From ddfbb88cde1a3bb50647c0865f1a93fb32aa8a5c Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Mon, 10 Mar 2025 01:49:47 +0900 Subject: [PATCH 01/26] kor translation update (#34822) --- selfdrive/ui/translations/main_ko.ts | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 6c6c73da1..e90e5d44e 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -315,27 +315,29 @@ 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. - + 오픈파일럿은 여러분과 같은 사람이 운전하는 모습을 보면서 운전하는 법을 배웁니다. + +파이어호스 모드를 사용하면 훈련 데이터 업로드를 최대화하여 오픈파일럿의 주행 모델을 개선할 수 있습니다. 더 많은 데이터는 더 큰 모델을 의미하며, 이는 더 나은 실험 모드를 의미합니다. Firehose Mode: ACTIVE - + 파이어호스 모드: 활성화 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. - + 효과를 극대화하려면 기기를 차 안으로 가져가서 매주 USB-C 어댑터와 Wi-Fi에 연결하세요.<br><br>“파이어호스 모드”는 핫스팟이나 무제한 SIM 카드에 연결된 경우 운전 중에도 작동할 수 있습니다.<br><br><br><b>자주 묻는 질문</b><br><br><i>"운전 방법이나 장소가 중요한가요?</i> 아니요, 평소와 같이 운전하시면 됩니다.<br><br><i> 좋은 USB-C 어댑터는 무엇인가요?</i> 휴대폰이나 노트북 고속 충전기가 있으면 됩니다.<br><br><i>어떤 소프트웨어를 실행해도 상관없나요?</i> 예, 업스트림 Openpilot(및 특정 포크)만 트레이닝에 사용할 수 있습니다. <b>%1 %2</b> of your driving are in the training dataset so far. - + <b>%1 %2</b> 의 운전이 지금까지의 훈련 데이터 세트에 포함되어 있습니다. ACTIVE - + 활성화 <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;'>비활성</span>: 무제한 네트워크에 연결 @@ -993,11 +995,11 @@ This may take up to a minute. Welcome to openpilot - + 오픈 파일럿에 오신 것을 환영합니다. 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. - + 오픈파일럿을 사용하려면 이용약관에 동의해야 합니다. 최신 약관은 <span style='color: #465BEA;'>https://comma.ai/terms</span> 에서 최신 약관을 읽은 후 계속하세요. From 08e70f19ed351b74d4b5665089111e3999f1b533 Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Sun, 9 Mar 2025 13:50:22 -0300 Subject: [PATCH 02/26] Multilang: update pt-BR translations (#34821) update pt-BR translations --- selfdrive/ui/translations/main_pt-BR.ts | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 16edf605a..b48d065f1 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -315,27 +315,29 @@ 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 você, dirigirem. + +O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar os modelos de direção do openpilot. Mais dados significam modelos maiores, o que resulta em um Modo Experimental melhor. Firehose Mode: ACTIVE - + Mode Firehose: ATIVO 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. - + Para maior eficácia, 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 também pode funcionar enquanto você 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> Não, basta dirigir normalmente<br><br><i>Qual é um bom adaptador USB-C?</i> Qualquer carregador rápido de telefone ou laptop deve ser suficiente.<br><br><i>Importa qual software eu uso?</i> Sim, apenas o openpilot oficial (e alguns forks específicos) podem ser usados para treinamento. <b>%1 %2</b> of your driving are in the training dataset so far. - + <b>%1 %2</b> da sua direção já está no conjunto de dados de treinamento até agora. 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 restrição de dados @@ -997,11 +999,11 @@ Isso pode levar até 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. - + Você deve aceitar os Termos e Condições para usar o openpilot. Leia os termos mais recentes em <span style='color: #465BEA;'>https://comma.ai/terms</span> antes de continuar. From 8edaaeae507dc29c0218ee50b9ee0dc288332d44 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 9 Mar 2025 10:07:14 -0700 Subject: [PATCH 03/26] one more firehose faq --- selfdrive/ui/qt/offroad/firehose.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/ui/qt/offroad/firehose.cc b/selfdrive/ui/qt/offroad/firehose.cc index ab1d0198c..fe42178a4 100644 --- a/selfdrive/ui/qt/offroad/firehose.cc +++ b/selfdrive/ui/qt/offroad/firehose.cc @@ -69,6 +69,7 @@ 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." )); From 06d6f254df1dd75463d97ff04489032568c5397b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 10 Mar 2025 09:10:30 +0800 Subject: [PATCH 04/26] radard: use dict comprehension for ar_pts construction (#34824) use dict comprehension --- selfdrive/controls/radard.