ุฎุฑุทูˆู… ุงู„ุญุฑูŠู‚ <span style='font-family: Noto Color Emoji;'>๐Ÿ”ฅ</span> diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 9a578556b..773a354d9 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -431,14 +431,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - - - - <b>%1 %2</b> of your driving are in the training dataset so far. - - ACTIVE @@ -447,6 +439,17 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + + + + <b>%n segment(s)</b> of your driving is in the training dataset so far. + + + + + HudRenderer diff --git a/selfdrive/ui/translations/main_en.ts b/selfdrive/ui/translations/main_en.ts index 3f9692e5f..fbccbedb2 100644 --- a/selfdrive/ui/translations/main_en.ts +++ b/selfdrive/ui/translations/main_en.ts @@ -1,6 +1,16 @@ + + FirehosePanel + + <b>%n segment(s)</b> of your driving is in the training dataset so far. + + <b>%n segment</b> of your driving is in the training dataset so far. + <b>%n segments</b> of your driving are in the training dataset so far. + + + InputDialog diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index 429f5fbaf..5e3b854f8 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -431,14 +431,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - - - - <b>%1 %2</b> of your driving are in the training dataset so far. - - ACTIVE @@ -447,6 +439,17 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + + + + <b>%n segment(s)</b> of your driving is in the training dataset so far. + + + + + HudRenderer diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index a6f9006e0..88484e622 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -431,14 +431,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - - - - <b>%1 %2</b> of your driving are in the training dataset so far. - - ACTIVE @@ -447,6 +439,17 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + + + + <b>%n segment(s)</b> of your driving is in the training dataset so far. + + + + + HudRenderer diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index b9e6c7538..0cda3f4c7 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -431,14 +431,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - - - - <b>%1 %2</b> of your driving are in the training dataset so far. - - ACTIVE @@ -447,6 +439,16 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + + + + <b>%n segment(s)</b> of your driving is in the training dataset so far. + + + + HudRenderer diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 9969bf8ef..7e190c12b 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -129,11 +129,11 @@ WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - ๊ฒฝ๊ณ : openpilot ๊ฐ€๊ฐ์† ์ œ์–ด ์•ŒํŒŒ ๊ธฐ๋Šฅ์œผ๋กœ ์ฐจ๋Ÿ‰์˜ ์ž๋™๊ธด๊ธ‰์ œ๋™(AEB)์„ ๋น„ํ™œ์„ฑํ™”ํ•ฉ๋‹ˆ๋‹ค. + ๊ฒฝ๊ณ : openpilot ๊ฐ€๊ฐ์† ์ œ์–ด๋Š” ์•ŒํŒŒ ๊ธฐ๋Šฅ์œผ๋กœ ์ฐจ๋Ÿ‰์˜ ์ž๋™๊ธด๊ธ‰์ œ๋™(AEB)๊ธฐ๋Šฅ์ด ์ž‘๋™ํ•˜์ง€ ์•Š์Šต๋‹ˆ๋‹ค. On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - ์ด ์ฐจ๋Ÿ‰์€ openpilot ๊ฐ€๊ฐ์† ์ œ์–ด ๋Œ€์‹  ๊ธฐ๋ณธ์ ์œผ๋กœ ์ฐจ๋Ÿ‰์˜ ACC๋กœ ๊ฐ€๊ฐ์†์„ ์ œ์–ดํ•ฉ๋‹ˆ๋‹ค. openpilot์˜ ๊ฐ€๊ฐ์† ์ œ์–ด๋กœ ์ „ํ™˜ํ•˜๋ ค๋ฉด ์ด ๊ธฐ๋Šฅ์„ ํ™œ์„ฑํ™”ํ•˜์„ธ์š”. openpilot ๊ฐ€๊ฐ์† ์ œ์–ด ์•ŒํŒŒ๋ฅผ ํ™œ์„ฑํ™”ํ•˜๋Š” ๊ฒฝ์šฐ ์‹คํ—˜ ๋ชจ๋“œ ํ™œ์„ฑํ™”๋ฅผ ๊ถŒ์žฅํ•ฉ๋‹ˆ๋‹ค. + ์ด ์ฐจ๋Ÿ‰์—์„œ openpilot์€ openpilot ๊ฐ€๊ฐ์† ์ œ์–ด ๋Œ€์‹  ๊ธฐ๋ณธ์ ์œผ๋กœ ์ฐจ๋Ÿ‰์˜ ACC๋กœ ๊ฐ€๊ฐ์†์„ ์ œ์–ดํ•ฉ๋‹ˆ๋‹ค. openpilot ๊ฐ€๊ฐ์† ์ œ์–ด๋กœ ์ „ํ™˜ํ•˜๋ ค๋ฉด ์ด ๊ธฐ๋Šฅ์„ ํ™œ์„ฑํ™”ํ•˜์„ธ์š”. openpilot ๊ฐ€๊ฐ์† ์ œ์–ด ์•ŒํŒŒ ๊ธฐ๋Šฅ์„ ํ™œ์„ฑํ™”ํ•˜๋Š” ๊ฒฝ์šฐ ์‹คํ—˜ ๋ชจ๋“œ ํ™œ์„ฑํ™”๋ฅผ ๊ถŒ์žฅํ•ฉ๋‹ˆ๋‹ค. Enable ADB @@ -425,27 +425,31 @@ openpilot learns to drive by watching humans, like you, drive. Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode. - + ์˜คํ”ˆํŒŒ์ผ๋Ÿฟ์€ ์—ฌ๋Ÿฌ๋ถ„๊ณผ ๊ฐ™์€ ์‚ฌ๋žŒ์ด ์šด์ „ํ•˜๋Š” ๋ชจ์Šต์„ ๋ณด๋ฉด์„œ ์šด์ „ํ•˜๋Š” ๋ฒ•์„ ๋ฐฐ์›๋‹ˆ๋‹ค. + +ํŒŒ์ด์–ดํ˜ธ์Šค ๋ชจ๋“œ๋ฅผ ์‚ฌ์šฉํ•˜๋ฉด ํ›ˆ๋ จ ๋ฐ์ดํ„ฐ ์—…๋กœ๋“œ๋ฅผ ์ตœ๋Œ€ํ™”ํ•˜์—ฌ ์˜คํ”ˆํŒŒ์ผ๋Ÿฟ์˜ ์ฃผํ–‰ ๋ชจ๋ธ์„ ๊ฐœ์„ ํ•  ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค. ๋” ๋งŽ์€ ๋ฐ์ดํ„ฐ๋Š” ๋” ํฐ ๋ชจ๋ธ์„ ์˜๋ฏธํ•˜๋ฉฐ, ์ด๋Š” ๋” ๋‚˜์€ ์‹คํ—˜ ๋ชจ๋“œ๋ฅผ ์˜๋ฏธํ•ฉ๋‹ˆ๋‹ค. Firehose Mode: ACTIVE - - - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - - - - <b>%1 %2</b> of your driving are in the training dataset so far. - + ํŒŒ์ด์–ดํ˜ธ์Šค ๋ชจ๋“œ: ํ™œ์„ฑํ™” ACTIVE - + ํ™œ์„ฑํ™” <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>๋น„ํ™œ์„ฑ</span>: ๋ฌด์ œํ•œ ๋„คํŠธ์›Œํฌ์— ์—ฐ๊ฒฐ + + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + ์ตœ๋Œ€ํ•œ์˜ ํšจ๊ณผ๋ฅผ ์–ป์œผ๋ ค๋ฉด ๋งค์ฃผ ์žฅ์น˜๋ฅผ ์‹ค๋‚ด๋กœ ๊ฐ€์ ธ์™€ ์ข‹์€ USB-C ์ผ€์ด๋ธ”์— ์—ฐ๊ฒฐํ•˜๊ณ  Wi-Fi์— ์—ฐ๊ฒฐํ•˜์„ธ์š”.<br><br>ํŒŒ์ด์–ดํ˜ธ์Šค ๋ชจ๋“œ๋Š” ํ•ซ์ŠคํŒŸ ๋˜๋Š” ๋ฌด์ œํ•œ SIM ์นด๋“œ์— ์—ฐ๊ฒฐ๋œ ๊ฒฝ์šฐ์—๋Š” ์šด์ „ ์ค‘์—๋„ ์ž‘๋™ํ•  ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค.<br><br><br><b>์ž์ฃผ ๋ฌป๋Š” ์งˆ๋ฌธ</b><br><br><i>์šด์ „ ๋ฐฉ๋ฒ•์ด๋‚˜ ์žฅ์†Œ๊ฐ€ ์ค‘์š”ํ•œ๊ฐ€์š”?</i> ์•„๋‹ˆ์š”, ํ‰์†Œ์ฒ˜๋Ÿผ ์šด์ „ํ•˜์‹œ๋ฉด ๋ฉ๋‹ˆ๋‹ค.<br><br><i>ํŒŒ์ด์–ดํ˜ธ์Šค ๋ชจ๋“œ์—์„œ ์ œ ๋ชจ๋“  ๊ตฌ๊ฐ„์„ ๊ฐ€์ ธ์˜ค๋‚˜์š”?.<br><br><i> ์•„๋‹ˆ์š”, ์ €ํฌ๋Š” ์—ฌ๋Ÿฌ๋ถ„์˜ ๊ตฌ๊ฐ„ ์ค‘ ์ผ๋ถ€๋ฅผ ์„ ๋ณ„์ ์œผ๋กœ ๊ฐ€์ ธ์˜ต๋‹ˆ๋‹ค.<br><br><i>์ข‹์€ USB-C ์ผ€์ด๋ธ”์€ ๋ฌด์—‡์ธ๊ฐ€์š”?</i> ํœด๋Œ€ํฐ์ด๋‚˜ ๋…ธํŠธ๋ถ ๊ณ ์† ์ถฉ์ „๊ธฐ๊ฐ€ ์žˆ์œผ๋ฉด ๋ฉ๋‹ˆ๋‹ค.<br><br><i>์–ด๋–ค ์†Œํ”„ํŠธ์›จ์–ด๋ฅผ ์‹คํ–‰ํ•˜๋Š”์ง€๊ฐ€ ์ค‘์š”ํ•œ๊ฐ€์š”?</i> ์˜ˆ, ์˜ค์ง ๊ณต์‹ openpilot์˜ ํŠน์ • ํฌํฌ๋งŒ ํŠธ๋ ˆ์ด๋‹์— ์‚ฌ์šฉํ•  ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค. + + + <b>%n segment(s)</b> of your driving is in the training dataset so far. + + + @@ -604,7 +608,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. - openpilot์ด ์ฐจ๋Ÿ‰์„ ์‹๋ณ„ํ•  ์ˆ˜ ์—†์—ˆ์Šต๋‹ˆ๋‹ค. ์ง€์›๋˜์ง€ ์•Š๋Š” ์ฐจ๋Ÿ‰์ด๊ฑฐ๋‚˜ ECU๊ฐ€ ์ธ์‹๋˜์ง€ ์•Š์Šต๋‹ˆ๋‹ค. ํ•ด๋‹น ์ฐจ๋Ÿ‰์— ๋งž๋Š” ํŽŒ์›จ์–ด ๋ฒ„์ „์„ ์ถ”๊ฐ€ํ•˜๋ ค๋ฉด PR์„ ์ œ์ถœํ•˜์„ธ์š”. ๋„์›€์ด ํ•„์š”ํ•˜์‹œ๋ฉด discord.comma.ai์— ๊ฐ€์ž…ํ•˜์„ธ์š”. + openpilot์ด ์ฐจ๋Ÿ‰์„ ์‹๋ณ„ํ•  ์ˆ˜ ์—†์Šต๋‹ˆ๋‹ค. ์ง€์›๋˜์ง€ ์•Š๋Š” ์ฐจ๋Ÿ‰์ด๊ฑฐ๋‚˜ ECU๊ฐ€ ์ธ์‹๋˜์ง€ ์•Š์Šต๋‹ˆ๋‹ค. ํ•ด๋‹น ์ฐจ๋Ÿ‰์— ๋งž๋Š” ํŽŒ์›จ์–ด ๋ฒ„์ „์„ ์ถ”๊ฐ€ํ•˜๋ ค๋ฉด PR์„ ์ œ์ถœํ•˜์„ธ์š”. ๋„์›€์ด ํ•„์š”ํ•˜์‹œ๋ฉด discord.comma.ai์— ๊ฐ€์ž…ํ•˜์„ธ์š”. openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. @@ -612,7 +616,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed. Device temperature too high. System cooling down before starting. Current internal component temperature: %1 - ์žฅ์น˜ ์˜จ๋„๊ฐ€ ๋„ˆ๋ฌด ๋†’์Šต๋‹ˆ๋‹ค. ์‹œ์ž‘ํ•˜๊ธฐ ์ „์— ์˜จ๋„๋ฅผ ๋‚ฎ์ถฐ์ฃผ์„ธ์š”. ํ˜„์žฌ ๋‚ด๋ถ€ ๋ถ€ํ’ˆ ์˜จ๋„: %1 + ์žฅ์น˜์˜ ์˜จ๋„๊ฐ€ ๋„ˆ๋ฌด ๋†’์Šต๋‹ˆ๋‹ค. ์‹œ์ž‘ ์ „์— ์˜จ๋„๋ฅผ ๋‚ฎ์ถฐ์ฃผ์„ธ์š”. ํ˜„์žฌ ๋‚ด๋ถ€ ๊ตฌ์„ฑ ์š”์†Œ ์˜จ๋„: %1 sunnypilot is now in Always Offroad mode. sunnypilot won't start until Always Offroad mode is disabled. Go to "Settings" -> "Device" to exit Always Offroad mode. @@ -1449,11 +1453,11 @@ This may take up to a minute. Welcome to openpilot - + ์˜คํ”ˆ ํŒŒ์ผ๋Ÿฟ์— ์˜ค์‹  ๊ฒƒ์„ ํ™˜์˜ํ•ฉ๋‹ˆ๋‹ค. You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing. - + ์˜คํ”ˆํŒŒ์ผ๋Ÿฟ์„ ์‚ฌ์šฉํ•˜๋ ค๋ฉด ์ด์šฉ์•ฝ๊ด€์— ๋™์˜ํ•ด์•ผ ํ•ฉ๋‹ˆ๋‹ค. ์ตœ์‹  ์•ฝ๊ด€์€ <span style='color: #465BEA;'>https://comma.ai/terms</span> ์—์„œ ์ตœ์‹  ์•ฝ๊ด€์„ ์ฝ์€ ํ›„ ๊ณ„์†ํ•˜์„ธ์š”. @@ -1556,7 +1560,7 @@ This may take up to a minute. The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - ์šด์ „ ์‹œ๊ฐํ™”๋Š” ์ผ๋ถ€ ํšŒ์ „์„ ๋” ์ž˜ ๋ณด์—ฌ์ฃผ๊ธฐ ์œ„ํ•ด ์ €์†์—์„œ ๋„๋กœ๋ฅผ ํ–ฅํ•œ ๊ด‘๊ฐ ์นด๋ฉ”๋ผ๋กœ ์ „ํ™˜๋ฉ๋‹ˆ๋‹ค. ์‹คํ—˜ ๋ชจ๋“œ ๋กœ๊ณ ๋„ ์šฐ์ธก ์ƒ๋‹จ์— ํ‘œ์‹œ๋ฉ๋‹ˆ๋‹ค. + ์šด์ „ ์‹œ๊ฐํ™”๋Š” ์ผ๋ถ€ ํšŒ์ „์„ ๋” ์ž˜ ๋ณด์—ฌ์ฃผ๊ธฐ ์œ„ํ•ด ์ €์†์—์„œ ๋„๋กœ๋ฅผ ํ–ฅํ•œ ๊ด‘๊ฐ ์นด๋ฉ”๋ผ๋กœ ์ „ํ™˜๋ฉ๋‹ˆ๋‹ค. ์šฐ์ธก ์ƒ๋‹จ์— ์‹คํ—˜ ๋ชจ๋“œ ๋กœ๊ณ ๊ฐ€ ํ‘œ์‹œ๋ฉ๋‹ˆ๋‹ค. Always-On Driver Monitoring @@ -1564,7 +1568,7 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. - Openpilot์ด ํ™œ์„ฑํ™”๋˜์ง€ ์•Š์€ ๊ฒฝ์šฐ์—๋„ ๋“œ๋ผ์ด๋ฒ„ ๋ชจ๋‹ˆํ„ฐ๋ง์„ ํ™œ์„ฑํ™”ํ•ฉ๋‹ˆ๋‹ค. + openpilot์ด ํ™œ์„ฑํ™”๋˜์ง€ ์•Š์€ ๊ฒฝ์šฐ์—๋„ ๋“œ๋ผ์ด๋ฒ„ ๋ชจ๋‹ˆํ„ฐ๋ง์„ ํ™œ์„ฑํ™”ํ•ฉ๋‹ˆ๋‹ค. Enable Dynamic Experimental Control diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 3168f76d2..742da5716 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -419,33 +419,38 @@ FirehosePanel ๐Ÿ”ฅ Firehose Mode ๐Ÿ”ฅ - ๐Ÿ”ฅ Mode Firehose ๐Ÿ”ฅ + ๐Ÿ”ฅ Modo Firehose ๐Ÿ”ฅ openpilot learns to drive by watching humans, like you, drive. Firehose Mode allows you to maximize your training data uploads to improve openpilot's driving models. More data means bigger models, which means better Experimental Mode. - + O openpilot aprende a dirigir observando humanos, como vocรช, dirigirem. + +O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar os modelos de direรงรฃo do openpilot. Mais dados significam modelos maiores, o que resulta em um Modo Experimental melhor. Firehose Mode: ACTIVE - - - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - - - - <b>%1 %2</b> of your driving are in the training dataset so far. - + Modo Firehose: ATIVO ACTIVE - + ATIVO <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network - + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INATIVO</span>: conecte-se a uma rede sem restriรงรฃo <br> de dados + + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + Para maior eficรกcia, leve seu dispositivo para dentro de casa e conecte-o a um bom adaptador USB-C e Wi-Fi semanalmente.<br><br>O Modo Firehose tambรฉm pode funcionar enquanto vocรช dirige, se estiver conectado a um hotspot ou a um chip SIM com dados ilimitados.<br><br><br><b>Perguntas Frequentes</b><br><br><i>Importa como ou onde eu dirijo?</i> Nรฃo, basta dirigir normalmente.<br><br><i>Todos os meus segmentos sรฃo enviados no Modo Firehose?</i> Nรฃo, selecionamos apenas um subconjunto dos seus segmentos.<br><br><i>Qual รฉ um bom adaptador USB-C?</i> Qualquer carregador rรกpido de telefone ou laptop deve ser suficiente.<br><br><i>Importa qual software eu uso?</i> Sim, apenas o openpilot oficial (e alguns forks especรญficos) podem ser usados para treinamento. + + + <b>%n segment(s)</b> of your driving is in the training dataset so far. + + <b>%n segmento</b> da sua direรงรฃo estรก no conjunto de dados de treinamento atรฉ agora. + <b>%n segmentos</b> da sua direรงรฃo estรฃo no conjunto de dados de treinamento atรฉ agora. + @@ -1453,11 +1458,11 @@ Isso pode levar atรฉ um minuto. Welcome to openpilot - + Bem vindo ao openpilot You must accept the Terms and Conditions to use openpilot. Read the latest terms at <span style='color: #465BEA;'>https://comma.ai/terms</span> before continuing. - + Vocรช deve aceitar os Termos e Condiรงรตes para usar o openpilot. Leia os termos mais recentes em <span style='color: #465BEA;'>https://comma.ai/terms</span> antes de continuar. @@ -1626,7 +1631,7 @@ Isso pode levar atรฉ um minuto. <span style='font-family: "Noto Color Emoji";'>๐Ÿ”ฅ</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>๐Ÿ”ฅ</span> - <span style='font-family: "Noto Color Emoji";'>๐Ÿ”ฅ</span> Mode Firehose <span style='font-family: Noto Color Emoji;'>๐Ÿ”ฅ</span> + <span style='font-family: "Noto Color Emoji";'>๐Ÿ”ฅ</span> Modo Firehose <span style='font-family: Noto Color Emoji;'>๐Ÿ”ฅ</span> diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index a3d3f347f..4a66da115 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -431,14 +431,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - - - - <b>%1 %2</b> of your driving are in the training dataset so far. - - ACTIVE @@ -447,6 +439,16 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + + + + <b>%n segment(s)</b> of your driving is in the training dataset so far. + + + + HudRenderer diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 616bf7191..6a344607f 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -431,14 +431,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - - - - <b>%1 %2</b> of your driving are in the training dataset so far. - - ACTIVE @@ -447,6 +439,16 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + + + + <b>%n segment(s)</b> of your driving is in the training dataset so far. + + + + HudRenderer diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index e0facb278..dd9879256 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -431,14 +431,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - - - - <b>%1 %2</b> of your driving are in the training dataset so far. - - ACTIVE @@ -447,6 +439,16 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + + + + <b>%n segment(s)</b> of your driving is in the training dataset so far. + + + + HudRenderer diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 8fecfe8bb..25c5afbdf 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -431,14 +431,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. - - - - <b>%1 %2</b> of your driving are in the training dataset so far. - - ACTIVE @@ -447,6 +439,16 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INACTIVE</span>: connect to unmetered network + + For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.<br><br>Firehose Mode can also work while you're driving if connected to a hotspot or unlimited SIM card.<br><br><br><b>Frequently Asked Questions</b><br><br><i>Does it matter how or where I drive?</i> Nope, just drive as you normally would.<br><br><i>Do all of my segments get pulled in Firehose Mode?</i> No, we selectively pull a subset of your segments.<br><br><i>What's a good USB-C adapter?</i> Any fast phone or laptop charger should be fine.<br><br><i>Does it matter which software I run?</i> Yes, only upstream openpilot (and particular forks) are able to be used for training. + + + + <b>%n segment(s)</b> of your driving is in the training dataset so far. + + + + HudRenderer diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index f050070d6..18a42f05d 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -141,7 +141,8 @@ void CameraState::set_camera_exposure(float grey_frac) { // TODO: Lower latency to 2 frames, by using the histogram outputted by the sensor we can do AE before the debayering is complete const auto &sensor = camera.sensor; - const float cur_ev_ = cur_ev[camera.buf.cur_frame_data.frame_id % 3] * sensor->ev_scale; + // Offset idx by one to not get stuck in self loop + const float cur_ev_ = cur_ev[(camera.buf.cur_frame_data.frame_id - 1) % 3] * sensor->ev_scale; // Scale target grey between min and 0.4 depending on lighting conditions float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + sensor->target_grey_factor*cur_ev_) / log2(6000.0), target_grey_minimums[camera.cc.camera_num], 0.4); diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 713d5ba1c..3005a4a55 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -1258,6 +1258,8 @@ void SpectraCamera::camera_close() { LOG("-- Stop devices %d", cc.camera_num); if (enabled) { + clear_req_queue(); + // ret = device_control(sensor_fd, CAM_STOP_DEV, session_handle, sensor_dev_handle); // LOGD("stop sensor: %d", ret); int ret = device_control(m->isp_fd, CAM_STOP_DEV, session_handle, isp_dev_handle); @@ -1404,7 +1406,9 @@ bool SpectraCamera::waitForFrameReady(uint64_t request_id) { struct cam_sync_wait sync_wait = {}; sync_wait.sync_obj = sync_obj; sync_wait.timeout_ms = stress_test(sync_type) ? 1 : timeout_ms; - return do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait)) == 0; + bool ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait)) == 0; + if (!ret) LOGE("camera %d %s failed", cc.camera_num, sync_type); + return ret; }; // wait for frame from IFE diff --git a/system/camerad/main.cc b/system/camerad/main.cc index d55bd495a..05fdef1a6 100644 --- a/system/camerad/main.cc +++ b/system/camerad/main.cc @@ -6,9 +6,8 @@ #include "common/util.h" int main(int argc, char *argv[]) { - int ret = util::set_realtime_priority(53); - assert(ret == 0); - ret = util::set_core_affinity({6}); + // doesn't need RT priority since we're using isolcpus + int ret = util::set_core_affinity({6}); assert(ret == 0 || Params().getBool("IsOffroad")); // failure ok while offroad due to offlining cores camerad_thread(); diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index d42c8151a..04e5fd336 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -56,28 +56,28 @@ }, { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-bca7573652def58a0afc40bbdd550d63dc08ed2e925ace69032aef84bb9dc4ba.img.xz", - "hash": "bca7573652def58a0afc40bbdd550d63dc08ed2e925ace69032aef84bb9dc4ba", - "hash_raw": "bca7573652def58a0afc40bbdd550d63dc08ed2e925ace69032aef84bb9dc4ba", - "size": 18475008, + "url": "https://commadist.azureedge.net/agnosupdate/boot-0d0d4d5a32e00b46fa36180b4a96337f2a53302d8bd0faee95f8fe1063d1e24a.img.xz", + "hash": "0d0d4d5a32e00b46fa36180b4a96337f2a53302d8bd0faee95f8fe1063d1e24a", + "hash_raw": "0d0d4d5a32e00b46fa36180b4a96337f2a53302d8bd0faee95f8fe1063d1e24a", + "size": 18479104, "sparse": false, "full_check": true, "has_ab": true, - "ondevice_hash": "8907415564e8a242548e871b534dcd53240fe4e4517700c6c85b5637e365f0b0" + "ondevice_hash": "47b2096995578a5078e393c33108b42756009dbb361c43c508fc93cd8bda99cc" }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-5612484e7f255659c0845de620e7c733afd2e1b939f9464f5ef039721bb7cba9.img.xz", - "hash": "e4872f4132111b7b28586d978dd01bb48ffa031e103d029ebede7613c1bc2aa6", - "hash_raw": "5612484e7f255659c0845de620e7c733afd2e1b939f9464f5ef039721bb7cba9", + "url": "https://commadist.azureedge.net/agnosupdate/system-ff2da7bc34a1ad8e2831a13a49685243957a51b762d8f28e14e98ac90e84d211.img.xz", + "hash": "fbda983c40e75d8c4784a45c687f27dd27f97f7f0e9a71b4981ec2092ff68a72", + "hash_raw": "ff2da7bc34a1ad8e2831a13a49685243957a51b762d8f28e14e98ac90e84d211", "size": 