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) 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()): From 2bfbb181e58690b807468ae259fb511f94e0d1e4 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 10 Mar 2025 09:48:01 +0800 Subject: [PATCH 05/26] python ui: add Keyboard Implementation (#34827) implement keyboard --- system/ui/widgets/keyboard.py | 104 ++++++++++++++++++++++++++++++++++ 1 file changed, 104 insertions(+) create mode 100644 system/ui/widgets/keyboard.py 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 = "↑" +SHIFT_DOWN_KEY = "↓" +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": [ + ["[", "]", "{", "}", "#", "%", "^", "*", "+", "="], + ["_", "\\", "|", "~", "<", ">", "€", "£", "¥", "•"], + [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 From 5574b91d17df1cb667534405c1baf2bcd335b997 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 10 Mar 2025 23:28:32 +0800 Subject: [PATCH 06/26] python ui: add confirm dialog implementation (#34828) add confirm dialog implementation --- system/ui/widgets/confirm_dialog.py | 62 +++++++++++++++++++++++++++++ 1 file changed, 62 insertions(+) create mode 100644 system/ui/widgets/confirm_dialog.py 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 From f870e48b3a13e72b5da20beec56c6be171f1618b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 10 Mar 2025 09:43:46 -0700 Subject: [PATCH 07/26] BASEDIR -> DIR --- launch_chffrplus.sh | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) 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 From 5b6c7ddc9370c22a02bdfd67a622f7e637bf5030 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 10 Mar 2025 10:57:06 -0700 Subject: [PATCH 08/26] [bot] Update Python packages (#34830) Update Python packages Co-authored-by: Vehicle Researcher --- opendbc_repo | 2 +- uv.lock | 20 ++++++++++---------- 2 files changed, 11 insertions(+), 11 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 0efdb71b8..75d4e0eb5 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 0efdb71b8f2440ee51a806d057f20a553b849a3a +Subproject commit 75d4e0eb5c8fa961a665ec020eb816a50eed231c diff --git a/uv.lock b/uv.lock index 8da47bf00..8b0c751e1 100644 --- a/uv.lock +++ b/uv.lock @@ -4455,15 +4455,15 @@ sdist = { url = "https://files.pythonhosted.org/packages/79/0c/c16bc93ac2755bac0 [[package]] name = "pywin32" -version = "308" +version = "309" source = { registry = "https://pypi.org/simple" } wheels = [ - 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- 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. @@ -337,6 +333,10 @@ 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. + + HudRenderer diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index bdda0484d..34aadcc73 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -321,10 +321,6 @@ 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. @@ -337,6 +333,10 @@ 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. + + HudRenderer diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index 8168e126e..9c7510856 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -321,10 +321,6 @@ 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. @@ -337,6 +333,10 @@ 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. + + HudRenderer diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 3fe002e03..08b310dcd 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -321,10 +321,6 @@ 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. @@ -337,6 +333,10 @@ 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. + + HudRenderer diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index d24287593..591594edb 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -321,10 +321,6 @@ 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. @@ -337,6 +333,10 @@ 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. + + HudRenderer diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index e90e5d44e..079c5849c 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -323,10 +323,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE 파이어호스 모드: 활성화 - - 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. - 효과를 극대화하려면 기기를 차 안으로 가져가서 매주 USB-C 어댑터와 Wi-Fi에 연결하세요.<br><br>“파이어호스 모드”는 핫스팟이나 무제한 SIM 카드에 연결된 경우 운전 중에도 작동할 수 있습니다.<br><br><br><b>자주 묻는 질문</b><br><br><i>"운전 방법이나 장소가 중요한가요?</i> 아니요, 평소와 같이 운전하시면 됩니다.<br><br><i> 좋은 USB-C 어댑터는 무엇인가요?</i> 휴대폰이나 노트북 고속 충전기가 있으면 됩니다.<br><br><i>어떤 소프트웨어를 실행해도 상관없나요?</i> 예, 업스트림 Openpilot(및 특정 포크)만 트레이닝에 사용할 수 있습니다. - <b>%1 %2</b> of your driving are in the training dataset so far. <b>%1 %2</b> 의 운전이 지금까지의 훈련 데이터 세트에 포함되어 있습니다. @@ -339,6 +335,10 @@ 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 <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>비활성</span>: 무제한 네트워크에 연결 + + 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. + + HudRenderer diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index b48d065f1..7ddd433bf 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -323,10 +323,6 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar Firehose Mode: ACTIVE Mode Firehose: ATIVO - - 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. - Para maior eficácia, 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 também pode funcionar enquanto você 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> Não, basta dirigir normalmente<br><br><i>Qual é um bom adaptador USB-C?</i> Qualquer carregador rápido de telefone ou laptop deve ser suficiente.<br><br><i>Importa qual software eu uso?</i> Sim, apenas o openpilot oficial (e alguns forks específicos) podem ser usados para treinamento. - <b>%1 %2</b> of your driving are in the training dataset so far. <b>%1 %2</b> da sua direção já está no conjunto de dados de treinamento até agora. @@ -339,6 +335,10 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar <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 restrição 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. + + HudRenderer diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index fc5e690ce..e041d799e 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -321,10 +321,6 @@ 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. @@ -337,6 +333,10 @@ 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. + + HudRenderer diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 8484f2316..1147ff0b9 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -321,10 +321,6 @@ 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. @@ -337,6 +333,10 @@ 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. + + HudRenderer diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 69a2c0c59..91839fd68 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -321,10 +321,6 @@ 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. @@ -337,6 +333,10 @@ 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. + + HudRenderer diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 6d50bf92b..29cc09569 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -321,10 +321,6 @@ 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. @@ -337,6 +333,10 @@ 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. + + HudRenderer From 58e5b31ccae4659bd3d2162b1fb1063046617c67 Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Mon, 10 Mar 2025 17:56:21 -0300 Subject: [PATCH 10/26] Multilang: update pt-BR translations (#34832) --- selfdrive/ui/translations/main_pt-BR.ts | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 7ddd433bf..fb67a5d9e 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -309,7 +309,7 @@ FirehosePanel 🔥 Firehose Mode 🔥 - 🔥 Mode Firehose 🔥 + 🔥 Modo Firehose 🔥 openpilot learns to drive by watching humans, like you, drive. @@ -321,7 +321,7 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar Firehose Mode: ACTIVE - Mode Firehose: ATIVO + Modo Firehose: ATIVO <b>%1 %2</b> of your driving are in the training dataset so far. @@ -333,11 +333,11 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar <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 restrição de dados + <span stylesheet='font-size: 60px; font-weight: bold; color: #e74c3c;'>INATIVO</span>: conecte-se a uma rede sem restrição <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 eficácia, 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 também pode funcionar enquanto você 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> Não, basta dirigir normalmente.<br><br><i>Todos os meus segmentos são enviados no Modo Firehose?</i> Não, selecionamos apenas um subconjunto dos seus segmentos.<br><br><i>Qual é um bom adaptador USB-C?</i> Qualquer carregador rápido de telefone ou laptop deve ser suficiente.<br><br><i>Importa qual software eu uso?</i> Sim, apenas o openpilot oficial (e alguns forks específicos) podem ser usados para treinamento. @@ -1164,7 +1164,7 @@ Isso pode levar até um minuto. <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> - <span style='font-family: "Noto Color Emoji";'>🔥</span> Mode Firehose <span style='font-family: Noto Color Emoji;'>🔥</span> + <span style='font-family: "Noto Color Emoji";'>🔥</span> Modo Firehose <span style='font-family: Noto Color Emoji;'>🔥</span> From 1c678c910e5c25f55cecadcf0991b242a7e32358 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Mon, 10 Mar 2025 16:01:03 -0700 Subject: [PATCH 11/26] camerad: fix AE oscillation (#34833) * flooring is fine * . * better solution --------- Co-authored-by: Comma Device --- system/camerad/cameras/camera_qcom2.