4404019200, "sparse": true, "full_check": false, "has_ab": true, - "ondevice_hash": "4e5e680b4ac387ddc974b32dd3d5ec1d76282511eab974866b3b72399034985e", + "ondevice_hash": "428c744458d5f35199aab96a0928876c9deeff3e753e95044291408ba244f0af", "alt": { - "hash": "5612484e7f255659c0845de620e7c733afd2e1b939f9464f5ef039721bb7cba9", - "url": "https://commadist.azureedge.net/agnosupdate/system-5612484e7f255659c0845de620e7c733afd2e1b939f9464f5ef039721bb7cba9.img", + "hash": "ff2da7bc34a1ad8e2831a13a49685243957a51b762d8f28e14e98ac90e84d211", + "url": "https://commadist.azureedge.net/agnosupdate/system-ff2da7bc34a1ad8e2831a13a49685243957a51b762d8f28e14e98ac90e84d211.img", "size": 4404019200 } } diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json index e90e8c2ec..4d15e76b0 100644 --- a/system/hardware/tici/all-partitions.json +++ b/system/hardware/tici/all-partitions.json @@ -339,62 +339,62 @@ }, { "name": "boot", - "url": 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a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -165,8 +165,15 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct s->logger.segment(), offset_segment_num, s->ready_to_rotate.load(), s->max_waiting, name.c_str()); } - // queue up all the new segment messages, they go in after the rotate - re.q.push_back(msg); + + // TODO: define this behavior, but for now don't leak + if (re.q.size() > MAIN_FPS*10) { + LOGE_100("%s: dropping frame, queue is too large", name.c_str()); + delete msg; + } else { + // queue up all the new segment messages, they go in after the rotate + re.q.push_back(msg); + } } else { LOGE("%s: encoderd packet has a older segment!!! idx.getSegmentNum():%d s->logger.segment():%d re.encoderd_segment_offset:%d", name.c_str(), idx.getSegmentNum(), s->logger.segment(), re.encoderd_segment_offset); diff --git a/system/ui/widgets/confirm_dialog.py b/system/ui/widgets/confirm_dialog.py new file mode 100644 index 000000000..e5ca002ec --- /dev/null +++ b/system/ui/widgets/confirm_dialog.py @@ -0,0 +1,62 @@ +import pyray as rl +from openpilot.system.ui.lib.button import gui_button, ButtonStyle +from openpilot.system.ui.lib.label import gui_text_box + +# Constants for dialog dimensions and styling +DIALOG_WIDTH = 1520 +DIALOG_HEIGHT = 600 +BUTTON_HEIGHT = 160 +MARGIN = 50 +TEXT_AREA_HEIGHT_REDUCTION = 200 +BACKGROUND_COLOR = rl.Color(27, 27, 27, 255) + + +def confirm_dialog(rect: rl.Rectangle, message: str, confirm_text: str, cancel_text: str = "Cancel") -> int: + # Calculate dialog position and size, centered within the parent rectangle + dialog_x = rect.x + (rect.width - DIALOG_WIDTH) / 2 + dialog_y = rect.y + (rect.height - DIALOG_HEIGHT) / 2 + dialog_rect = rl.Rectangle(dialog_x, dialog_y, DIALOG_WIDTH, DIALOG_HEIGHT) + + # Calculate button positions at the bottom of the dialog + bottom = dialog_rect.y + dialog_rect.height + button_width = (dialog_rect.width - 3 * MARGIN) // 2 + no_button_x = dialog_rect.x + MARGIN + yes_button_x = dialog_rect.x + dialog_rect.width - button_width - MARGIN + button_y = bottom - BUTTON_HEIGHT - MARGIN + no_button = rl.Rectangle(no_button_x, button_y, button_width, BUTTON_HEIGHT) + yes_button = rl.Rectangle(yes_button_x, button_y, button_width, BUTTON_HEIGHT) + + # Draw the dialog background + rl.draw_rectangle( + int(dialog_rect.x), + int(dialog_rect.y), + int(dialog_rect.width), + int(dialog_rect.height), + BACKGROUND_COLOR, + ) + + # Draw the message in the dialog, centered + text_rect = rl.Rectangle(dialog_rect.x, dialog_rect.y, dialog_rect.width, dialog_rect.height - TEXT_AREA_HEIGHT_REDUCTION) + gui_text_box( + text_rect, + message, + alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER, + alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, + ) + + # Initialize result; -1 means no action taken yet + result = -1 + + # Check for keyboard input for accessibility + if rl.is_key_pressed(rl.KeyboardKey.KEY_ENTER): + result = 1 # Confirm + elif rl.is_key_pressed(rl.KeyboardKey.KEY_ESCAPE): + result = 0 # Cancel + + # Check for button clicks + if gui_button(yes_button, confirm_text, button_style=ButtonStyle.PRIMARY): + result = 1 # Confirm + if gui_button(no_button, cancel_text): + result = 0 # Cancel + + return result diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py new file mode 100644 index 000000000..4d1ad1b2c --- /dev/null +++ b/system/ui/widgets/keyboard.py @@ -0,0 +1,104 @@ +import pyray as rl +from openpilot.system.ui.lib.button import gui_button +from openpilot.system.ui.lib.label import gui_label + +# Constants for special keys +BACKSPACE_KEY = "<-" +ENTER_KEY = "Enter" +SPACE_KEY = " " +SHIFT_KEY = "โ†‘" +SHIFT_DOWN_KEY = "โ†“" +NUMERIC_KEY = "123" +SYMBOL_KEY = "#+=" +ABC_KEY = "ABC" + +# Define keyboard layouts as a dictionary for easier access +keyboard_layouts = { + "lowercase": [ + ["q", "w", "e", "r", "t", "y", "u", "i", "o", "p"], + ["a", "s", "d", "f", "g", "h", "j", "k", "l"], + [SHIFT_KEY, "z", "x", "c", "v", "b", "n", "m", BACKSPACE_KEY], + [NUMERIC_KEY, "/", "-", SPACE_KEY, ".", ENTER_KEY], + ], + "uppercase": [ + ["Q", "W", "E", "R", "T", "Y", "U", "I", "O", "P"], + ["A", "S", "D", "F", "G", "H", "J", "K", "L"], + [SHIFT_DOWN_KEY, "Z", "X", "C", "V", "B", "N", "M", BACKSPACE_KEY], + [NUMERIC_KEY, "/", "-", SPACE_KEY, ".", ENTER_KEY], + ], + "numbers": [ + ["1", "2", "3", "4", "5", "6", "7", "8", "9", "0"], + ["-", "/", ":", ";", "(", ")", "$", "&", "@", "\""], + [SYMBOL_KEY, ".", ",", "?", "!", "`", BACKSPACE_KEY], + [ABC_KEY, SPACE_KEY, ".", ENTER_KEY], + ], + "specials": [ + ["[", "]", "{", "}", "#", "%", "^", "*", "+", "="], + ["_", "\\", "|", "~", "<", ">", "โ‚ฌ", "ยฃ", "ยฅ", "โ€ข"], + [NUMERIC_KEY, ".", ",", "?", "!", "'", BACKSPACE_KEY], + [ABC_KEY, SPACE_KEY, ".", ENTER_KEY], + ], +} + + +class Keyboard: + def __init__(self, max_text_size: int = 255): + self._layout = keyboard_layouts["lowercase"] + self._input_text = "" + self._max_text_size = max_text_size + + @property + def text(self) -> str: + return self._input_text + + def clear(self): + self._input_text = "" + + def render(self, rect, title, sub_title): + gui_label(rl.Rectangle(rect.x, rect.y, rect.width, 95), title, 90) + gui_label(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60), sub_title, 55, rl.GRAY) + if gui_button(rl.Rectangle(rect.x + rect.width - 300, rect.y, 300, 100), "Cancel"): + return -1 + + # Text box for input + rl.gui_text_box(rl.Rectangle(rect.x, rect.y + 160, rect.width, 100), self._input_text, self._max_text_size, True) + + h_space, v_space = 15, 15 + row_y_start = rect.y + 300 # Starting Y position for the first row + key_height = (rect.height - 300 - 3 * v_space) / 4 + key_max_width = (rect.width - (len(self._layout[2]) - 1) * h_space) / len(self._layout[2]) + + # Iterate over the rows of keys in the current layout + for row, keys in enumerate(self._layout): + key_width = min((rect.width - (180 if row == 1 else 0) - h_space * (len(keys) - 1)) / len(keys), key_max_width) + start_x = rect.x + (90 if row == 1 else 0) + + for i, key in enumerate(keys): + if i > 0: + start_x += h_space + + new_width = (key_width * 3 + h_space * 2) if key == SPACE_KEY else (key_width * 2 + h_space if key == ENTER_KEY else key_width) + key_rect = rl.Rectangle(start_x, row_y_start + row * (key_height + v_space), new_width, key_height) + start_x += new_width + + if gui_button(key_rect, key): + if key == ENTER_KEY: + return 1 + else: + self.handle_key_press(key) + + return 0 + + def handle_key_press(self, key): + if key in (SHIFT_DOWN_KEY, ABC_KEY): + self._layout = keyboard_layouts["lowercase"] + elif key == SHIFT_KEY: + self._layout = keyboard_layouts["uppercase"] + elif key == NUMERIC_KEY: + self._layout = keyboard_layouts["numbers"] + elif key == SYMBOL_KEY: + self._layout = keyboard_layouts["specials"] + elif key == BACKSPACE_KEY and len(self._input_text) > 0: + self._input_text = self._input_text[:-1] + elif key != BACKSPACE_KEY and len(self._input_text) < self._max_text_size: + self._input_text += key diff --git a/uv.lock b/uv.lock index 8da47bf00..fe95157eb 100644 --- a/uv.lock +++ b/uv.lock @@ -466,6 +466,15 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/27/6b/7c87867d255cbce8167ed99fc65635e9395d2af0f0c915428f5b17ec412d/Cython-3.0.12-py2.py3-none-any.whl", hash = "sha256:0038c9bae46c459669390e53a1ec115f8096b2e4647ae007ff1bf4e6dee92806", size = 1171640 }, ] +[[package]] +name = "dbus-next" +version = "0.2.3" +source = { registry = "https://pypi.org/simple" } +sdist = { url = "https://files.pythonhosted.org/packages/ce/45/6a40fbe886d60a8c26f480e7d12535502b5ba123814b3b9a0b002ebca198/dbus_next-0.2.3.tar.gz", hash = "sha256:f4eae26909332ada528c0a3549dda8d4f088f9b365153952a408e28023a626a5", size = 71112 } +wheels = [ + { url = "https://files.pythonhosted.org/packages/d2/fc/c0a3f4c4eaa5a22fbef91713474666e13d0ea2a69c84532579490a9f2cc8/dbus_next-0.2.3-py3-none-any.whl", hash = "sha256:58948f9aff9db08316734c0be2a120f6dc502124d9642f55e90ac82ffb16a18b", size = 57885 }, +] + [[package]] name = "dictdiffer" version = "0.9.0" @@ -490,7 +499,7 @@ version = "0.2" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "python-xlib", marker = "sys_platform == 'linux'" }, - { name = "typing-extensions" }, + { name = "typing-extensions", marker = "sys_platform != 'darwin'" }, ] wheels = [ { url = "https://files.pythonhosted.org/packages/2f/3a/46ca34abf0725a754bc44ef474ad34aedcc3ea23b052d97b18b76715a6a9/EWMHlib-0.2-py3-none-any.whl", hash = "sha256:f5b07d8cfd4c7734462ee744c32d490f2f3233fa7ab354240069344208d2f6f5", size = 46657 }, @@ -631,10 +640,10 @@ name = "gymnasium" version = "1.1.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "cloudpickle" }, - { name = "farama-notifications" }, - { name = "numpy" }, - { name = "typing-extensions" }, + { name = "cloudpickle", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "farama-notifications", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "typing-extensions", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/90/69/70cd29e9fc4953d013b15981ee71d4c9ef4d8b2183e6ef2fe89756746dce/gymnasium-1.1.1.tar.gz", hash = "sha256:8bd9ea9bdef32c950a444ff36afc785e1d81051ec32d30435058953c20d2456d", size = 829326 } wheels = [ @@ -945,22 +954,22 @@ name = "metadrive-simulator" version = "0.4.2.4" source = { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl" } dependencies = [ - { name = "filelock" }, - { name = "gymnasium" }, - { name = "lxml" }, - { name = "matplotlib" }, - { name = "numpy" }, - { name = "opencv-python-headless" }, - { name = 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