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) 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); From dc9b5b7c25f67257b6c2826316aaea075d654985 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Tue, 11 Mar 2025 09:29:55 +0900 Subject: [PATCH 12/26] kor translation update (#34838) --- selfdrive/ui/translations/main_ko.ts | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 079c5849c..5b9024bfd 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). - 경고: openpilot 가감속 제어 알파 기능으로 차량의 자동긴급제동(AEB)을 비활성화합니다. + 경고: openpilot 가감속 제어는 알파 기능으로 차량의 자동긴급제동(AEB)기능이 작동하지 않습니다. 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. - 이 차량은 openpilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. openpilot의 가감속 제어로 전환하려면 이 기능을 활성화하세요. openpilot 가감속 제어 알파를 활성화하는 경우 실험 모드 활성화를 권장합니다. + 이 차량에서 openpilot은 openpilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. openpilot 가감속 제어로 전환하려면 이 기능을 활성화하세요. openpilot 가감속 제어 알파 기능을 활성화하는 경우 실험 모드 활성화를 권장합니다. Enable ADB @@ -325,7 +325,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp <b>%1 %2</b> of your driving are in the training dataset so far. - <b>%1 %2</b> 의 운전이 지금까지의 훈련 데이터 세트에 포함되어 있습니다. + <b>%1 %2</b> 의 운전이 지금까지의 학습 데이터셋에 포함되어 있습니다. ACTIVE @@ -337,7 +337,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 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. - + 최대한의 효과를 얻으려면 매주 장치를 실내로 가져와 좋은 USB-C 케이블에 연결하고 Wi-Fi에 연결하세요.<br><br>파이어호스 모드는 핫스팟 또는 무제한 SIM 카드에 연결된 경우에는 운전 중에도 작동할 수 있습니다.<br><br><br><b>자주 묻는 질문</b><br><br><i>운전 방법이나 장소가 중요한가요?</i> 아니요, 평소처럼 운전하시면 됩니다.<br><br><i>파이어호스 모드에서 제 모든 구간을 가져오나요?.<br><br><i> 아니요, 저희는 여러분의 구간 중 일부를 선별적으로 가져옵니다.<br><br><i>좋은 USB-C 케이블은 무엇인가요?</i> 휴대폰이나 노트북 고속 충전기가 있으면 됩니다.<br><br><i>어떤 소프트웨어를 실행하는지가 중요한가요?</i> 예, 오직 공식 openpilot의 특정 포크만 트레이닝에 사용할 수 있습니다. @@ -443,7 +443,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 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. - openpilot이 차량을 식별할 수 없었습니다. 지원되지 않는 차량이거나 ECU가 인식되지 않습니다. 해당 차량에 맞는 펌웨어 버전을 추가하려면 PR을 제출하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요. + openpilot이 차량을 식별할 수 없습니다. 지원되지 않는 차량이거나 ECU가 인식되지 않습니다. 해당 차량에 맞는 펌웨어 버전을 추가하려면 PR을 제출하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요. 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. @@ -451,7 +451,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Device temperature too high. System cooling down before starting. Current internal component temperature: %1 - 장치 온도가 너무 높습니다. 시작하기 전에 온도를 낮춰주세요. 현재 내부 부품 온도: %1 + 장치의 온도가 너무 높습니다. 시작 전에 온도를 낮춰주세요. 현재 내부 구성 요소 온도: %1 @@ -1102,7 +1102,7 @@ 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. - 운전 시각화는 일부 회전을 더 잘 보여주기 위해 저속에서 도로를 향한 광각 카메라로 전환됩니다. 실험 모드 로고도 우측 상단에 표시됩니다. + 운전 시각화는 일부 회전을 더 잘 보여주기 위해 저속에서 도로를 향한 광각 카메라로 전환됩니다. 우측 상단에 실험 모드 로고가 표시됩니다. Always-On Driver Monitoring @@ -1110,7 +1110,7 @@ This may take up to a minute. Enable driver monitoring even when openpilot is not engaged. - Openpilot이 활성화되지 않은 경우에도 드라이버 모니터링을 활성화합니다. + openpilot이 활성화되지 않은 경우에도 드라이버 모니터링을 활성화합니다. From b33342c18fcff8a82b6032b3ab3b3b31a2b99e5f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 11 Mar 2025 10:22:49 -0700 Subject: [PATCH 13/26] loggerd: limit encoded queue size (#34837) * loggerd: limit encoded queue size * less spammy --- system/loggerd/loggerd.cc | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index ea0178fe8..953ae1df3 100644 --- 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); From 8c359892be0638db26d9de732ce79b5f58fcb0d8 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 11 Mar 2025 11:02:02 -0700 Subject: [PATCH 14/26] camerad: clear request queue on exit (#34842) * camerad: doesn't need rt * clear q --- system/camerad/cameras/spectra.cc | 2 ++ system/camerad/main.cc | 5 ++--- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 713d5ba1c..1bd6f0035 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); 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(); From 4d86e0b039a0c9b53445ae982ce4825f5feb267b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 12 Mar 2025 04:57:20 +0800 Subject: [PATCH 15/26] pyproject.toml: add pygame and dbus-next dependencies (#34826) add pygame and dbus-next dependencies to pyproject.toml --- pyproject.toml | 2 + uv.lock | 1135 +++++++++++++++++++++++++----------------------- 2 files changed, 587 insertions(+), 550 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 58e714e3a..1fb751e2d 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/uv.lock b/uv.lock index 8b0c751e1..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 = 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marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "lxml", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "matplotlib", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "opencv-python-headless", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "panda3d", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "panda3d-gltf", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "pillow", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "progressbar", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "psutil", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "pygments", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "requests", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "shapely", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "tqdm", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "yapf", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] wheels = [ { url = "https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl", hash = "sha256:fbf0ea9be67e65cd45d38ff930e3d49f705dd76c9ddbd1e1482e3f87b61efcef" }, @@ -1212,7 +1221,7 @@ name = "opencv-python-headless" version = "4.11.0.86" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "numpy" }, + { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = 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- { name = "numpy" }, - { name = "platformdirs" }, - { name = "pytools" }, + { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "platformdirs", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, + { name = "pytools", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/28/88/0ac460d3e2def08b2ad6345db6a13613815f616bbbd60c6f4bdf774f4c41/pyopencl-2025.1.tar.gz", hash = "sha256:0116736d7f7920f87b8db4b66a03f27b1d930d2e37ddd14518407cc22dd24779", size = 422510 } wheels = [ @@ -4420,7 +4455,7 @@ name = "python-xlib" version = "0.33" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "six" }, + { name = "six", marker = "sys_platform != 'darwin'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/86/f5/8c0653e5bb54e0cbdfe27bf32d41f27bc4e12faa8742778c17f2a71be2c0/python-xlib-0.33.tar.gz", hash = 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- { name = "numpy" }, + { name = "numpy", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/21/c0/a911d1fd765d07a2b6769ce155219a281bfbe311584ebe97340d75c5bdb1/shapely-2.0.7.tar.gz", hash = "sha256:28fe2997aab9a9dc026dc6a355d04e85841546b2a5d232ed953e3321ab958ee5", size = 283413 } wheels = [ @@ -4994,7 +5029,7 @@ name = "yapf" version = "0.43.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "platformdirs" }, + { name = "platformdirs", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/23/97/b6f296d1e9cc1ec25c7604178b48532fa5901f721bcf1b8d8148b13e5588/yapf-0.43.0.tar.gz", hash = "sha256:00d3aa24bfedff9420b2e0d5d9f5ab6d9d4268e72afbf59bb3fa542781d5218e", size = 254907 } wheels = [ From 18db927fc1c6289f66ce1b8a8569ccc0bb9dad21 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 11 Mar 2025 14:58:05 -0700 Subject: [PATCH 16/26] test_models: convert can data to namedtuple (#34845) * stash * fastest * faster but not fastest * clean up * here too * fix that * revert * already sorted * rev * clean up * allow empty * lower tm time for cache miss --- .github/workflows/selfdrive_tests.yaml | 2 +- selfdrive/car/tests/test_models.py | 30 +++++++++---------- .../debug/check_can_parser_performance.py | 7 ++--- 3 files changed, 17 insertions(+), 22 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index a91e9862a..d9dc5dd45 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -227,7 +227,7 @@ 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 || 3 }} run: | ${{ env.RUN }} "MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \ chmod -R 777 /tmp/comma_download_cache" diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 7f0cf4a97..9a042ed37 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -1,5 +1,4 @@ import time -import capnp import os import pytest import random @@ -67,7 +66,7 @@ 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 @@ -82,7 +81,8 @@ 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: @@ -146,13 +146,11 @@ 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) assert cls.CP @@ -199,8 +197,8 @@ class TestCarModelBase(unittest.TestCase): CC = structs.CarControl().as_reader() 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, msg.logMonoTime) + CS = self.CI.update(msg) + self.CI.apply(CC, msg[0]) if CS.canValid: can_valid = True @@ -219,7 +217,7 @@ 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) @@ -228,16 +226,16 @@ 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 @@ -389,8 +387,8 @@ 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) @@ -399,8 +397,8 @@ 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/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') From 3f6fd3da78f07cac76238dda4102091d3ad9d37d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 11 Mar 2025 16:03:00 -0700 Subject: [PATCH 17/26] test_onroad threshold tuning --- selfdrive/test/test_onroad.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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: From b732e8eee9a49b56e8f331067e8305e45e8bb2ec Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 12 Mar 2025 00:47:34 -0700 Subject: [PATCH 18/26] bump opendbc (#34848) * bump * bump * adds EV flag --- opendbc_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc_repo b/opendbc_repo index 75d4e0eb5..eca696984 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 75d4e0eb5c8fa961a665ec020eb816a50eed231c +Subproject commit eca696984e467b909814ea1e594163ceea03ab3a 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 From 4e469a2987ddfa7c7c82037e17026d6ad1132bbe Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 12 Mar 2025 00:48:49 -0700 Subject: [PATCH 19/26] raise timeout for forks --- .github/workflows/selfdrive_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index d9dc5dd45..67a76a423 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -227,7 +227,7 @@ 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 || 3 }} + 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" From 04aed6ba89dd088ad1fd04bf8339758774eeaf87 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 12 Mar 2025 01:38:13 -0700 Subject: [PATCH 20/26] Firehose: fix plural is/are (#34849) * use qt plurals * remove old --- selfdrive/ui/qt/offroad/firehose.cc | 2 +- selfdrive/ui/translations/main_ar.ts | 15 +++++++++++---- selfdrive/ui/translations/main_de.ts | 11 +++++++---- selfdrive/ui/translations/main_en.ts | 10 ++++++++++ selfdrive/ui/translations/main_es.ts | 11 +++++++---- selfdrive/ui/translations/main_fr.ts | 11 +++++++---- selfdrive/ui/translations/main_ja.ts | 10 ++++++---- selfdrive/ui/translations/main_ko.ts | 10 ++++++---- selfdrive/ui/translations/main_pt-BR.ts | 11 +++++++---- selfdrive/ui/translations/main_th.ts | 10 ++++++---- selfdrive/ui/translations/main_tr.ts | 10 ++++++---- selfdrive/ui/translations/main_zh-CHS.ts | 10 ++++++---- selfdrive/ui/translations/main_zh-CHT.ts | 10 ++++++---- 13 files changed, 86 insertions(+), 45 deletions(-) diff --git a/selfdrive/ui/qt/offroad/firehose.cc b/selfdrive/ui/qt/offroad/firehose.cc index fe42178a4..2923dbffe 100644 --- a/selfdrive/ui/qt/offroad/firehose.cc +++ b/selfdrive/ui/qt/offroad/firehose.cc @@ -88,7 +88,7 @@ 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 bb5cec335..a41bc4571 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - <b>%1 %2</b> of your driving are in the training dataset so far. - - ACTIVE @@ -337,6 +333,17 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 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_de.ts b/selfdrive/ui/translations/main_de.ts index 34aadcc73..d440e790f 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - <b>%1 %2</b> of your driving are in the training dataset so far. - - ACTIVE @@ -337,6 +333,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 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 9c7510856..235051bb7 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - <b>%1 %2</b> of your driving are in the training dataset so far. - - ACTIVE @@ -337,6 +333,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 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 08b310dcd..4ed97e233 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - <b>%1 %2</b> of your driving are in the training dataset so far. - - ACTIVE @@ -337,6 +333,13 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 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 591594edb..7c67d8302 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - <b>%1 %2</b> of your driving are in the training dataset so far. - - ACTIVE @@ -337,6 +333,12 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 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 5b9024bfd..5abc6ce9b 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -323,10 +323,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE 파이어호스 모드: 활성화 - - <b>%1 %2</b> of your driving are in the training dataset so far. - <b>%1 %2</b> 의 운전이 지금까지의 학습 데이터셋에 포함되어 있습니다. - ACTIVE 활성화 @@ -339,6 +335,12 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 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. 최대한의 효과를 얻으려면 매주 장치를 실내로 가져와 좋은 USB-C 케이블에 연결하고 Wi-Fi에 연결하세요.<br><br>파이어호스 모드는 핫스팟 또는 무제한 SIM 카드에 연결된 경우에는 운전 중에도 작동할 수 있습니다.<br><br><br><b>자주 묻는 질문</b><br><br><i>운전 방법이나 장소가 중요한가요?</i> 아니요, 평소처럼 운전하시면 됩니다.<br><br><i>파이어호스 모드에서 제 모든 구간을 가져오나요?.<br><br><i> 아니요, 저희는 여러분의 구간 중 일부를 선별적으로 가져옵니다.<br><br><i>좋은 USB-C 케이블은 무엇인가요?</i> 휴대폰이나 노트북 고속 충전기가 있으면 됩니다.<br><br><i>어떤 소프트웨어를 실행하는지가 중요한가요?</i> 예, 오직 공식 openpilot의 특정 포크만 트레이닝에 사용할 수 있습니다. + + <b>%n segment(s)</b> of your driving is in the training dataset so far. + + + + HudRenderer diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index fb67a5d9e..5cfd6a9bf 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -323,10 +323,6 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar Firehose Mode: ACTIVE Modo Firehose: ATIVO - - <b>%1 %2</b> of your driving are in the training dataset so far. - <b>%1 %2</b> da sua direção já está no conjunto de dados de treinamento até agora. - ACTIVE ATIVO @@ -339,6 +335,13 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar 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 eficácia, 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 também pode funcionar enquanto você 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> Não, basta dirigir normalmente.<br><br><i>Todos os meus segmentos são enviados no Modo Firehose?</i> Não, selecionamos apenas um subconjunto dos seus segmentos.<br><br><i>Qual é um bom adaptador USB-C?</i> Qualquer carregador rápido de telefone ou laptop deve ser suficiente.<br><br><i>Importa qual software eu uso?</i> Sim, apenas o openpilot oficial (e alguns forks específicos) podem ser usados para treinamento. + + <b>%n segment(s)</b> of your driving is in the training dataset so far. + + + + + HudRenderer diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index e041d799e..6db008556 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - <b>%1 %2</b> of your driving are in the training dataset so far. - - ACTIVE @@ -337,6 +333,12 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 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 1147ff0b9..e640eeab4 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - <b>%1 %2</b> of your driving are in the training dataset so far. - - ACTIVE @@ -337,6 +333,12 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 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 91839fd68..f78d8dcdf 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - <b>%1 %2</b> of your driving are in the training dataset so far. - - ACTIVE @@ -337,6 +333,12 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 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 29cc09569..8547c9041 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -321,10 +321,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Firehose Mode: ACTIVE - - <b>%1 %2</b> of your driving are in the training dataset so far. - - ACTIVE @@ -337,6 +333,12 @@ Firehose Mode allows you to maximize your training data uploads to improve openp 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 From dbbb938ae01e6134550e128f1b23b2e6afdf8ed9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 13 Mar 2025 01:44:04 +0800 Subject: [PATCH 21/26] commonmodel: release input_frame_cl and input_frames_cl (#34850) release input_frame_cl and input_frames_cl --- selfdrive/modeld/models/commonmodel.cc | 2 ++ 1 file changed, 2 insertions(+) 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)); } From 8c14985c008edc6109608ddd02259193f30bcf58 Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Wed, 12 Mar 2025 15:04:55 -0300 Subject: [PATCH 22/26] Multilang: update pt_BR translations (#34851) * Multilang: update pt_BR translations * no need (s) --- selfdrive/ui/translations/main_pt-BR.ts | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 5cfd6a9bf..57b5b4ffa 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -337,9 +337,9 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar <b>%n segment(s)</b> of your driving is in the training dataset so far. - - - + + <b>%n segmento</b> da sua direção está no conjunto de dados de treinamento até agora. + <b>%n segmentos</b> da sua direção estão no conjunto de dados de treinamento até agora. From 800a41c4e141b005a6a6a9bc78f6c1ec32f29633 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 12 Mar 2025 14:02:54 -0700 Subject: [PATCH 23/26] agnos 11.11 (#34816) --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 22 ++++++------ system/hardware/tici/all-partitions.json | 46 ++++++++++++------------ 3 files changed, 35 insertions(+), 35 deletions(-) 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/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", - 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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 From 41536f6e48d52959a5e82fb02d28c625ff1b2813 Mon Sep 17 00:00:00 2001 From: royjr Date: Wed, 12 Mar 2025 22:21:28 -0400 Subject: [PATCH 26/26] ui: update arabic translations (#34857) Update main_ar.ts --- selfdrive/ui/translations/main_ar.ts | 40 +++++++++++++++------------- 1 file changed, 21 insertions(+), 19 deletions(-) diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index a41bc4571..8f43e64e8 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -309,39 +309,41 @@ FirehosePanel 🔥 Firehose Mode 🔥 - + 🔥 وضع خرطوم الحريق 🔥 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. - + يتعلم تطبيق openpilot كيفية القيادة من خلال مشاهدة البشر، مثلك، أثناء القيادة. + +يتيح لك وضع خرطوم الحريق زيادة تحميلات بيانات التدريب لتحسين نماذج القيادة في OpenPilot. كلما زادت البيانات، زادت النماذج، مما يعني وضعًا تجريبيًا أفضل. Firehose Mode: ACTIVE - + وضع خرطوم الحريق: نشط ACTIVE - + نشط <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;'>غير نشط</span>: اتصل بشبكة غير محسوبة 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. - + للحصول على أقصى فعالية، أحضر جهازك إلى الداخل واتصل بمحول USB-C جيد وشبكة Wi-Fi أسبوعياً.<br><br>يمكن أن يعمل وضع خرطوم الحريق أيضاً أثناء القيادة إذا كنت متصلاً بنقطة اتصال أو ببطاقة SIM غير محدودة.<br><br><br><b>الأسئلة المتكررة</b><br><br><i>هل يهم كيف أو أين أقود؟</i> لا، فقط قد كما تفعل عادة.<br><br><i>هل يتم سحب كل مقاطع رحلاتي في وضع خرطوم الحريق؟</i> لا، نقوم بسحب مجموعة مختارة من مقاطع رحلاتك.<br><br><i>ما هو محول USB-C الجيد؟</i> أي شاحن سريع للهاتف أو اللابتوب يجب أن يكون مناسباً.<br><br><i>هل يهم أي برنامج أستخدم؟</i> نعم، فقط النسخة الأصلية من openpilot (وأفرع معينة) يمكن استخدامها للتدريب. <b>%n segment(s)</b> of your driving is in the training dataset so far. - - - - - - - + + حتى الآن، يوجد </b>%n مقطع<b>%n من قيادتك في مجموعة بيانات التدريب. + حتى الآن، يوجد </b>%n مقطع<b>%n من قيادتك في مجموعة بيانات التدريب. + حتى الآن، يوجد </b>%n مقطع<b>%n من قيادتك في مجموعة بيانات التدريب. + حتى الآن، يوجد </b>%n مقطع<b>%n من قيادتك في مجموعة بيانات التدريب. + حتى الآن، يوجد </b>%n مقطع<b>%n من قيادتك في مجموعة بيانات التدريب. + حتى الآن، يوجد </b>%n مقطع<b>%n من قيادتك في مجموعة بيانات التدريب. @@ -699,7 +701,7 @@ This may take up to a minute. Firehose - + خرطوم الحريق @@ -1020,11 +1022,11 @@ This may take up to a minute. Welcome to openpilot - + مرحباً بكم في 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. - + يجب عليك قبول الشروط والأحكام لاستخدام openpilot. اقرأ أحدث الشروط على <span style='color: #465BEA;'>https://comma.ai/terms</span> قبل الاستمرار. @@ -1177,15 +1179,15 @@ This may take up to a minute. WiFiPromptWidget Open - + انفتح Maximize your training data uploads to improve openpilot's driving models. - + قم بزيادة تحميلات بيانات التدريب الخاصة بك لتحسين نماذج القيادة الخاصة بـ openpilot. <span style='font-family: "Noto Color Emoji";'>🔥</span> Firehose Mode <span style='font-family: Noto Color Emoji;'>🔥</span> - + <span style='font-family: "Noto Color Emoji";'>🔥</span> وضع خرطوم الحريق <span style='font-family: Noto Color Emoji;'>🔥</span>